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 2020-11-26
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:

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 description param can be changed to start any of the available Shadow hands shown in the table.
  • If it is a left hand, hand_id:=lh should 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

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • 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: $(find sr_description_common)/worlds/shadowhands_and_arms.world]
      • start_home [default: false]
      • home_angles [default: -J la_shoulder_pan_joint 0.0 -J la_elbow_joint -2.0 -J la_wrist_1_joint -2.4 -J la_wrist_2_joint -1.5708 -J la_shoulder_lift_joint -1.89 -J la_wrist_3_joint 3.1416 -J ra_shoulder_pan_joint 0.0 -J ra_elbow_joint 2.0 -J ra_wrist_1_joint -0.733 -J ra_wrist_2_joint 1.5708 -J ra_shoulder_lift_joint -1.25 -J ra_wrist_3_joint 3.1416]
      • external_control_loop [default: false]
      • robot_state_pub_frequency [default: 250]
      • joint_state_pub_frequency [default: 125]
      • hands [default: both]
      • robot_model [default: ur10e]
      • robot_description [default: '$(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]
      • 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]
      • 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: [/ra_trajectory_controller/state, /la_trajectory_controller/state, /rh_trajectory_controller/state, /lh_trajectory_controller/state]]
      • trajectory_controllers_list [default: [/rh_trajectory_controller/state, /lh_trajectory_controller/state]]
  • 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_unimanual.scene]
      • world [default: $(find sr_description_common)/worlds/shadowhands_and_arms.world]
      • world [default: $(find sr_description_common)/worlds/demo_space_large_unimanual.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_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)]
      • 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/bimanual_controller_stopper.launch
  • 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: $(find sr_description)/mujoco_models/sr_ur_environment.xml]
      • robot_description_param [default: robot_description]
  • launch/sr_bimanual_hardware_control_loop.launch
      • debug [default: false]
      • robot_state_pub_frequency [default: 250]
      • joint_state_pub_frequency [default: 125]
      • hands [default: both]
      • arm_ctrl [default: true]
      • robot_model [default: ur10e]
      • robot_description [default: '$(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 [default: true]
      • 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]
      • include_wrist_in_arm_controller [default: true]
      • include_wrist_in_arm_controller [default: false]
      • 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]]
      • kinematics_config_left [default: $(find ur_description)/config/ur10_default.yaml]
      • kinematics_config_left [default: $(find ur_e_description)/config/ur10e_default.yaml]
      • kinematics_config_right [default: $(find ur_description)/config/ur10_default.yaml]
      • kinematics_config_right [default: $(find ur_e_description)/config/ur10e_default.yaml]
      • 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:=$(arg arm_y_separation) kinematics_config_right:=$(arg kinematics_config_right) kinematics_config_left:=$(arg kinematics_config_left)]
  • 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_unimanual.scene]
      • world [default: $(find sr_description_common)/worlds/shadowhands_and_arms.world]
      • world [default: $(find sr_description_common)/worlds/demo_space_large_unimanual.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_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)]
      • include_wrist_in_arm_controller [default: false]
      • 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/trajectory_services.launch
      • arm_group_name
  • 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_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_unimanual.scene]
      • world [default: $(find sr_description_common)/worlds/shadowhands_and_arms.world]
      • world [default: $(find sr_description_common)/worlds/demo_space_large_unimanual.world]
      • start_home [default: false]
      • side [default: right]
      • robot_model [default: ur10e]
      • robot_description [default: '$(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]
      • 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]
      • 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]
      • 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/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_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_unimanual.scene]
      • world [default: $(find sr_description_common)/worlds/shadowhands_and_arms.world]
      • start_home [default: false]
      • home_angles [default: -J ra_shoulder_pan_joint 1.147 -J ra_elbow_joint 1.695 -J ra_wrist_1_joint -1.395 -J ra_wrist_2_joint -1.584 -J ra_shoulder_lift_joint -1.926 -J ra_wrist_3_joint 1.830]
      • external_control_loop [default: false]
      • robot_state_pub_frequency [default: 250]
      • joint_state_pub_frequency [default: 125]
      • side [default: right]
      • robot_model [default: ur10e]
      • robot_description [default: '$(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]
      • include_wrist_in_arm_controller [default: true]
      • arm_trajectory [default: true]
      • arm_position [default: $(eval not arm_trajectory)]
      • arm_ctrl [default: true]
      • arm_speed_scale [default: 0.5]
      • arm_payload_mass [default: 5.0]
      • arm_payload_mass [default: 5.0]
      • arm_payload_mass [default: 2.7]
      • arm_payload_mass [default: 2.5]
      • arm_payload_cog [default: [0.0, 0.0, 0.12]]
      • trajectory_controllers_list [default: []]
      • trajectory_controllers_list [default: [/$(arg arm_prefix)_trajectory_controller/state, /$(arg hand_id)_trajectory_controller/state]]
      • trajectory_controllers_list [default: [/$(arg hand_id)_trajectory_controller/state]]
      • 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/unimanual_controller_stopper.launch
      • side [default: right]
  • 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: $(find sr_description_common)/worlds/demo_space_large_bimanual.world]
      • start_home [default: true]
      • home_angles [default: -J la_shoulder_pan_joint 0.0 -J la_elbow_joint -2.0 -J la_wrist_1_joint -2.4 -J la_wrist_2_joint -1.5708 -J la_shoulder_lift_joint -1.89 -J la_wrist_3_joint 3.1416 -J ra_shoulder_pan_joint 0.0 -J ra_elbow_joint 2.0 -J ra_wrist_1_joint -0.733 -J ra_wrist_2_joint 1.5708 -J ra_shoulder_lift_joint -1.25 -J ra_wrist_3_joint 3.1416]
      • external_control_loop [default: false]
      • robot_state_pub_frequency [default: 250]
      • joint_state_pub_frequency [default: 125]
      • hands [default: both]
      • arms [default: true]
      • robot_model [default: ur10e]
      • robot_description [default: '$(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)]
      • include_wrist_in_arm_controller [default: true]
      • 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: 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]
      • 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]
      • 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]
  • launch/sr_ur10arm_hand_blockly.launch
      • sim [default: false]
      • gui [default: true]
  • 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_unimanual.scene]
      • world [default: $(find sr_description_common)/worlds/shadowhands_and_arms.world]
      • world [default: $(find sr_description_common)/worlds/demo_space_large_unimanual.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]
      • 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]
      • 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)]
      • include_wrist_in_arm_controller [default: false]
      • 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_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_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_unimanual.scene]
      • world [default: $(find sr_description_common)/worlds/shadowhands_and_arms.world]
      • world [default: $(find sr_description_common)/worlds/demo_space_large_unimanual.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]
      • 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: 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)]
      • 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)]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sr_robot_launch at answers.ros.org

