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Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | GPL |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/shadow-robot/sr_interface.git |
| VCS Type | git |
| VCS Version | kinetic-devel |
| Last Updated | 2020-09-01 |
| Dev Status | UNMAINTAINED |
| CI status | Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
sr_robot_launch contains the launch file for the UR10 arm and SR hand
Additional Links
Maintainers
- Shadow Robot's software team
Authors
- Kirsty Ellis
Starting the robots (simulated / real)
Shadow hand only
Simulation
To start our hand, simply do:
roslaunch sr_robot_launch srhand.launch
This will launch the five finger hand (shadowhand_motor) by default . If you want to launch another hand, these are the hands available:
 |
 |
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 |
 |
 |
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 |
 |
 |
 |
|---|---|---|---|---|---|---|---|---|---|---|
| 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 |
| Right | Left | |
|---|---|---|
| 1 | shadowhand_motor.urdf.xacro | shadowhand_left_motor.urdf.xacro |
| 2 | shadowhand_motor_biotac.urdf.xacro | shadowhand_left_motor_biotac.urdf.xacro |
| 3 | shadowhand_motor_ff_biotac.urdf.xacro | |
| 4 | shadowhand_motor_btsp.urdf.xacro | |
| 5 | shadowhand_motor_ellipsoid.urdf.xacro | |
| 6 | shadowhand_motor_th_ff_rf_ellipsoid.urdf.xacro | |
| 7 | shadowhand_muscle.urdf.xacro | shadowhand_left_muscle.urdf.xacro |
| 8 | shadowhand_muscle_biotac.urdf.xacro | |
| 9 | shadowhand_lite.urdf.xacro | |
| 10 | shadowhand_extra_lite.urdf.xacro | |
| 11 | shadowhand_motor_plus.urdf.xacro | shadowhand_left_motor_plus.urdf.xacro |
To start the simulation of a shadow hand, you can run:
roslaunch sr_robot_launch srhand.launch robot_description:=`rospack find sr_description`/robots/shadowhand_motor.urdf.xacro
- The
robot descriptionparam can be changed to start any of the available Shadow hands shown in the table. - If it is a left hand,
hand_id:=lhshould be added. For example:
roslaunch sr_robot_launch srhand.launch robot_description:=`rospack find sr_description`/robots/shadowhand_left_motor.urdf.xacro hand_id:=lh
-
Moveit will enable advanced behaviour (inverse kinematics, planning, collision detectection, etc…), but if it is not needed, you can set
use_moveit:=false -
To start the dexterous hand plus (shadowhand_motor_plus.urdf.xacro), you can add the hand_type like this:
roslaunch sr_robot_launch srhand.launch hand_type:=hand_e_plus
Real hand
To start a real hand, you can run:
roslaunch sr_ethercat_hand_config sr_rhand.launch
It has the specific configuration to launch your hand, including the ethernet port, the hand serial and robot description.
Shadow hand with UR10 arm
Simulation
To start the simulation of the hand and arm, you can run:
roslaunch sr_robot_launch sr_right_ur10arm_hand.launch
or, for the left hand and arm
roslaunch sr_robot_launch sr_left_ur10arm_hand.launch
Real Robots
To start the real robots, do:
roslaunch sr_robot_launch sr_right_ur10arm_hand.launch sim:=false hand_serial:=1178
or, for the left hand and arm
roslaunch sr_robot_launch sr_left_ur10arm_hand.launch sim:=false hand_serial:=1178
To find the hand serial you can launch the command without the hand_serial argument and then check the program output. You should see something like:
Trying to read mapping for: /hand/mapping/1178
In this case 1178 is the serial number of the hand.
To change the hand mapping, you can set the mapping_path argument. For example adding:
mapping_path:=`rospack find sr_edc_launch`/mappings/default_mappings/rh_E_v3.yaml
To change the ethernet port used for your hand, you can add the eth_port argument, such as:
eth_port:=eth6
Real Robots, using the normal (not limited) joint range
By default the URDF used for the UR10 arm uses a limited range for the joints, as that helps moveit find a planning solution. But as that restricts the robot movements, the user might want to start the robots with the full joint range. To do that:
roslaunch sr_robot_launch sr_right_ur10arm_hand.launch sim:=false robot_description:=`rospack find sr_multi_description`/urdf/right_srhand_ur10.urdf.xacro hand_serial:=1178
or, for the left hand and arm
roslaunch sr_robot_launch sr_left_ur10arm_hand.launch sim:=false robot_description:=`rospack find sr_multi_description`/urdf/left_srhand_ur10.urdf.xacro hand_serial:=1178
Hand with tactile sensors
If your hand has biotacs sensors, simply append _biotacs to the robot_description:= and to the robot_config_file:= as seen below:
robot_description:=`rospack find sr_multi_description`/urdf/right_srhand_ur10_joint_limited_biotacs.urdf.xacro robot_config_file:=`rospack find sr_multi_moveit_config`/config/robot_configs/right_sh_ur10_biotac.yaml
Bimanual system
Simulation
To start the simulation of a bimanual system, you can run:
roslaunch sr_robot_launch sr_bimanual.launch use_moveit:=true
Real Robots
To start the real robots, do:
roslaunch sr_robot_launch sr_bimanual.launch sim:=false rh_serial:=1290 lh_serial:=1338
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| controller_manager_msgs | |
| joint_state_publisher | |
| robot_state_publisher | |
| rospy | |
| sr_multi_description | |
| sr_robot_msgs | |
| ur_gazebo | |
| sr_ur_bringup | |
| ros_control_robot | |
| sr_utilities_common |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| sr_interface | |
| sr_3dmouse |
Launch files
- launch/sr_ur10arm_hand_blockly.launch
-
- sim [default: false]
- gui [default: true]
- launch/sr_right_two_ur10arm_hand.launch
-
- sim [default: true]
- debug [default: false]
- use_moveit [default: true]
- planning [default: ompl]
- generate_planning_config [default: True]
- gui [default: true]
- hand_serial [default: 1082]
- mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/rh_E_v3.yaml]
- eth_port [default: $(optenv ETHERCAT_PORT eth0)]
- scene [default: false]
- world [default: $(find sr_description_common)/worlds/shadowhand.world]
- world [default: $(find sr_description_common)/worlds/demo_space_large.world]
- scene_file [default: $(find sr_description_common)/scenes/demo_space_large.scene]
- start_home [default: true]
- home_angles [default: -J ra_shoulder_pan_joint 1.147 -J ra_elbow_joint 1.695 -J ra_wrist_1_joint -1.395 -J ra_wrist_2_joint -1.584 -J ra_shoulder_lift_joint -1.926 -J ra_wrist_3_joint 1.830 -J la_shoulder_pan_joint 1.147 -J la_elbow_joint 1.695 -J la_wrist_1_joint -1.395 -J la_wrist_2_joint -1.584 -J la_shoulder_lift_joint -1.926 -J la_wrist_3_joint 1.830]
- arm_1_z [default: 0.7551]
- arm_1_z [default: 0.0]
- arm_2_z [default: 0.7551]
- arm_2_z [default: 0.0]
- arm_separation [default: 1.5]
- arm_1_program_path [default: $(find sr_ur_bringup)/robot_programs/]
- arm_2_program_path [default: $(find sr_ur_bringup)/robot_programs/]
- arm_robot_hw_1 [default: $(find sr_robot_launch)/config/right_ur_arm_robot_hw.yaml]
- arm_robot_hw_2 [default: $(find sr_robot_launch)/config/left_ur_arm_robot_hw.yaml]
- right_arm_speed_scale [default: 0.5]
- left_arm_speed_scale [default: 0.5]
- robot_description [default: '$(find sr_multi_description)/urdf/right_srhand_bt_sp_biotacs_two_ur10.urdf.xacro']
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/right_sh_two_ur10_btsp_biotac.yaml]
- debug [default: $(arg debug)]
- use_moveit [default: $(arg use_moveit)]
- planning [default: $(arg planning)]
- gui [default: $(arg gui)]
- arm_1_program_path [default: $(arg arm_1_program_path)/]
- arm_2_program_path [default: $(arg arm_2_program_path)/]
- arm_robot_hw_1 [default: $(arg arm_robot_hw_1)]
- arm_robot_hw_2 [default: $(arg arm_robot_hw_2)]
- right_arm_speed_scale [default: $(arg right_arm_speed_scale)]
- left_arm_speed_scale [default: $(arg left_arm_speed_scale)]
- launch/sr_ur_arms_hand.launch
-
- sim [default: true]
- debug [default: false]
- use_moveit [default: true]
- planning [default: ompl]
- generate_planning_config [default: True]
- gui [default: true]
- verbose [default: true]
- scene [default: false]
- world [default: $(find sr_description_common)/worlds/shadowhand.world]
- world [default: $(find sr_description_common)/worlds/demo_space_large.world]
- scene_file [default: $(find sr_description_common)/scenes/demo_space_large.scene]
- start_home [default: false]
- home_angles [default: -J ra_shoulder_pan_joint 1.147 -J ra_elbow_joint 1.695 -J ra_wrist_1_joint -1.395 -J ra_wrist_2_joint -1.584 -J ra_shoulder_lift_joint -1.926 -J ra_wrist_3_joint 1.830 -J la_shoulder_pan_joint 1.147 -J la_elbow_joint 1.695 -J la_wrist_1_joint -1.395 -J la_wrist_2_joint -1.584 -J la_shoulder_lift_joint -1.926 -J la_wrist_3_joint 1.830]
- robot_state_pub_frequency [default: 250]
- joint_state_pub_frequency [default: 125]
- hand_id [default: rh]
- side [default: right]
- robot_model [default: ur10]
- arm_1_z [default: 0.7551]
- arm_1_z [default: 0.0]
- arm_2_z [default: 0.7551]
- arm_2_z [default: 0.0]
- arm_separation [default: 1.5]
- arm_1_program_path [default: $(find sr_ur_bringup)/robot_programs/]
