Atmaraaj

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About Atmaraaj

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    Hochschule Reutlingen

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  1. Atmaraaj

    Change ROS Master on Sawyer

    I would like to have my ROS Master running on a different system. Is it possible to set another system as the ROS Master instead of Sawyer?
  2. Hello, I have built my own magnetic gripper (size: 350x250x70) and I'd like to know if I can tell the robot the size/model of the gripper, maybe via a URDF file, so it can use it for the self-collision check. FYI: it is also possible for me to use the click-smart-plate if that's necessary. Can any one please help me ? Best Atma PS: This is the URDF file I'm using: <?xml version="1.0"?> <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="magnetplate_of_doom"> <xacro:macro name="magnetplate_of_doom" params="side"> <joint name="${side}_gripper_base" type="fixed"> <origin rpy="0 0 0" xyz="0 0 0"/> <!-- Enter the 3D pose of your end effector frame here w.r.t. end of arm --> <parent link="${side}_hand"/> <child link="${side}_robotiq_gripper"/> </joint> <link name="${side}_robotiq_gripper"> <inertial> <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/> <!-- only modify this if there is an C.O.M. offset w.r.t your gripper_base joint above --> <mass value="4"/> <!-- Enter your mass and inertial properties here --> <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/> </inertial> </link> </xacro:macro> <xacro:magnetplate_of_doom side="right"/> </robot>
  3. Hey, I've got a question about this topic, I tried using this option in ROS Indigo and it worked, on my other system with ROS Kinetic Kame it is not. This is the error I get: Traceback (most recent call last): File "/home/leonart/ros_ws/src/intera_sdk/intera_interface/scripts/send_urdf_fragment.py", line 22, in <module> import xacro_jade ImportError: No module named xacro_jade Any idea what could work? Best, Atma
  4. Atmaraaj

    Accuracy of limb data and data published via ROS

    I can read the data published, but I would like to know the accuracy of this data itself. Since Sawyer is not an industrial robot which usually has a much higher accuracy, I need to know of the uncertainties of the data published. Rethink Robotics, I assume, should have details on the accuracies.
  5. Atmaraaj

    Accuracy of limb data and data published via ROS

    Any help, please?
  6. I am doing a research which requires accurate coordinate and joint values from Sawyer, and as such I have the following questions to ask about Sawyer's joint accuracy. What are the accuracies of each limb length, joint angle values that are published via ROS and of the kinematic solvers? Is it possible to directly get the poses (coordinates) of any joint of choice? For now, we just calculate these values from the limb lengths and joint values published, thus the first question. Where is the virtual gripper/end-effector point relative to Sawyer's arm? As I understand, the end-effector point is needed to calculate the Inverse Kinematics, but I am unsure where exactly this point is. If it is possible to obtain this end-effector position, how can I tune/calibrate this position when a different gripper is attached? I know that the Intera UI allows some configuration, but is this possible with Intera SDK too? I would gladly explain more about my aims if more explanation is required. Thank you.