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 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:

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 description param can be changed to start any of the available Shadow hands shown in the table.
  • If it is a left hand, hand_id:=lh should 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

See ROS Wiki Tutorials for more details.

Source Tutorials

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Package Dependencies

System Dependencies

No direct system dependencies.

Launch files

  • 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/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_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_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: $(arg arm_position)]
  • launch/sr_bimanual_hardware_control_loop.launch
      • debug [default: false]
      • robot_state_pub_frequency [default: 250]
      • joint_state_pub_frequency [default: 125]
      • hands [default: both]
      • arm_ctrl [default: true]
      • robot_model [default: ur10]
      • robot_description [default: '$(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_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/trajectory_services.launch
      • arm_group_name
  • 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_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_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/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_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/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/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_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_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_ur10arm_hand_blockly.launch
      • sim [default: false]
      • gui [default: true]
  • 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_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]
  • 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)]

Messages

No message files found.

Services

No service files found

Plugins

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Recent questions tagged sr_robot_launch at answers.ros.org

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 jade-devel
Last Updated 2017-02-03
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:

1 2 3 4 5 6 7 8 9 10
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

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 description param can be changed to start any of the available Shadow hands shown in the table.
  • If it is a left hand, hand_id:=lh should 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

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

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/sr_bimanual.launch
      • sim [default: true]
      • debug [default: false]
      • use_moveit [default: true]
      • gui [default: true]
      • robot_description [default: $(find sr_description)/robots/bimanual_shadowhand_motor.urdf.xacro]
      • robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/bimanual_sh.yaml]
      • robot_name [default: bimanual_shadowhand_motor]
      • hand_trajectory [default: true]
      • hand_ctrl [default: true]
      • pwm_control [default: $(optenv PWM_CONTROL 1)]
      • rh_serial [default: 1290]
      • rh_id [default: rh]
      • lh_serial [default: 1338]
      • lh_id [default: lh]
      • 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)]
      • world_name [default: $(arg world_name)]
      • gui [default: $(arg gui)]
      • gui [default: $(arg gui)]
  • launch/right_srhand_ur10arm.launch
      • hand_id [default: rh]
      • sim [default: true]
      • use_xacro_prefix [default: false]
      • xacro_prefix [default: r]
      • debug [default: false]
      • hand_trajectory [default: true]
      • arm_trajectory [default: true]
      • hand_ctrl [default: true]
      • arm_ctrl [default: true]
      • hand_serial [default: 1082]
      • robot_description [default: $(find sr_multi_description)/urdf/right_srhand_ur10_joint_limited.urdf.xacro]
      • eth_port [default: $(optenv ETHERCAT_PORT eth0)]
      • use_moveit [default: false]
      • gui [default: true]
      • world_name [default: $(arg world_name)]
      • gui [default: $(arg gui)]
      • gui [default: $(arg gui)]
  • launch/sr_right_ur10arm_hand.launch
      • sim [default: true]
      • debug [default: false]
      • use_moveit [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)]
      • world [default: $(find sr_description)/other/worlds/shadowhand.world]
      • robot_description [default: $(find sr_multi_description)/urdf/right_srhand_ur10_joint_limited.urdf.xacro]
      • robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/right_sh_ur10.yaml]