- arm_2_program_path [default: $(find sr_ur_bringup)/robot_programs/]
- robot_description [default: '$(find sr_multi_description)/urdf/$(arg side)_srhand_two_$(arg robot_model).urdf.xacro']
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/$(arg side)_sh_two_$(arg robot_model).yaml]
- robot_name [default: $(arg robot_model)srh]
- arm_robot_hw_1 [default: $(find sr_robot_launch)/config/right_ur_arm_robot_hw.yaml]
- arm_robot_hw_2 [default: $(find sr_robot_launch)/config/left_bimanual_ur_arm_robot_hw.yaml]
- right_arm_speed_scale [default: 0.5]
- left_arm_speed_scale [default: 0.5]
- arm_trajectory [default: true]
- arm_ctrl [default: true]
- hand_trajectory [default: true]
- hand_ctrl [default: true]
- pwm_control [default: true]
- hand_serial [default: 1082]
- mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/$(arg hand_id)_E_v3.yaml]
- eth_port [default: $(optenv ETHERCAT_PORT eth0)]
- world_name [default: $(arg world)]
- gui [default: $(arg gui)]
- frequency [default: 1]
- gui [default: $(arg gui)]
- launch/sr_ur_arms_hands.launch
-
- sim [default: true]
- debug [default: false]
- use_moveit [default: true]
- planning [default: ompl]
- generate_planning_config [default: True]
- gui [default: true]
- verbose [default: true]
- scene [default: false]
- scene_file [default: $(find sr_description_common)/scenes/bimanual_demo_space_small.scene]
- world [default: $(find sr_description_common)/worlds/shadowhands_and_arms.world]
- start_home [default: false]
- home_angles [default: ]
- external_control_loop [default: false]
- robot_state_pub_frequency [default: 250]
- joint_state_pub_frequency [default: 125]
- hands [default: both]
- robot_model [default: ur10]
- robot_description [default: '$(find sr_multi_description)/urdf/bimanual_srhand_$(arg robot_model).urdf.xacro']
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/bimanual_sh_$(arg robot_model).yaml]
- robot_name [default: $(arg robot_model)srh]
- lh_id [default: lh]
- rh_id [default: rh]
- rh_serial [default: 1290]
- lh_serial [default: 1338]
- rh_mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/rh_E_v3.yaml]
- lh_mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/lh_E_v3.yaml]
- eth_port [default: $(optenv ETHERCAT_PORT eth0)]
- hand_ik_solver [default: sr_hand_kinematics]
- hand_trajectory [default: true]
- hand_ctrl [default: true]
- pwm_control [default: true]
- grasp_controller [default: false]
- arm_1_z [default: 0.0]
- arm_2_z [default: 0.0]
- arm_x_separation [default: 1.0]
- arm_y_separation [default: 1.0]
- arm_1_program_path [default: $(find sr_ur_bringup)/robot_programs/]
- arm_2_program_path [default: $(find sr_ur_bringup)/robot_programs/]
- arm_robot_hw_1 [default: $(find sr_robot_launch)/config/right_ur_arm_robot_hw.yaml]
- arm_robot_hw_2 [default: $(find sr_robot_launch)/config/left_bimanual_ur_arm_robot_hw.yaml]
- include_wrist_in_arm_controller [default: true]
- arm_trajectory [default: true]
- arm_position [default: $(eval not arm_trajectory)]
- arm_ctrl [default: true]
- right_arm_speed_scale [default: 0.5]
- left_arm_speed_scale [default: 0.5]
- launch/trajectory_services.launch
-
- arm_group_name
- launch/sr_left_ur10arm_hand.launch
-
- sim [default: true]
- debug [default: false]
- use_moveit [default: true]
- planning [default: ompl]
- generate_planning_config [default: True]
- gui [default: true]
- scene [default: false]
- scene_file [default: $(find sr_description_common)/scenes/demo_space_large.scene]
- world [default: $(find sr_description_common)/worlds/shadowhands_and_arms.world]
- world [default: $(find sr_description_common)/worlds/demo_space_large.world]
- start_home [default: false]
- home_angles [default: -J la_shoulder_pan_joint 1.147 -J la_elbow_joint -1.695 -J la_wrist_1_joint -1.75 -J la_wrist_2_joint 1.57 -J la_shoulder_lift_joint -1.22 -J la_wrist_3_joint -1.830]
- external_control_loop [default: false]
- robot_state_pub_frequency [default: 250]
- joint_state_pub_frequency [default: 125]
- side [default: left]
- robot_description [default: '$(find sr_multi_description)/urdf/left_srhand_ur10.urdf.xacro']
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/left_sh_ur10.yaml]
- hand_serial [default: 1082]
- mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/lh_E_v3.yaml]
- eth_port [default: $(optenv ETHERCAT_PORT eth0)]
- hand_ik_solver [default: sr_hand_kinematics]
- pwm_control [default: true]
- grasp_controller [default: false]
- initial_z [default: 0.7551]
- initial_z [default: 0.1]
- arm_robot_hw [default: $(find sr_robot_launch)/config/$(arg side)_ur_arm_robot_hw.yaml]
- arm_speed_scale [default: 0.5]
- arm_trajectory [default: true]
- arm_position [default: $(eval not arm_trajectory)]
- include_wrist_in_arm_controller [default: true]
- debug [default: $(arg debug)]
- use_moveit [default: $(arg use_moveit)]
- planning [default: $(arg planning)]
- gui [default: $(arg gui)]
- arm_trajectory [default: $(arg arm_trajectory)]
- arm_position [default: $(arg arm_position)]
- launch/sr_right_ur5arm_hand.launch
-
- sim [default: true]
- debug [default: false]
- use_moveit [default: true]
- planning [default: ompl]
- gui [default: true]
- hand_serial [default: 1082]
- mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/rh_E_v3.yaml]
- eth_port [default: $(optenv ETHERCAT_PORT eth0)]
- scene [default: false]
- grasp_controller [default: false]
- pwm_control [default: true]
- world [default: $(find sr_description_common)/worlds/shadowhand.world]
- world [default: $(find sr_description_common)/worlds/demo_space_large.world]
- scene_file [default: $(find sr_description_common)/scenes/demo_space_large.scene]
- initial_z [default: 0.7551]
- initial_z [default: 0.1]
- robot_description [default: '$(find sr_multi_description)/urdf/right_srhand_ur5.urdf.xacro']
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/right_sh_ur5.yaml]
- arm_speed_scale [default: 0.5]
- debug [default: $(arg debug)]
- use_moveit [default: $(arg use_moveit)]
- planning [default: $(arg planning)]
- gui [default: $(arg gui)]
- launch/sr_bimanual_ur10arms_hands.launch
-
- sim [default: true]
- debug [default: false]
- use_moveit [default: true]
- planning [default: ompl]
- generate_planning_config [default: True]
- gui [default: true]
- scene [default: false]
- scene_file [default: $(find sr_description_common)/scenes/bimanual_demo_space_small.scene]
- world [default: $(find sr_description_common)/worlds/shadowhands_and_arms.world]
- world [default: $(find sr_description_common)/worlds/bimanual_demo_space_small.world]
- start_home [default: true]
- home_angles [default: -J la_shoulder_pan_joint 0.0 -J la_elbow_joint -2.0 -J la_wrist_1_joint -2.4 -J la_wrist_2_joint -1.5708 -J la_shoulder_lift_joint -1.89 -J la_wrist_3_joint 3.1416 -J ra_shoulder_pan_joint 0.0 -J ra_elbow_joint 2.0 -J ra_wrist_1_joint -0.733 -J ra_wrist_2_joint 1.5708 -J ra_shoulder_lift_joint -1.25 -J ra_wrist_3_joint 3.1416]
- external_control_loop [default: false]
- robot_state_pub_frequency [default: 250]
- joint_state_pub_frequency [default: 125]
- hands [default: both]
- arms [default: true]
- robot_description [default: '$(find sr_multi_description)/urdf/bimanual_srhand_plus_bt_sp_biotacs_$(arg robot_model).urdf.xacro']
- robot_description [default: '$(find sr_bimanual_box_ur10_moveit_config)/config/bimanual_ur10_with_box.urdf.xacro']
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/bimanual_sh_$(arg robot_model).yaml]
- robot_config_file [default: $(find sr_bimanual_box_ur10_moveit_config)/config/robot_configs/right_ur10.yaml]
- rh_serial [default: 1130]
- lh_serial [default: 2346]
- rh_mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/rh_E_v3.yaml]
- lh_mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/lh_E_v3.yaml]
- eth_port [default: $(optenv ETHERCAT_PORT eth0)]
- hand_ik_solver [default: sr_hand_kinematics]
- pwm_control [default: true]
- grasp_controller [default: false]
- arm_1_z [default: 0.7551]
- arm_1_z [default: 0.01]
- arm_2_z [default: 0.7551]
- arm_2_z [default: 0.01]
- arm_x_separation [default: 0.0]
- arm_y_separation [default: 1.5]
- arm_robot_hw_1 [default: $(find sr_robot_launch)/config/right_ur_arm_robot_hw.yaml]
- arm_robot_hw_2 [default: $(find sr_robot_launch)/config/left_bimanual_ur_arm_robot_hw.yaml]
- arm_trajectory [default: true]
- arm_position [default: $(eval not arm_trajectory)]
- include_wrist_in_arm_controller [default: true]
- right_arm_speed_scale [default: 0.5]
- left_arm_speed_scale [default: 0.5]
- launch/srhand.launch
-
- hand_id [default: rh]
- side [default: right]
- side [default: left]
- hand_type [default: hand_e]
- sim [default: true]
- debug [default: false]
- verbose [default: true]
- hand_trajectory [default: true]
- hand_ctrl [default: true]
- pwm_control [default: true]
- hand_serial [default: 1322]
- eth_port [default: $(optenv ETHERCAT_PORT eth0)]
- use_moveit [default: true]
- gui [default: true]
- mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/$(arg hand_id)_E_v3.yaml]
