Tablet 12in urdf working in viz tool

hello-robot · Jan 28, 2024 · da26c6e · da26c6e
1 parent 6ac55f5
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diff --git a/tool_share_SE3/eoa_wrist_dw3_tool_tablet_12in/README.md b/tool_share_SE3/eoa_wrist_dw3_tool_tablet_12in/README.md
@@ -12,9 +12,48 @@ params:
 
 
 Copy mesh and xacro data to ~/repos/stretch_urdf/stretch_urdf/<ROBOT_MODEL>
+
+Make a new top level xacro under stretch_urdf, eg:
+
+stretch_description_SE3_eoa_wrist_dw3_tool_tablet_12in.xacro
+
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch">
+
+  <xacro:include filename="stretch_main.xacro" />
+  <xacro:include filename="stretch_aruco.xacro" />
+  <xacro:include filename="stretch_d435i.xacro" />
+  <xacro:include filename="stretch_laser_range_finder.xacro" />
+  <xacro:include filename="stretch_base_imu.xacro" />
+  <xacro:include filename="stretch_respeaker.xacro" />
+  <xacro:include filename="stretch_wrist_dw3.xacro" />
+  <xacro:include filename="stretch_tool_tablet_12in.xacro" />
+  <xacro:include filename="stretch_head_nav_cam.xacro" />
+</robot>
+
+
+
 Then run ~/repos/stretch_urdf/urdf_generate.py to create a new URDF that matches your tool
 Then copy the URDF and meshes to 
 
 pkg = str(importlib_resources.files("stretch_urdf"))  # .local/lib/python3.10/site-packages/stretch_urdf)
 
-Then copy the URDF and meshes for ROS2...
+Then copy the URDF and meshes for ROS2...
+
+
+Note: Need to copy mesh and urdf files to the PKG install place
+ 1298  cd ~/repos/stretch_tool_share/tool_share_SE3/eoa_wrist_dw3_tool_tablet_12in
+ 1300  cp meshes/*.STL ~/repos/stretch_urdf/stretch_urdf/SE3/meshes/
+ 1301  cp xacro/stretch_tool_tablet_12in.xacro ~/repos/stretch_urdf/stretch_urdf/SE3/xacro/
+
+ cp stretch_urdf/SE3/*.urdf ~/.local/lib/python3.10/site-packages/stretch_urdf/SE3/
+ 1319  ./stretch_urdf/tools/stretch_urdf_viz.py 
+ 1320  cp stretch_urdf/SE3/meshes/*tablet* ~/.local/lib/python3.10/site-packages/stretch_urdf/SE3/meshes/
+ 1321  ./stretch_urdf/tools/stretch_urdf_viz.py 
+ 1322  ls
+ 1323  cd stretch_urdf/
+ 1324  pip3 install -e .
+ 1329  pip3 list | grep stretch
+
+Verify that new tool shows up here
+ 1330  ./stretch_urdf/tools/stretch_urdf_viz.py 
diff --git a/tool_share_SE3/eoa_wrist_dw3_tool_tablet_12in/xacro/stretch_tool_tablet_12in.xacro b/tool_share_SE3/eoa_wrist_dw3_tool_tablet_12in/xacro/stretch_tool_tablet_12in.xacro
@@ -1,49 +1,5 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
-     Commit Version: 1.5.1-0-g916b5db  Build Version: 1.5.7152.31018
-     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
-<robot
-  name="stretch_description_SE3_Tablet_12in.SLDASM">
-  <link
-    name="link_wrist_roll">
-    <inertial>
-      <origin
-        xyz="0.000282866583078745 0.000557472767112321 0.0196635450474179"
-        rpy="0 0 0" />
-      <mass
-        value="0.0221916689638079" />
-      <inertia
-        ixx="2.20608319376175E-06"
-        ixy="3.01742816610977E-09"
-        ixz="-1.83537060988679E-08"
-        iyy="2.91436292743444E-06"
-        iyz="-4.55097054416199E-08"
-        izz="4.83731409646016E-06" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://stretch_description_SE3_Tablet_12in.SLDASM/meshes/link_wrist_roll.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://stretch_description_SE3_Tablet_12in.SLDASM/meshes/link_wrist_roll.STL" />
-      </geometry>
-    </collision>
-  </link>
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_tool_tablet_12in">
   <link
     name="link_DW3_tablet_12in">
     <inertial>
@@ -66,7 +22,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://stretch_description_SE3_Tablet_12in.SLDASM/meshes/link_DW3_tablet_12in.STL" />
+          filename="./meshes/link_DW3_tablet_12in.STL" />
       </geometry>
       <material
         name="">
@@ -80,7 +36,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://stretch_description_SE3_Tablet_12in.SLDASM/meshes/link_DW3_tablet_12in.STL" />
+          filename="./meshes/link_DW3_tablet_12in_collision.STL" />
       </geometry>
     </collision>
   </link>