      • debug [default: $(arg debug)]
      • use_moveit [default: $(arg use_moveit)]
      • gui [default: $(arg gui)]
  • launch/left_srhand_ur10arm.launch
      • hand_id [default: lh]
      • sim [default: true]
      • use_xacro_prefix [default: false]
      • xacro_prefix [default: l]
      • debug [default: false]
      • hand_trajectory [default: true]
      • arm_trajectory [default: true]
      • hand_ctrl [default: true]
      • arm_ctrl [default: true]
      • hand_serial [default: 1322]
      • robot_description [default: $(find sr_multi_description)/urdf/left_srhand_ur10_joint_limited.urdf.xacro]
      • eth_port [default: $(optenv ETHERCAT_PORT eth0)]
      • use_moveit [default: false]
      • gui [default: true]
      • world_name [default: $(arg world_name)]
      • gui [default: $(arg gui)]
      • gui [default: $(arg gui)]
  • launch/sr_right_ur5arm_hand.launch
      • sim [default: true]
      • debug [default: false]
      • use_moveit [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)]
      • world [default: $(find sr_description)/other/worlds/shadowhand.world]
      • robot_description [default: $(find sr_multi_description)/urdf/right_srhand_ur5_joint_limited.urdf.xacro]
      • robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/right_sh_ur5.yaml]
      • debug [default: $(arg debug)]
      • use_moveit [default: $(arg use_moveit)]
      • gui [default: $(arg gui)]
  • launch/trajectory_services.launch
      • arm_group_name
  • launch/srhand.launch
      • hand_id [default: rh]
      • sim [default: true]
      • debug [default: false]
      • hand_trajectory [default: true]
      • hand_ctrl [default: true]
      • pwm_control [default: true]
      • hand_serial [default: 1322]
      • robot_description [default: $(find sr_description)/robots/shadowhand_motor.urdf.xacro]
      • eth_port [default: $(optenv ETHERCAT_PORT eth0)]
      • use_moveit [default: true]
      • gui [default: true]
      • mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/rh_E_v3.yaml]
      • world_name [default: $(arg world_name)]
      • gui [default: $(arg gui)]
      • gui [default: $(arg gui)]
  • launch/sr_ur_arm_hand.launch
      • sim [default: true]
      • debug [default: false]
      • use_moveit [default: true]
      • gui [default: true]
      • world [default: $(find sr_description)/other/worlds/shadowhand.world]
      • hand_id [default: rh]
      • arm_id [default: ra]
      • side [default: right]
      • robot_model [default: ur10]
      • robot_description [default: $(find sr_multi_description)/urdf/$(arg side)_srhand_$(arg robot_model)_joint_limited.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]
      • arm_controller [default: $(find sr_robot_launch)/config/$(arg side)_ur_arm_controller.yaml]
      • arm_group_name [default: $(arg side)_arm]
      • 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)]
      • gui [default: $(arg gui)]
  • launch/sr_left_ur5arm_hand.launch
      • sim [default: true]
      • debug [default: false]
      • use_moveit [default: true]
      • 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)]
      • world [default: $(find sr_description)/other/worlds/shadowhand.world]
      • robot_description [default: $(find sr_multi_description)/urdf/left_srhand_ur5_joint_limited.urdf.xacro]
      • robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/left_sh_ur5.yaml]
      • debug [default: $(arg debug)]
      • use_moveit [default: $(arg use_moveit)]
      • gui [default: $(arg gui)]
  • launch/sr_left_ur10arm_hand.launch
      • sim [default: true]
      • debug [default: false]
      • use_moveit [default: true]
      • 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)]
      • world [default: $(find sr_description)/other/worlds/shadowhand.world]
      • robot_description [default: $(find sr_multi_description)/urdf/left_srhand_ur10_joint_limited.urdf.xacro]
      • robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/left_sh_ur10.yaml]
      • debug [default: $(arg debug)]
      • use_moveit [default: $(arg use_moveit)]
      • gui [default: $(arg gui)]

Messages

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Services

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Plugins

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Recent questions tagged sr_robot_launch at answers.ros.org

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 indigo-devel
Last Updated 2018-11-26
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:

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 description param can be changed to start any of the available Shadow hands shown in the table.
  • If it is a left hand, hand_id:=lh should 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

See ROS Wiki Tutorials for more details.