- grasp_controller [default: false]
- robot_state_pub_frequency [default: 250]
- joint_state_pub_frequency [default: 125]
- variable_controller [default: false]
- variable_controller_only_joint_0 [default: false]
- external_control_loop [default: false]
- robot_description [default: '$(find sr_description)/robots/shadowhand_motor.urdf.xacro']
- robot_description [default: '$(find sr_description)/robots/shadowhand_left_motor.urdf.xacro']
- robot_description [default: '$(find sr_description)/robots/shadowhand_lite.urdf.xacro']
- robot_description [default: '$(find sr_description)/robots/shadowhand_left_lite.urdf.xacro']
- robot_description [default: '$(find sr_description)/robots/shadowhand_motor_plus.urdf.xacro']
- robot_description [default: '$(find sr_description)/robots/shadowhand_left_motor_plus.urdf.xacro']
- hand_ik_solver [default: sr_hand_kinematics]
- world_name [default: $(arg world_name)]
- gui [default: $(arg gui)]
- launch/sr_ur3arm_box.launch
-
- sim [default: true]
- debug [default: false]
- use_moveit [default: true]
- planning [default: ompl]
- gui [default: true]
- verbose [default: true]
- scene [default: false]
- scene_file [default: $(find sr_description_common)/scenes/demo_space_large.scene]
- world [default: $(find sr_description_common)/worlds/shadowhands_and_arms.world]
- world [default: $(find sr_description_common)/worlds/demo_space_large.world]
- start_home [default: false]
- home_angles [default: -J ra_shoulder_pan_joint 1.147 -J ra_elbow_joint 1.695 -J ra_wrist_1_joint -1.395 -J ra_wrist_2_joint -1.584 -J ra_shoulder_lift_joint -1.926 -J ra_wrist_3_joint 1.830]
- external_control_loop [default: false]
- robot_state_pub_frequency [default: 250]
- joint_state_pub_frequency [default: 125]
- hand_id [default: H1]
- arm_id [default: ra]
- side [default: right]
- arm_model [default: ur3]
- initial_z [default: 0.7751]
- initial_z [default: 0.1]
- arm_robot_hw [default: $(find sr_robot_launch)/config/$(arg side)_ur_arm_robot_hw.yaml]
- arm_controller [default: $(find sr_robot_launch)/config/$(arg side)_ur_arm_controller.yaml]
- arm_speed_scale [default: 0.5]
- arm_trajectory [default: true]
- arm_position [default: $(eval not arm_trajectory)]
- robot_description [default: '$(find sr_box_ur10_moveit_config)/config/$(arg arm_model)_with_box.urdf.xacro']
- robot_config_file [default: $(find sr_box_ur10_moveit_config)/config/robot_configs/$(arg side)_$(arg arm_model).yaml]
- robot_name [default: ursrbox]
- gui [default: $(arg gui)]
- frequency [default: 1]
- debug [default: $(arg debug)]
- initial_z [default: 0.7551]
- initial_z [default: 0.1]
- arm_trajectory [default: $(arg arm_trajectory)]
- arm_position [default: $(arg arm_position)]
- hand_ctrl [default: false]
- launch/sr_bimanual.launch
-
- sim [default: true]
- debug [default: false]
- use_moveit [default: true]
- planning [default: ompl]
- generate_planning_config [default: True]
- gui [default: true]
- verbose [default: true]
- world [default: $(find sr_description_common)/worlds/shadowhand.world]
- robot_description [default: '$(find sr_description)/robots/bimanual_shadowhand_motor_plus.urdf.xacro']
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/bimanual_sh.yaml]
- robot_name [default: bimanual_shadowhand_motor]
- rviz_config_file [default: $(find sr_multi_moveit_config)/launch/moveit_hands.rviz]
- hand_trajectory [default: true]
- hand_ctrl [default: true]
- pwm_control [default: true]
- rh_serial [default: 1130]
- lh_serial [default: 2346]
- rh_mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/rh_E_v3.yaml]
- lh_mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/lh_E_v3.yaml]
- eth_port [default: $(optenv ETHERCAT_PORT eth1_eth2)]
- hand_ik_solver [default: sr_hand_kinematics]
- robot_state_pub_frequency [default: 250]
- joint_state_pub_frequency [default: 125]
- external_control_loop [default: false]
- hand_x_separation [default: -0.4]
- launch/sr_right_ur10arm_hand.launch
-
- sim [default: true]
- debug [default: false]
- use_moveit [default: true]
- planning [default: ompl]
- generate_planning_config [default: True]
- gui [default: true]
- scene [default: false]
- scene_file [default: $(find sr_description_common)/scenes/demo_space_large.scene]
- world [default: $(find sr_description_common)/worlds/shadowhands_and_arms.world]
- world [default: $(find sr_description_common)/worlds/demo_space_large.world]
- start_home [default: false]
- home_angles [default: -J ra_shoulder_pan_joint 1.147 -J ra_elbow_joint 1.695 -J ra_wrist_1_joint -1.395 -J ra_wrist_2_joint -1.584 -J ra_shoulder_lift_joint -1.926 -J ra_wrist_3_joint 1.830]
- external_control_loop [default: false]
- robot_state_pub_frequency [default: 250]
- joint_state_pub_frequency [default: 125]
- side [default: right]
- robot_description [default: '$(find sr_multi_description)/urdf/right_srhand_ur10.urdf.xacro']
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/right_sh_ur10.yaml]
- hand_serial [default: 1082]
- mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/rh_E_v3.yaml]
- eth_port [default: $(optenv ETHERCAT_PORT eth0)]
- hand_ik_solver [default: sr_hand_kinematics]
- pwm_control [default: true]
- grasp_controller [default: false]
- initial_z [default: 0.7551]
- initial_z [default: 0.1]
- arm_robot_hw [default: $(find sr_robot_launch)/config/$(arg side)_ur_arm_robot_hw.yaml]
- arm_speed_scale [default: 0.5]
- arm_trajectory [default: true]
- arm_position [default: $(eval not arm_trajectory)]
- include_wrist_in_arm_controller [default: true]
- debug [default: $(arg debug)]
- use_moveit [default: $(arg use_moveit)]
- planning [default: $(arg planning)]
- gui [default: $(arg gui)]
- arm_trajectory [default: $(arg arm_trajectory)]
- arm_position [default: $(arg arm_position)]
- launch/sr_ur5arm_box.launch
-
- sim [default: true]
- debug [default: false]
- use_moveit [default: true]
- planning [default: ompl]
- gui [default: true]
- verbose [default: true]
- scene [default: false]
- scene_file [default: $(find sr_description_common)/scenes/demo_space_large.scene]
- world [default: $(find sr_description_common)/worlds/shadowhands_and_arms.world]
- world [default: $(find sr_description_common)/worlds/demo_space_large.world]
- start_home [default: false]
- home_angles [default: -J ra_shoulder_pan_joint 1.147 -J ra_elbow_joint 1.695 -J ra_wrist_1_joint -1.395 -J ra_wrist_2_joint -1.584 -J ra_shoulder_lift_joint -1.926 -J ra_wrist_3_joint 1.830]
- external_control_loop [default: false]
- robot_state_pub_frequency [default: 250]
- joint_state_pub_frequency [default: 125]
- hand_id [default: H1]
- arm_id [default: ra]
- side [default: right]
- arm_model [default: ur5]
- initial_z [default: 0.7751]
- initial_z [default: 0.1]
- arm_robot_hw [default: $(find sr_robot_launch)/config/$(arg side)_ur_arm_robot_hw.yaml]
- arm_controller [default: $(find sr_robot_launch)/config/$(arg side)_ur_arm_controller.yaml]
- arm_speed_scale [default: 0.5]
- arm_trajectory [default: true]
- arm_position [default: $(eval not arm_trajectory)]
- robot_description [default: '$(find sr_box_ur10_moveit_config)/config/$(arg arm_model)_with_box.urdf.xacro']
- robot_config_file [default: $(find sr_box_ur10_moveit_config)/config/robot_configs/$(arg side)_$(arg arm_model).yaml]
- robot_name [default: ursrbox]
- gui [default: $(arg gui)]
- frequency [default: 1]
- debug [default: $(arg debug)]
- initial_z [default: 0.7551]
- initial_z [default: 0.1]
- arm_trajectory [default: $(arg arm_trajectory)]
- arm_position [default: $(arg arm_position)]
- hand_ctrl [default: false]
- launch/sr_ur10arm_box.launch
-
- sim [default: true]
- debug [default: false]
- use_moveit [default: true]
- planning [default: ompl]
- gui [default: true]
- verbose [default: true]
- scene [default: false]
- scene_file [default: $(find sr_description_common)/scenes/demo_space_large.scene]
- world [default: $(find sr_description_common)/worlds/shadowhands_and_arms.world]
- world [default: $(find sr_description_common)/worlds/demo_space_large.world]
- start_home [default: false]
- side [default: right]
- arm_model [default: ur10]
- robot_description [default: '$(find sr_box_ur10_moveit_config)/config/$(arg side_letter)a_$(arg arm_model)_with_box.urdf.xacro']
- robot_config_file [default: $(find sr_box_ur10_moveit_config)/config/robot_configs/$(arg side)_$(arg arm_model).yaml]
- home_angles [default: -J ra_shoulder_pan_joint 1.147 -J ra_elbow_joint 1.695 -J ra_wrist_1_joint -1.395 -J ra_wrist_2_joint -1.584 -J ra_shoulder_lift_joint -1.926 -J ra_wrist_3_joint 1.830]
- home_angles [default: -J la_shoulder_pan_joint 1.147 -J la_elbow_joint -1.695 -J la_wrist_1_joint -1.75 -J la_wrist_2_joint 1.57 -J la_shoulder_lift_joint -1.22 -J la_wrist_3_joint -1.830]
- external_control_loop [default: false]
- robot_state_pub_frequency [default: 250]
- joint_state_pub_frequency [default: 125]
- hand_id [default: H1]
- arm_id [default: $(arg side_letter)a]
- initial_z [default: 0.7551]
- initial_z [default: 0.1]
- arm_robot_hw [default: $(find sr_robot_launch)/config/$(arg side)_ur_arm_robot_hw.yaml]
- arm_speed_scale [default: 0.5]
- arm_trajectory [default: true]
- arm_position [default: $(eval not arm_trajectory)]
- robot_name [default: ursrbox]
- gui [default: $(arg gui)]
- frequency [default: 1]
- debug [default: $(arg debug)]
- initial_z [default: 0.7551]
- initial_z [default: 0.1]
- arm_trajectory [default: $(arg arm_trajectory)]
- arm_position [default: $(arg arm_position)]
- hand_ctrl [default: false]
- launch/sr_ur10_two_arms_hands.launch
-
- sim [default: true]
- debug [default: false]
- use_moveit [default: true]
- planning [default: ompl]
- generate_planning_config [default: True]
- gui [default: true]
- verbose [default: true]
- scene [default: false]
- world [default: $(find sr_description_common)/worlds/shadowhands_and_arms.world]
- world [default: $(find sr_description_common)/worlds/demo_space_large.world]
- scene_file [default: $(find sr_description_common)/scenes/demo_space_large.scene]
- start_home [default: true]
- home_angles [default: -J ra_shoulder_pan_joint 1.147 -J ra_elbow_joint 1.695 -J ra_wrist_1_joint -1.395 -J ra_wrist_2_joint -1.584 -J ra_shoulder_lift_joint -1.926 -J ra_wrist_3_joint 2.7 -J la_shoulder_pan_joint -1.147 -J la_elbow_joint -1.695 -J la_wrist_1_joint -1.75 -J la_wrist_2_joint 1.57 -J la_shoulder_lift_joint -1.22 -J la_wrist_3_joint -2.70]
- lh_id [default: lh]
- rh_id [default: rh]
- robot_model [default: ur10]
- arm_1_z [default: 0.7551]
- arm_1_z [default: 0.0]
- arm_2_z [default: 0.7551]
- arm_2_z [default: 0.0]
- arm_separation [default: 1.5]
- arm_1_program_path [default: $(find sr_ur_bringup)/robot_programs/]
- arm_2_program_path [default: $(find sr_ur_bringup)/robot_programs/]
- robot_description [default: '$(find sr_multi_description)/urdf/both_srhand_two_$(arg robot_model)_two_hands.urdf.xacro']
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/both_sh_two_$(arg robot_model)_two_hands.yaml]
- robot_name [default: $(arg robot_model)srh]
- arm_robot_hw_1 [default: $(find sr_robot_launch)/config/right_ur_arm_robot_hw.yaml]
- arm_robot_hw_2 [default: $(find sr_robot_launch)/config/left_ur_arm_robot_hw.yaml]
- right_arm_speed_scale [default: 0.5]
- left_arm_speed_scale [default: 0.5]
- arm_trajectory [default: true]
- arm_ctrl [default: true]
- hand_trajectory [default: true]
- hand_ctrl [default: true]
- pwm_control [default: true]
- rh_serial [default: 1290]
- lh_serial [default: 1338]
- rh_mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/rh_E_v3.yaml]
- lh_mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/lh_E_v3.yaml]
- eth_port [default: $(optenv ETHERCAT_PORT eth0)]
- world_name [default: $(arg world)]
- gui [default: $(arg gui)]
- frequency [default: 1]
- gui [default: $(arg gui)]
- launch/sr_ur_arm_hand.launch
-
- sim [default: true]
- debug [default: false]
- use_moveit [default: true]
- planning [default: ompl]
- generate_planning_config [default: True]
- gui [default: true]
- verbose [default: true]
- scene [default: false]
- scene_file [default: $(find sr_description_common)/scenes/demo_space_large.scene]
- world [default: $(find sr_description_common)/worlds/shadowhands_and_arms.world]
- start_home [default: false]
- home_angles [default: -J ra_shoulder_pan_joint 1.147 -J ra_elbow_joint 1.695 -J ra_wrist_1_joint -1.395 -J ra_wrist_2_joint -1.584 -J ra_shoulder_lift_joint -1.926 -J ra_wrist_3_joint 1.830]
- external_control_loop [default: false]
- robot_state_pub_frequency [default: 250]
- joint_state_pub_frequency [default: 125]
- side [default: right]
- robot_model [default: ur10]
- robot_name [default: $(arg robot_model)srh]
- robot_description [default: '$(find sr_multi_description)/urdf/$(arg side)_srhand_$(arg robot_model).urdf.xacro']
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/$(arg side)_sh_$(arg robot_model).yaml]
- hand_id [default: rh]
- hand_serial [default: 634]
- mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/$(arg hand_id)_E_v3.yaml]
- eth_port [default: $(optenv ETHERCAT_PORT eth0)]
- hand_ik_solver [default: sr_hand_kinematics]
- hand_trajectory [default: true]
- hand_ctrl [default: true]
- pwm_control [default: true]
- grasp_controller [default: false]
- arm_id [default: ra]
- initial_z [default: 0.1]
- arm_robot_hw [default: $(find sr_robot_launch)/config/$(arg side)_ur_arm_robot_hw.yaml]
- include_wrist_in_arm_controller [default: true]
- arm_trajectory [default: true]
- arm_position [default: $(eval not arm_trajectory)]
- arm_ctrl [default: true]
- arm_speed_scale [default: 0.5]
- world_name [default: $(arg world)]
- gui [default: $(arg gui)]
- frequency [default: 1]
- launch/srhand_mujoco.launch
-
- hand_id [default: rh]
- hand_type [default: hand_e_plus]
- sim [default: true]
- sim_type [default: mujoco]
- debug [default: false]
- verbose [default: true]
- hand_trajectory [default: true]
- hand_ctrl [default: true]
- pwm_control [default: true]
- hand_serial [default: 1322]
- eth_port [default: $(optenv ETHERCAT_PORT eth0)]
- use_moveit [default: true]
- gui [default: true]
- mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/$(arg hand_id)_E_v3.yaml]
- grasp_controller [default: false]
- robot_state_pub_frequency [default: 50]
- joint_state_pub_frequency [default: 100]
- robot_urdf_filename [default: shadowhand_motor]
- robot_urdf_filename [default: shadowhand_motor_plus]
- robot_urdf_filename [default: shadowhand_motor_left]
- robot_urdf_filename [default: shadowhand_motor_plus_left]
- robot_urdf_filename [default: shadowhand_lite]
- robot_urdf_filename [default: shadowhand_left_lite]
- robot_description [default: $(find sr_description)/robots/$(arg robot_urdf_filename).urdf.xacro]
- robot_description [default: $(find sr_description)/mujoco_models/urdfs/$(arg robot_urdf_filename).urdf]
- mujoco_model_filename [default: $(find sr_description)/mujoco_models/sr_hand_e_environment.xml]
- mujoco_model_filename [default: $(find sr_description)/mujoco_models/sr_hand_e_plus_environment.xml]
- mujoco_model_filename [default: $(find sr_description)/mujoco_models/sr_hand_e_left_environment.xml]
- mujoco_model_filename [default: $(find sr_description)/mujoco_models/sr_hand_e_plus_left_environment.xml]
- world_name [default: $(arg world_name)]
- gui [default: $(arg gui)]
- launch/sr_bimanual_hardware_control_loop.launch
-
- debug [default: false]
- robot_state_pub_frequency [default: 250]
- joint_state_pub_frequency [default: 125]
- hands [default: both]
- arm_ctrl [default: true]
- robot_model [default: ur10]
- robot_description [default: '$(find sr_multi_description)/urdf/bimanual_srhand_$(arg robot_model).urdf.xacro']
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/bimanual_sh_$(arg robot_model).yaml]
- robot_description [default: '$(find sr_multi_description)/urdf/bimanual_ur10.urdf.xacro']
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/bimanual_$(arg robot_model).yaml]
- robot_description [default: '$(find sr_description)/robots/bimanual_shadowhand_motor_plus.urdf.xacro']
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/bimanual_sh.yaml]
- load_robot_description [default: true]
- rh_serial [default: 1130]
- lh_serial [default: 2346]
- rh_mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/rh_E_v3.yaml]
- lh_mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/lh_E_v3.yaml]
- eth_port [default: $(optenv ETHERCAT_PORT eth0)]
- pwm_control [default: true]
- arm_1_z [default: 0.7551]
- arm_2_z [default: 0.7551]
- arm_x_separation [default: -0.4]
- arm_x_separation [default: 0.0]
- arm_y_separation [default: 1.5]
- arm_1_program_path [default: $(find sr_ur_bringup)/robot_programs/]
- arm_2_program_path [default: $(find sr_ur_bringup)/robot_programs/]
- arm_robot_hw_1 [default: $(find sr_robot_launch)/config/right_ur_arm_robot_hw.yaml]
- arm_robot_hw_2 [default: $(find sr_robot_launch)/config/left_bimanual_ur_arm_robot_hw.yaml]
- include_wrist_in_arm_controller [default: true]
- include_wrist_in_arm_controller [default: false]
- arm_trajectory [default: true]
- arm_position [default: $(eval not arm_trajectory)]
- right_arm_speed_scale [default: 0.5]
- left_arm_speed_scale [default: 0.5]
- launch/sr_hardware_control_loop.launch
-
- debug [default: false]
- robot_state_pub_frequency [default: 250]
- joint_state_pub_frequency [default: 125]
- robot_model [default: ur10]
- side [default: right]
- arm_ctrl [default: true]
- hand_ctrl [default: true]
- robot_description [default: $(find sr_multi_description)/urdf/$(arg side)_srhand_ur10_bt_sp_biotacs.urdf.xacro]
- robot_description [default: $(find sr_box_ur10_moveit_config)/config/$(arg side_letter)a_ur10_with_box.urdf.xacro]
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/$(arg side)_sh_$(arg robot_model).yaml]
- hand_serial [default: 1082]
- mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/$(arg hand_id)_E_v3.yaml]
- eth_port [default: $(optenv ETHERCAT_PORT enp2s0)]
- pwm_control [default: true]
- grasp_controller [default: false]
- hand_trajectory [default: true]