Source Tutorials

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Launch files

  • launch/sr_bimanual.launch
      • sim [default: true]
      • debug [default: false]
      • use_moveit [default: true]
      • gui [default: true]
      • robot_description [default: $(find sr_description)/robots/bimanual_shadowhand_motor.urdf.xacro]
      • robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/bimanual_sh.yaml]
      • robot_name [default: bimanual_shadowhand_motor]
      • hand_trajectory [default: true]
      • hand_ctrl [default: true]
      • pwm_control [default: $(optenv PWM_CONTROL 1)]
      • rh_serial [default: 1290]
      • rh_id [default: rh]
      • lh_serial [default: 1338]
      • lh_id [default: lh]
      • 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)]
      • world_name [default: $(arg world_name)]
      • gui [default: $(arg gui)]
      • gui [default: $(arg gui)]
  • 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]
      • 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)]
      • world [default: $(find sr_description)/other/worlds/shadowhand.world]
      • initial_z [default: 0.1]
      • robot_description [default: $(find sr_multi_description)/urdf/right_srhand_ur10_joint_limited.urdf.xacro]
      • robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/right_sh_ur10.yaml]
      • debug [default: $(arg debug)]
      • use_moveit [default: $(arg use_moveit)]
      • planning [default: $(arg planning)]
      • gui [default: $(arg gui)]
  • 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)]
      • world [default: $(find sr_description)/other/worlds/shadowhand.world]
      • initial_z [default: 0.1]
      • robot_description [default: $(find sr_multi_description)/urdf/right_srhand_ur5_joint_limited.urdf.xacro]
      • robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/right_sh_ur5.yaml]
      • debug [default: $(arg debug)]
      • use_moveit [default: $(arg use_moveit)]
      • planning [default: $(arg planning)]
      • gui [default: $(arg gui)]
  • launch/trajectory_services.launch
      • arm_group_name
  • launch/srhand.launch
      • hand_id [default: rh]
      • sim [default: true]
      • debug [default: false]
      • hand_trajectory [default: true]
      • hand_ctrl [default: true]
      • pwm_control [default: true]
      • hand_serial [default: 1322]
      • robot_description [default: $(find sr_description)/robots/shadowhand_motor.urdf.xacro]
      • eth_port [default: $(optenv ETHERCAT_PORT eth0)]
      • use_moveit [default: true]
      • gui [default: true]
      • mapping_path [default: $(find sr_edc_launch)/mappings/default_mappings/rh_E_v3.yaml]
      • world_name [default: $(arg world_name)]
      • gui [default: $(arg gui)]
      • 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]
      • world [default: $(find sr_description)/other/worlds/shadowhand.world]
      • hand_id [default: rh]
      • arm_id [default: ra]
      • side [default: right]
      • robot_model [default: ur10]
      • initial_z [default: 0.1]
      • robot_description [default: $(find sr_multi_description)/urdf/$(arg side)_srhand_$(arg robot_model)_joint_limited.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]
      • arm_controller [default: $(find sr_robot_launch)/config/$(arg side)_ur_arm_controller.yaml]
      • arm_group_name [default: $(arg side)_arm]
      • 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)]
      • gui [default: $(arg gui)]
  • 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)]
      • world [default: $(find sr_description)/other/worlds/shadowhand.world]
      • initial_z [default: 0.1]
      • robot_description [default: $(find sr_multi_description)/urdf/left_srhand_ur5_joint_limited.urdf.xacro]
      • robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/left_sh_ur5.yaml]
      • debug [default: $(arg debug)]
      • use_moveit [default: $(arg use_moveit)]
      • planning [default: $(arg planning)]
      • gui [default: $(arg gui)]
  • launch/sr_left_ur10arm_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)]
      • world [default: $(find sr_description)/other/worlds/shadowhand.world]
      • initial_z [default: 0.1]
      • robot_description [default: $(find sr_multi_description)/urdf/left_srhand_ur10_joint_limited.urdf.xacro]
      • robot_config_file [default: $(find sr_multi_moveit_config)/config/robot_configs/left_sh_ur10.yaml]
      • debug [default: $(arg debug)]
      • use_moveit [default: $(arg use_moveit)]
      • planning [default: $(arg planning)]
      • gui [default: $(arg gui)]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sr_robot_launch at answers.ros.org