- robot_description [default: $(find sr_description)/robots/shadowhand_motor_plus.urdf.xacro]
- robot_description [default: $(find sr_description)/robots/shadowhand_left_motor_plus.urdf.xacro]
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/$(arg side)_sh.yaml]
- initial_z [default: 0.7551]
- initial_z [default: 0.0]
- arm_id [default: ra]
- arm_robot_hw [default: $(find sr_robot_launch)/config/$(arg side)_ur_arm_robot_hw.yaml]
- include_wrist_in_arm_controller [default: $(arg arm_ctrl)]
- arm_trajectory [default: true]
- arm_position [default: $(eval not arm_trajectory)]
- arm_speed_scale [default: 0.5]
- launch/sr_left_ur5arm_hand.launch
-
- sim [default: true]
- debug [default: false]
- use_moveit [default: true]
- planning [default: ompl]
- gui [default: true]
- hand_serial [default: 1082]
- mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/lh_E_v3.yaml]
- eth_port [default: $(optenv ETHERCAT_PORT eth0)]
- scene [default: false]
- grasp_controller [default: false]
- pwm_control [default: true]
- world [default: $(find sr_description_common)/worlds/shadowhand.world]
- world [default: $(find sr_description_common)/worlds/demo_space_large.world]
- scene_file [default: $(find sr_description_common)/scenes/demo_space_large.scene]
- initial_z [default: 0.7551]
- initial_z [default: 0.1]
- robot_description [default: '$(find sr_multi_description)/urdf/left_srhand_ur5.urdf.xacro']
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/left_sh_ur5.yaml]
- arm_speed_scale [default: 0.5]
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Recent questions tagged sr_robot_launch at Robotics Stack Exchange
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Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | GPL |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/shadow-robot/sr_interface.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2021-12-10 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
sr_robot_launch contains the launch file for the UR10 arm and SR hand
Additional Links
Maintainers
- Shadow Robot's software team
Authors
- Kirsty Ellis
Starting the robots (simulated / real)
Shadow hand only
Simulation
To start our hand, simply do:
roslaunch sr_robot_launch srhand.launch
This will launch the five finger hand (shadowhand_motor) by default . If you want to launch another hand, these are the hands available:
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|---|---|---|---|---|---|---|---|---|---|---|
| 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 |
| Right | Left | |
|---|---|---|
| 1 | shadowhand_motor.urdf.xacro | shadowhand_left_motor.urdf.xacro |
| 2 | shadowhand_motor_biotac.urdf.xacro | shadowhand_left_motor_biotac.urdf.xacro |
| 3 | shadowhand_motor_ff_biotac.urdf.xacro | |
| 4 | shadowhand_motor_btsp.urdf.xacro | |
| 5 | shadowhand_motor_ellipsoid.urdf.xacro | |
| 6 | shadowhand_motor_th_ff_rf_ellipsoid.urdf.xacro | |
| 7 | shadowhand_muscle.urdf.xacro | shadowhand_left_muscle.urdf.xacro |
| 8 | shadowhand_muscle_biotac.urdf.xacro | |
| 9 | shadowhand_lite.urdf.xacro | |
| 10 | shadowhand_extra_lite.urdf.xacro | |
| 11 | shadowhand_motor_plus.urdf.xacro | shadowhand_left_motor_plus.urdf.xacro |
To start the simulation of a shadow hand, you can run:
roslaunch sr_robot_launch srhand.launch robot_description:=`rospack find sr_description`/robots/shadowhand_motor.urdf.xacro
- The
robot descriptionparam can be changed to start any of the available Shadow hands shown in the table. - If it is a left hand,
hand_id:=lhshould be added. For example:
roslaunch sr_robot_launch srhand.launch robot_description:=`rospack find sr_description`/robots/shadowhand_left_motor.urdf.xacro hand_id:=lh
-
Moveit will enable advanced behaviour (inverse kinematics, planning, collision detectection, etc…), but if it is not needed, you can set
use_moveit:=false -
To start the dexterous hand plus (shadowhand_motor_plus.urdf.xacro), you can add the hand_type like this:
roslaunch sr_robot_launch srhand.launch hand_type:=hand_e_plus
Real hand
To start a real hand, you can run:
roslaunch sr_ethercat_hand_config sr_rhand.launch
It has the specific configuration to launch your hand, including the ethernet port, the hand serial and robot description.
Shadow hand with UR10 arm
Simulation
To start the simulation of the hand and arm, you can run:
roslaunch sr_robot_launch sr_right_ur10arm_hand.launch
or, for the left hand and arm
roslaunch sr_robot_launch sr_left_ur10arm_hand.launch
Real Robots
To start the real robots, do:
roslaunch sr_robot_launch sr_right_ur10arm_hand.launch sim:=false hand_serial:=1178
or, for the left hand and arm
roslaunch sr_robot_launch sr_left_ur10arm_hand.launch sim:=false hand_serial:=1178
To find the hand serial you can launch the command without the hand_serial argument and then check the program output. You should see something like:
Trying to read mapping for: /hand/mapping/1178
In this case 1178 is the serial number of the hand.
To change the hand mapping, you can set the mapping_path argument. For example adding:
mapping_path:=`rospack find sr_edc_launch`/mappings/default_mappings/rh_E_v4.yaml
To change the ethernet port used for your hand, you can add the eth_port argument, such as:
eth_port:=eth6
Real Robots, using the normal (not limited) joint range
By default the URDF used for the UR10 arm uses a limited range for the joints, as that helps moveit find a planning solution. But as that restricts the robot movements, the user might want to start the robots with the full joint range. To do that:
roslaunch sr_robot_launch sr_right_ur10arm_hand.launch sim:=false robot_description:=`rospack find sr_multi_description`/urdf/right_srhand_ur10.urdf.xacro hand_serial:=1178
or, for the left hand and arm
roslaunch sr_robot_launch sr_left_ur10arm_hand.launch sim:=false robot_description:=`rospack find sr_multi_description`/urdf/left_srhand_ur10.urdf.xacro hand_serial:=1178
Hand with tactile sensors
If your hand has biotacs sensors, simply append _biotacs to the robot_description:= and to the robot_config_file:= as seen below:
robot_description:=`rospack find sr_multi_description`/urdf/right_srhand_ur10_joint_limited_biotacs.urdf.xacro robot_config_file:=`rospack find sr_multi_moveit_config`/config/robot_configs/right_sh_ur10_biotac.yaml
Bimanual system
Simulation
To start the simulation of a bimanual system, you can run:
roslaunch sr_robot_launch sr_bimanual.launch use_moveit:=true
Real Robots
To start the real robots, do:
roslaunch sr_robot_launch sr_bimanual.launch sim:=false rh_serial:=1290 lh_serial:=1338
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rospy | |
| catkin | |
| controller_manager_msgs | |
| joint_state_publisher | |
| robot_state_publisher | |
| std_msgs | |
| sr_multi_description | |
| sr_robot_msgs | |
| ur_gazebo | |
| ros_control_robot | |
| sr_utilities_common | |
| rostest |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| sr_interface | |
| sr_3dmouse |
Launch files
- launch/sr_ur10arm_hand_blockly.launch
-
- sim [default: false]
- gui [default: true]
- launch/sr_ur_arms_hands.launch
-
- sim [default: true]
- debug [default: false]
- use_moveit [default: true]
- planning [default: ompl]
- generate_planning_config [default: true]
- gui [default: true]
- verbose [default: true]
- scene [default: false]
- scene_file [default: $(find sr_description_common)/scenes/demo_space_large_bimanual.scene]
- world [default: $(find sr_description_common)/worlds/shadowhands_and_arms.world]
- start_home [default: false]
- home_angles [default: ]
- external_control_loop [default: false]
- robot_state_pub_frequency [default: 250]
- joint_state_pub_frequency [default: 125]
- wear_logging [default: false]
- hands [default: both]
- robot_model [default: ur10e]
- robot_description [default: '$(find sr_multi_description)/urdf/bimanual_srhand_$(arg robot_model).urdf.xacro']
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/bimanual_sh_$(arg robot_model).yaml]
- robot_name [default: $(arg robot_model)srh]
- rh_serial [default: 1290]
- lh_serial [default: 1338]
- rh_mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/rh_E_v4.yaml]
- lh_mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/lh_E_v4.yaml]
- eth_port [default: $(optenv ETHERCAT_PORT eth0)]
- hand_ik_solver [default: sr_hand_kinematics]
- hand_trajectory [default: true]
- hand_ctrl [default: true]
- pwm_control [default: true]
- hand_type [default: hand_e_plus]
- arm_1_z [default: 0.0]
- arm_2_z [default: 0.0]
- arm_x_separation [default: 1.0]
- arm_y_separation [default: 1.0]
- arm_robot_hw_1 [default: $(find sr_robot_launch)/config/right_ur_arm_robot_hw.yaml]
- arm_robot_hw_1 [default: $(find sr_robot_launch)/config/right_ur10e_arm_robot_hw.yaml]
- arm_robot_hw_2 [default: $(find sr_robot_launch)/config/left_bimanual_ur_arm_robot_hw.yaml]
- arm_robot_hw_2 [default: $(find sr_robot_launch)/config/left_bimanual_ur10e_arm_robot_hw.yaml]
- arm_trajectory [default: true]
- arm_position [default: $(eval not arm_trajectory)]
- arm_ctrl [default: true]
- right_arm_speed_scale [default: 0.5]
- left_arm_speed_scale [default: 0.5]
- arm_payload_mass [default: 5.0]
- arm_payload_mass [default: 5.0]
- arm_payload_mass [default: 2.7]
- arm_payload_mass [default: 2.5]
- arm_payload_cog [default: [0.0, 0.0, 0.12]]
- trajectory_controllers_list [default: [/ra_trajectory_controller/state, /la_trajectory_controller/state, /rh_trajectory_controller/state, /lh_trajectory_controller/state]]
- hand_serial [default: $(arg lh_serial)]
- hand_id [default: lh]
- aws_save_period [default: 36000]
- local_save_period [default: 5]
- hand_serial [default: $(arg rh_serial)]
- hand_id [default: rh]
- aws_save_period [default: 36000]
- local_save_period [default: 5]
- launch/trajectory_services.launch
-
- arm_group_name
- launch/sr_left_ur10arm_hand.launch
-
- sim [default: true]
- debug [default: false]
- use_moveit [default: true]
- planning [default: ompl]
- generate_planning_config [default: true]
- gui [default: true]
- scene [default: false]
- scene_file [default: $(find sr_description_common)/scenes/demo_space_large_bimanual.scene]
- world [default: $(find sr_description_common)/worlds/shadowhands_and_arms.world]
- world [default: $(find sr_description_common)/worlds/demo_space_large_bimanual.world]
- start_home [default: true]
- home_angles [default: -J la_shoulder_pan_joint 0.0 -J la_elbow_joint -2.0 -J la_wrist_1_joint -2.1 -J la_wrist_2_joint -1.5708 -J la_shoulder_lift_joint -1.89 -J la_wrist_3_joint 2]
- external_control_loop [default: false]
- robot_state_pub_frequency [default: 250]
- joint_state_pub_frequency [default: 125]
- hand_serial [default: 1082]
- mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/lh_E_v4.yaml]
- eth_port [default: $(optenv ETHERCAT_PORT eth0)]
- hand_ik_solver [default: sr_hand_kinematics]
- pwm_control [default: true]
- grasp_controller [default: false]
- hand_type [default: hand_e_plus]
- initial_z [default: 0.7521]
- initial_z [default: 0.1]
- arm_x_separation [default: 0.0]
- arm_y_separation [default: 1.5]
- arm_y_separation [default: 0.0]
- robot_model [default: ur10e]
- arm_robot_hw [default: $(find sr_robot_launch)/config/left_ur_arm_robot_hw.yaml]
- arm_robot_hw [default: $(find sr_robot_launch)/config/left_ur10e_arm_robot_hw.yaml]
- arm_speed_scale [default: 0.5]
- robot_description [default: '$(find sr_multi_description)/urdf/$(arg side)_srhand_$(arg robot_model).urdf.xacro']
- arm_trajectory [default: true]
- arm_position [default: $(eval not arm_trajectory)]
- debug [default: $(arg debug)]
- use_moveit [default: $(arg use_moveit)]
- planning [default: $(arg planning)]
- gui [default: $(arg gui)]
- arm_trajectory [default: $(arg arm_trajectory)]
- arm_position [default: $(arg arm_position)]
- launch/sr_right_ur5arm_hand.launch
-
- sim [default: true]
- debug [default: false]
- use_moveit [default: true]
- planning [default: ompl]
- generate_planning_config [default: true]
- gui [default: true]
- scene [default: false]
- scene_file [default: $(find sr_description_common)/scenes/demo_space_large_bimanual.scene]
- world [default: $(find sr_description_common)/worlds/shadowhands_and_arms.world]
- world [default: $(find sr_description_common)/worlds/demo_space_large_bimanual.world]
- start_home [default: true]
- home_angles [default: -J ra_shoulder_pan_joint 0.0 -J ra_elbow_joint 2.0 -J ra_wrist_1_joint -1 -J ra_wrist_2_joint 1.5708 -J ra_shoulder_lift_joint -1.25 -J ra_wrist_3_joint -2]
- external_control_loop [default: false]
- robot_state_pub_frequency [default: 250]
- joint_state_pub_frequency [default: 125]
- hand_serial [default: 1082]
- mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/rh_E_v4.yaml]
- eth_port [default: $(optenv ETHERCAT_PORT eth0)]
- hand_ik_solver [default: sr_hand_kinematics]
- pwm_control [default: true]
- grasp_controller [default: false]
- hand_type [default: hand_e_plus]
- initial_z [default: 0.7521]
- initial_z [default: 0.1]
- robot_model [default: ur5e]
- arm_robot_hw [default: $(find sr_robot_launch)/config/right_ur_arm_robot_hw.yaml]
- arm_speed_scale [default: 0.5]
- robot_description [default: '$(find sr_multi_description)/urdf/$(arg side)_srhand_lite_$(arg robot_model).urdf.xacro']
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/$(arg side)_sh_lite_$(arg robot_model).yaml]
- arm_trajectory [default: true]
- arm_position [default: $(eval not arm_trajectory)]
- debug [default: $(arg debug)]
- use_moveit [default: $(arg use_moveit)]
- planning [default: $(arg planning)]
- gui [default: $(arg gui)]
- arm_trajectory [default: $(arg arm_trajectory)]
- arm_position [default: $(arg arm_position)]
- launch/sr_bimanual_ur10arms_hands.launch
-
- sim [default: true]
- debug [default: false]
- use_moveit [default: true]
- planning [default: ompl]
- generate_planning_config [default: true]
- gui [default: true]
- scene [default: false]
- scene_file [default: $(find sr_description_common)/scenes/demo_space_large_bimanual.scene]
- world [default: $(find sr_description_common)/worlds/shadowhands_and_arms.world]
- world [default: $(find sr_description_common)/worlds/demo_space_large_bimanual.world]
- start_home [default: true]
- home_angles [default: -J ra_shoulder_pan_joint 0.0 -J ra_elbow_joint 2.0 -J ra_wrist_1_joint -1 -J ra_wrist_2_joint 1.5708 -J ra_shoulder_lift_joint -1.25 -J ra_wrist_3_joint -2 -J la_shoulder_pan_joint 0.0 -J la_elbow_joint -2.0 -J la_wrist_1_joint -2.1 -J la_wrist_2_joint -1.5708 -J la_shoulder_lift_joint -1.89 -J la_wrist_3_joint 2]
- external_control_loop [default: false]
- robot_state_pub_frequency [default: 250]
- joint_state_pub_frequency [default: 125]
- hands [default: both]
- arms [default: true]
- robot_model [default: ur10e]
- robot_description [default: '$(find sr_multi_description)/urdf/bimanual_srhand_plus_bt_sp_biotacs_$(arg robot_model).urdf.xacro']
- robot_description [default: '$(find sr_multi_description)/urdf/bimanual_$(arg robot_model).urdf.xacro']
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/bimanual_sh_$(arg robot_model).yaml]
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/bimanual_$(arg robot_model).yaml]
- rh_serial [default: 1130]
- lh_serial [default: 2346]
- rh_mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/rh_E_v4.yaml]
- lh_mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/lh_E_v4.yaml]
- eth_port [default: $(optenv ETHERCAT_PORT eth0)]
- hand_ik_solver [default: sr_hand_kinematics]
- pwm_control [default: true]
- hand_type [default: hand_e_plus]
- arm_1_z [default: 0.7521]
- arm_1_z [default: 0.01]
- arm_2_z [default: 0.7521]
- arm_2_z [default: 0.01]
- arm_x_separation [default: 0.0]
- arm_y_separation [default: 1.5]
- arm_robot_hw_1 [default: $(find sr_robot_launch)/config/right_ur_arm_robot_hw.yaml]
- arm_robot_hw_1 [default: $(find sr_robot_launch)/config/right_ur10e_arm_robot_hw.yaml]
- arm_robot_hw_2 [default: $(find sr_robot_launch)/config/left_bimanual_ur_arm_robot_hw.yaml]
- arm_robot_hw_2 [default: $(find sr_robot_launch)/config/left_bimanual_ur10e_arm_robot_hw.yaml]
- arm_trajectory [default: true]
- arm_position [default: $(eval not arm_trajectory)]
- right_arm_speed_scale [default: 0.5]
- left_arm_speed_scale [default: 0.5]
- launch/srhand.launch
-
- hand_id [default: rh]
- side [default: right]
- side [default: left]
- hand_type [default: hand_e]
- sim [default: true]
- debug [default: false]
- verbose [default: true]
- hand_trajectory [default: true]
- hand_ctrl [default: true]
- pwm_control [default: true]
- hand_serial [default: 1322]
- eth_port [default: $(optenv ETHERCAT_PORT eth0)]
- use_moveit [default: true]
- gui [default: true]
- mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/$(arg hand_id)_E_v4.yaml]
- grasp_controller [default: false]
- hybrid_controller [default: false]
- robot_state_pub_frequency [default: 250]
- joint_state_pub_frequency [default: 125]
- external_control_loop [default: false]
- trajectory_controllers_list [default: []]
- trajectory_controllers_list [default: [/$(arg hand_id)_trajectory_controller/state]]
- robot_description [default: '$(find sr_description)/robots/shadowhand_motor.urdf.xacro']
- robot_description [default: '$(find sr_description)/robots/shadowhand_left_motor.urdf.xacro']
- robot_description [default: '$(find sr_description)/robots/shadowhand_lite.urdf.xacro']
- robot_description [default: '$(find sr_description)/robots/shadowhand_left_lite.urdf.xacro']
- robot_description [default: '$(find sr_description)/robots/shadowhand_extra_lite.urdf.xacro']
- robot_description [default: '$(find sr_description)/robots/shadowhand_left_extra_lite.urdf.xacro']
- robot_description [default: '$(find sr_description)/robots/shadowhand_motor_plus.urdf.xacro']
- robot_description [default: '$(find sr_description)/robots/shadowhand_left_motor_plus.urdf.xacro']
- hand_ik_solver [default: sr_hand_kinematics]
- hand_controller_group [default: grasp]
- hand_controller_group [default: hybrid]
- hand_controller_group [default: trajectory]
- hand_controller_group [default: position]
- world_name [default: $(arg world_name)]
- gui [default: $(arg gui)]
- launch/sr_bimanual.launch
-
- sim [default: true]
- debug [default: false]
- use_moveit [default: true]
- planning [default: ompl]
- generate_planning_config [default: true]
- gui [default: true]
- verbose [default: true]
- world [default: $(find sr_description_common)/worlds/shadowhand.world]
- robot_description [default: '$(find sr_description)/robots/bimanual_shadowhand_motor_plus.urdf.xacro']
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/bimanual_sh.yaml]
- robot_name [default: bimanual_shadowhand_motor]
- rviz_config_file [default: $(find sr_multi_moveit_config)/launch/moveit_hands.rviz]
- hand_trajectory [default: true]
- hand_ctrl [default: true]
- pwm_control [default: true]
- rh_serial [default: 1130]
- lh_serial [default: 2346]
- rh_mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/rh_E_v4.yaml]
- lh_mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/lh_E_v4.yaml]
- eth_port [default: $(optenv ETHERCAT_PORT eth1_eth2)]
- hand_ik_solver [default: sr_hand_kinematics]
- robot_state_pub_frequency [default: 250]
- joint_state_pub_frequency [default: 125]
- external_control_loop [default: false]
- hand_x_separation [default: -0.4]
- launch/sr_right_ur10arm_hand.launch
-
- sim [default: true]
- debug [default: false]
- use_moveit [default: true]
- planning [default: ompl]
- generate_planning_config [default: true]
- gui [default: true]
- scene [default: false]
- scene_file [default: $(find sr_description_common)/scenes/demo_space_large_bimanual.scene]
- world [default: $(find sr_description_common)/worlds/shadowhands_and_arms.world]
- world [default: $(find sr_description_common)/worlds/demo_space_large_bimanual.world]
- start_home [default: true]
- home_angles [default: -J ra_shoulder_pan_joint 0.0 -J ra_elbow_joint 2.0 -J ra_wrist_1_joint -1 -J ra_wrist_2_joint 1.5708 -J ra_shoulder_lift_joint -1.25 -J ra_wrist_3_joint -2]
- external_control_loop [default: false]
- robot_state_pub_frequency [default: 250]
- joint_state_pub_frequency [default: 125]
- hand_serial [default: 1082]
- mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/rh_E_v4.yaml]
- eth_port [default: $(optenv ETHERCAT_PORT eth0)]
- hand_ik_solver [default: sr_hand_kinematics]
- pwm_control [default: true]
- grasp_controller [default: false]
- hand_type [default: hand_e_plus]
- initial_z [default: 0.7521]
- initial_z [default: 0.1]
- robot_model [default: ur10e]
- arm_robot_hw [default: $(find sr_robot_launch)/config/right_ur_arm_robot_hw.yaml]
- arm_robot_hw [default: $(find sr_robot_launch)/config/right_ur10e_arm_robot_hw.yaml]
- arm_speed_scale [default: 0.5]
- robot_description [default: '$(find sr_multi_description)/urdf/$(arg side)_srhand_$(arg robot_model).urdf.xacro']
- arm_trajectory [default: true]
- arm_position [default: $(eval not arm_trajectory)]
- debug [default: $(arg debug)]
- use_moveit [default: $(arg use_moveit)]
- planning [default: $(arg planning)]
- gui [default: $(arg gui)]
- arm_trajectory [default: $(arg arm_trajectory)]
- arm_position [default: $(arg arm_position)]
- launch/unimanual_controller_stopper.launch
-
- side [default: right]
- launch/sr_ur_arm_box.launch
-
- sim [default: true]
- debug [default: false]
- use_moveit [default: true]
- planning [default: ompl]
- gui [default: true]
- verbose [default: true]
- scene [default: false]
- scene_file [default: $(find sr_description_common)/scenes/demo_space_large_bimanual.scene]
- world [default: $(find sr_description_common)/worlds/shadowhands_and_arms.world]
- world [default: $(find sr_description_common)/worlds/demo_space_large_bimanual.world]
- side [default: right]
- robot_model [default: ur10e]
- robot_description [default: '$(find sr_box_ur10_moveit_config)/config/$(arg arm_prefix)_$(arg robot_model)_with_box.urdf.xacro']
- robot_config_file [default: $(find sr_box_ur10_moveit_config)/config/robot_configs/$(arg side)_$(arg robot_model).yaml]
- start_home [default: true]
- home_angles [default: -J ra_shoulder_pan_joint 0.0 -J ra_elbow_joint 2.0 -J ra_wrist_1_joint -0.733 -J ra_wrist_2_joint 1.5708 -J ra_shoulder_lift_joint -1.25 -J ra_wrist_3_joint -3.1416]
- home_angles [default: -J la_shoulder_pan_joint 0.0 -J la_elbow_joint -2.0 -J la_wrist_1_joint -2.4 -J la_wrist_2_joint -1.5708 -J la_shoulder_lift_joint -1.89 -J la_wrist_3_joint 3.1416]
- external_control_loop [default: false]
- robot_state_pub_frequency [default: 250]
- joint_state_pub_frequency [default: 125]
- initial_z [default: 0.7521]
- initial_z [default: 0.1]
- kinematics_config [default: $(find ur_e_description)/config/$(arg robot_model)_default.yaml]
- kinematics_config [default: $(find ur_description)/config/$(arg robot_model)_default.yaml]
- arm_robot_hw [default: $(find sr_robot_launch)/config/$(arg side)_ur_arm_robot_hw.yaml]
- arm_robot_hw [default: $(find sr_robot_launch)/config/$(arg side)_ur10e_arm_robot_hw.yaml]
- arm_speed_scale [default: 0.5]
- arm_payload_mass [default: 0]
- arm_payload_cog [default: [0.0, 0.0, 0.0]]
- arm_trajectory [default: true]
- arm_position [default: $(eval not arm_trajectory)]
- robot_name [default: ursrbox]
- tf_prefix [default: ]
- gui [default: $(arg gui)]
- frequency [default: 1]
- debug [default: $(arg debug)]
- initial_z [default: 0.7521]
- initial_z [default: 0.1]
- arm_trajectory [default: $(arg arm_trajectory)]
- arm_position [default: $(arg arm_position)]
- hand [default: false]
- launch/sr_ur_arm_hand_mujoco.launch
-
- use_moveit [default: true]
- gui [default: true]
- planning [default: ompl]
- generate_planning_config [default: true]
- robot_state_pub_frequency [default: 250]
- joint_state_pub_frequency [default: 125]
- key_path [default: /home/user/mjpro150/bin/mjkey.txt]
- robot_description [default: $(find sr_description)/mujoco_models/urdfs/ur10_hand.urdf]
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/right_sh_ur10.yaml]
- mujoco_model_filename [default: $(find sr_description)/mujoco_models/sr_ur_hand_e_plus_environment.xml]
- hand_ik_solver [default: sr_hand_kinematics]
- robot_description_param [default: robot_description]
- launch/sr_ur_arm_hand.launch
-
- sim [default: true]
- debug [default: false]
- use_moveit [default: true]
- planning [default: ompl]
- generate_planning_config [default: true]
- gui [default: true]
- verbose [default: true]
- scene [default: false]
- scene_file [default: $(find sr_description_common)/scenes/demo_space_large_bimanual.scene]
- world [default: $(find sr_description_common)/worlds/shadowhands_and_arms.world]
- start_home [default: false]
- home_angles [default: ]
- external_control_loop [default: false]
- robot_state_pub_frequency [default: 250]
- joint_state_pub_frequency [default: 125]
- wear_logging [default: false]
- side [default: right]
- robot_model [default: ur10e]
- robot_description [default: '$(find sr_multi_description)/urdf/$(arg side)_srhand_$(arg robot_model).urdf.xacro']
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/$(arg side)_sh_$(arg robot_model).yaml]
- robot_name [default: $(arg robot_model)srh]
- hand_serial [default: 634]
- mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/$(arg hand_id)_E_v4.yaml]
- eth_port [default: $(optenv ETHERCAT_PORT eth0)]
- hand_ik_solver [default: sr_hand_kinematics]
- hand_trajectory [default: true]
- hand_ctrl [default: true]
- pwm_control [default: true]
- grasp_controller [default: false]
- hybrid_controller [default: false]
- hand_type [default: hand_e_plus]
- initial_z [default: 0.1]
- arm_x_separation [default: 0.0]
- arm_y_separation [default: 0.0]
- arm_robot_hw [default: $(find sr_robot_launch)/config/$(arg side)_ur_arm_robot_hw.yaml]
- arm_robot_hw [default: $(find sr_robot_launch)/config/$(arg side)_ur10e_arm_robot_hw.yaml]
- arm_trajectory [default: true]
- arm_position [default: $(eval not arm_trajectory)]
- arm_ctrl [default: true]
- arm_speed_scale [default: 0.5]
- arm_payload_mass [default: 5.0]
- arm_payload_mass [default: 5.0]
- arm_payload_mass [default: 2.7]
- arm_payload_mass [default: 2.5]
- arm_payload_cog [default: [0.0, 0.0, 0.12]]
- trajectory_controllers_list [default: []]
- trajectory_controllers_list [default: [/$(arg arm_prefix)_trajectory_controller/state, /$(arg hand_id)_trajectory_controller/state]]
- trajectory_controllers_list [default: [/$(arg hand_id)_trajectory_controller/state]]
- trajectory_controllers_list [default: [/$(arg arm_prefix)_trajectory_controller/state]]
- hand_serial [default: $(arg hand_serial)]
- hand_id [default: $(arg hand_id)]
- aws_save_period [default: 36000]
- local_save_period [default: 5]
- world_name [default: $(arg world)]
- gui [default: $(arg gui)]
- frequency [default: 1]
- hand_controller_group [default: grasp]
- hand_controller_group [default: hybrid]
- hand_controller_group [default: trajectory]
- hand_controller_group [default: position]
- launch/bimanual_controller_stopper.launch
- launch/srhand_mujoco.launch
-
- hand_id [default: rh]
- hand_type [default: hand_e_plus]
- hand_trajectory [default: true]
- hand_ctrl [default: true]
- use_moveit [default: true]
- gui [default: true]
- grasp_controller [default: false]
- robot_state_pub_frequency [default: 250]
- joint_state_pub_frequency [default: 125]
- key_path [default: /home/user/mjpro150/bin/mjkey.txt]
- robot_urdf_filename [default: shadowhand_motor]
- robot_urdf_filename [default: shadowhand_motor_plus]
- robot_urdf_filename [default: shadowhand_motor_left]
- robot_urdf_filename [default: shadowhand_motor_plus_left]
- robot_urdf_filename [default: shadowhand_lite]
- robot_urdf_filename [default: shadowhand_left_lite]
- robot_description [default: $(find sr_description)/mujoco_models/urdfs/$(arg robot_urdf_filename).urdf]
- mujoco_model_filename [default: $(find sr_description)/mujoco_models/sr_hand_e_environment.xml]
- mujoco_model_filename [default: $(find sr_description)/mujoco_models/sr_hand_e_plus_environment.xml]
- mujoco_model_filename [default: $(find sr_description)/mujoco_models/sr_hand_e_left_environment.xml]
- mujoco_model_filename [default: $(find sr_description)/mujoco_models/sr_hand_e_plus_left_environment.xml]
- hand_ik_solver [default: sr_hand_kinematics]
- robot_description_param [default: robot_description]
- launch/sr_bimanual_hardware_control_loop.launch
-
- debug [default: false]
- robot_state_pub_frequency [default: 250]
- joint_state_pub_frequency [default: 125]
- hands [default: both]
- arm_ctrl [default: true]
- robot_model [default: ur10e]
- robot_description [default: '$(find sr_multi_description)/urdf/bimanual_srhand_$(arg robot_model).urdf.xacro']
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/bimanual_sh_$(arg robot_model).yaml]
- robot_description [default: '$(find sr_multi_description)/urdf/bimanual_$(arg robot_model).urdf.xacro']
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/bimanual_$(arg robot_model).yaml]
- robot_description [default: '$(find sr_description)/robots/bimanual_shadowhand_motor_plus.urdf.xacro']
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/bimanual_sh.yaml]
- load_robot_description_at_lower_level [default: $(eval not arm_ctrl)]
- rh_serial [default: 1370]
- lh_serial [default: 2346]
- rh_mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/rh_E_v4.yaml]
- lh_mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/lh_E_v4.yaml]
- eth_port [default: $(optenv ETHERCAT_PORT eth0)]
- pwm_control [default: true]
- hand_trajectory [default: true]
- hand_trajectory [default: false]
- arm_1_z [default: 0.7551]
- arm_2_z [default: 0.7551]
- arm_x_separation [default: -0.4]
- arm_x_separation [default: 0.0]
- arm_y_separation [default: 1.5]
- arm_robot_hw_1 [default: $(find sr_robot_launch)/config/right_ur_arm_robot_hw.yaml]
- arm_robot_hw_1 [default: $(find sr_robot_launch)/config/right_ur10e_arm_robot_hw.yaml]
- arm_robot_hw_2 [default: $(find sr_robot_launch)/config/left_bimanual_ur_arm_robot_hw.yaml]
- arm_robot_hw_2 [default: $(find sr_robot_launch)/config/left_bimanual_ur10e_arm_robot_hw.yaml]
- urcap_program_name [default: external_ctrl.urp]
- arm_trajectory [default: true]
- arm_position [default: $(eval not arm_trajectory)]
- right_arm_speed_scale [default: 0.5]
- left_arm_speed_scale [default: 0.5]
- arm_payload_mass [default: 5.00]
- arm_payload_cog [default: [0.0, 0.0, 0.12]]
- arm_payload_mass [default: 0.0]
- arm_payload_cog [default: [0.0, 0.0, 0.0]]
- load_robot_description_command [default: xacro $(arg robot_description) arm_1_z:=$(arg arm_1_z) arm_2_z:=$(arg arm_2_z) arm_x_separation:=$(arg arm_x_separation) arm_y_separation:=$(arg arm_y_separation)]
- log_split_size [default: 64]
- launch/sr_ur_arm_mujoco.launch
-
- use_moveit [default: true]
- gui [default: true]
- planning [default: ompl]
- generate_planning_config [default: true]
- robot_state_pub_frequency [default: 250]
- joint_state_pub_frequency [default: 125]
- key_path [default: /home/user/mjpro150/bin/mjkey.txt]
- robot_description [default: $(find sr_description)/mujoco_models/urdfs/ur10.urdf]
- robot_config_file [default: $(find sr_box_ur10_moveit_config)/config/robot_configs/right_ur10.yaml]
- mujoco_model_filename [default: $(find sr_description)/mujoco_models/sr_ur_environment.xml]
- robot_description_param [default: robot_description]
- launch/sr_hardware_control_loop.launch
-
- debug [default: false]
- robot_state_pub_frequency [default: 250]
- joint_state_pub_frequency [default: 125]
- robot_model [default: ur10e]
- side [default: right]
- arm [default: true]
- hand [default: true]
- arm_ctrl [default: $(arg arm)]
- hand_ctrl [default: $(arg hand)]
- robot_description [default: $(find sr_multi_description)/urdf/$(arg side)_srhand_ur10_bt_sp_biotacs.urdf.xacro]
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/$(arg side)_sh_$(arg robot_model).yaml]
- robot_description [default: $(find sr_box_ur10_moveit_config)/config/$(arg side_letter)a_$(arg robot_model)_with_box.urdf.xacro]
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/$(arg side)_sh_$(arg robot_model).yaml]
- robot_description [default: $(find sr_description)/robots/shadowhand_motor_plus.urdf.xacro]
- robot_description [default: $(find sr_description)/robots/shadowhand_left_motor_plus.urdf.xacro]
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/$(arg side)_sh.yaml]
- hand_serial [default: 1082]
- mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/$(arg hand_id)_E_v4.yaml]
- eth_port [default: $(optenv ETHERCAT_PORT enp2s0)]
- pwm_control [default: true]
- grasp_controller [default: false]
- hybrid_controller [default: false]
- hand_trajectory [default: true]
- initial_z [default: 0.7551]
- initial_z [default: 0.0]
- arm_x_separation [default: 0.0]
- arm_y_separation [default: 0.0]
- arm_robot_hw [default: $(find sr_robot_launch)/config/$(arg side)_ur_arm_robot_hw.yaml]
- arm_robot_hw [default: $(find sr_robot_launch)/config/$(arg side)_ur10e_arm_robot_hw.yaml]
- force_torque_sensor_hw [default: $(find sr_robot_launch)/config/$(arg arm_prefix)_force_torque_controller.yaml]
- arm_trajectory [default: true]
- arm_position [default: $(eval not arm_trajectory)]
- arm_speed_scale [default: 0.5]
- arm_payload_mass [default: 5.00]
- arm_payload_cog [default: [0.0, 0.0, 0.12]]
- arm_payload_mass [default: 0.0]
- arm_payload_cog [default: [0.0, 0.0, 0.0]]
- kinematics_config [default: $(find ur_e_description)/config/$(arg robot_model)_default.yaml]
- kinematics_config [default: $(find ur_description)/config/$(arg robot_model)_default.yaml]
- urcap_program_name [default: external_ctrl.urp]
- load_robot_description_command [default: xacro $(arg robot_description) prefix:=$(arg hand_id)_ initial_z:=$(arg initial_z) arm_x_separation:=$(arg arm_x_separation) arm_y_separation:=$(arg arm_y_separation) kinematics_config:=$(arg kinematics_config)]
- hand_controller_group [default: grasp]
- hand_controller_group [default: hybrid]
- hand_controller_group [default: trajectory]
- hand_controller_group [default: position]
- log_split_size [default: 64]
- launch/sr_left_ur5arm_hand.launch
-
- sim [default: true]
- debug [default: false]
- use_moveit [default: true]
- planning [default: ompl]
- generate_planning_config [default: true]
- gui [default: true]
- scene [default: false]
- scene_file [default: $(find sr_description_common)/scenes/demo_space_large_bimanual.scene]
- world [default: $(find sr_description_common)/worlds/shadowhands_and_arms.world]
- world [default: $(find sr_description_common)/worlds/demo_space_large_bimanual.world]
- start_home [default: true]
- home_angles [default: -J la_shoulder_pan_joint 0.0 -J la_elbow_joint -2.0 -J la_wrist_1_joint -2.1 -J la_wrist_2_joint -1.5708 -J la_shoulder_lift_joint -1.89 -J la_wrist_3_joint 2]
- external_control_loop [default: false]
- robot_state_pub_frequency [default: 250]
- joint_state_pub_frequency [default: 125]
- hand_serial [default: 1082]
- mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/lh_E_v4.yaml]
- eth_port [default: $(optenv ETHERCAT_PORT eth0)]
- hand_ik_solver [default: sr_hand_kinematics]
- pwm_control [default: true]
- grasp_controller [default: false]
- hand_type [default: hand_e_plus]
- initial_z [default: 0.7521]
- initial_z [default: 0.1]
- arm_x_separation [default: 0.0]
- arm_y_separation [default: 1.5]
- arm_y_separation [default: 0.0]
- robot_model [default: ur5e]
- arm_robot_hw [default: $(find sr_robot_launch)/config/left_ur_arm_robot_hw.yaml]
- arm_speed_scale [default: 0.5]
- robot_description [default: '$(find sr_multi_description)/urdf/$(arg side)_srhand_lite_$(arg robot_model).urdf.xacro']
- robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/$(arg side)_sh_lite_$(arg robot_model).yaml]
- arm_trajectory [default: true]
- arm_position [default: $(eval not arm_trajectory)]
- debug [default: $(arg debug)]
- use_moveit [default: $(arg use_moveit)]
- planning [default: $(arg planning)]
- gui [default: $(arg gui)]
- arm_trajectory [default: $(arg arm_trajectory)]
- arm_position [default: $(arg arm_position)]
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