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Found 35 results

  1. 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.
  2. Danfei

    Change URDF at run time

    Hi guys, we are trying to update robot URDF with external obstacles in real time for collision checking. Is there a way to overwrite existing collision avoidance state? Thanks!
  3. StuweXY

    Programming Sawyer

    Hello everyone, my goal is to be able to program Sawyer with Python. It would be ideal if I could run a simulation of my program first to see if everything is correct. Therefor I familiarized myself with some of the provided example programs and did the MoveIt-Tutorial and also looked a bit further into RVIZ. My problem now is, I checked out the RVIZ tutorial here but the commands have not much to do with the ones used in the examples. So my questions are: Is it better to orient myself on the example programs than on the general ros stuff? And how can I test my program, like sending it into RVIZ? I already wrote a small one for initialisation, copied it to the examples and tried running it, but I got told it wasn't an executable?! Best regards
  4. Murilo

    Modified URDF

    Dear forum, We removed the Sawyer from the wheel base and mounted on a large workbench. We have an updated URDF model without the wheel base and I was wondering the most appropriate way to have the Sawyer use this updated URDF model. I can overwrite the /robot_description parameter with the new URDF model, but the Sawyer does not take the updated parameter into account (as expected). I could start a robot_state_publisher from the workstation to publish the missing TF, thus killing Sawyer's respective node, but that seems more of a workaround than a solution. Any suggestions would be greatly appreciated! Thanks a lot!
  5. StuweXY

    Unable to ping Sawyer

    Hi, I've never worked with Ubuntu and now I am kinda lost what to do. Before describing the problem I'll tell you what I already did: 1) installing Ubuntu 14.04.05 as VM 2) Setting up ROS, the tutorials work 3) I used http://sdk.rethinkrobotics.com/intera/Workstation_Setup and http://sdk.rethinkrobotics.com/intera/Networking to connect directly to Sawyer. In the first tutorial it fails at the commando "rostopic list" (ERROR: Unable to communicate with master!) and in the second tutorial I can't ping the robot. env | grep ROS returns i.a. ROS_MASTER_URI=http://<serial number>.local:11311 and ROS_HOSTNAME my computer. I can also ping my computer, but when I try to ping Sawyer with ping <Serial number>.local it returns "unknown host". A colleague has Sawyer connected via a router and it works fine. So where is the problem with direct connection?
  6. FrederikEbert

    Cartesian Impedance Controller for Sawyer

    Has anybody implemented a cartesian space impedance controller for Sawyer? Ideallly I would like to have a controller module which accepts desired transforms to a desired cartesian endeffector position and "attaches" a virtual spring-damper system between the endeffector and that specified cartesian position. In addition to that one would need a way to specify the nullspace configuration. Thank you.
  7. FJFranquiz

    Sawyer Physics-Based Simulation

    Hey there, We are wondering if there is a way to simulate the motions of the Sawyer robot on a physics engine before testing the actual robot; just like Gazebo for Baxter. (We are using Intera 5.1 on Ubuntu 14.04) Thank you for your time, ERAU Spacecraft Development Lab
  8. Ian McMahon

    Intera SDK 5.1 Release

    Greetings Sawyer SDK Users, We are pleased to announce the release of a new version of the Sawyer Intera SDK software – v5.1.0. SDK 5.1.0 is a release focused on improving the Intera SDK user experience and added further improvements to motion quality. You can find a complete set of SDK-related release notes here. The Intera 5.1 update also allows for any user to reboot between Rethink's Python and ROS-based SDK, and the new Intera 5.1 manufacturing software with behavior trees through the FSM. From this point forward, both Intera Manufacturing and SDK upgrades are installed through the same update files. If your Sawyer robot is currently running SDK 5.0.4, please follow this Software Update tutorial to upgrade your robot to Intera 5.1.0. Running the $ wstool update command from the top of your ROS workspace will pull in the Intera 5.1.0 changes to update your workstation. We have provided examples and code walk throughs for many aspects of the Sawyer's Intera SDK, so that you can get working quickly as soon as you install the SDK. Happy Researching! ~ Ian McMahon
  9. Hello all, I recently completed the process of getting a Kinectv2 working with Sawyer and I'd like to record the steps I took for anyone who might also want to do this. As a quick primer, Kinectv1 is better on edges, but Kinectv2 is much better outdoors, and has higher depth resolution To start I installed libfreenect2 on my workstation. https://github.com/OpenKinect/libfreenect2 I had some trouble when I was using ROS Indigo and Ubuntu 14.04 (as recommended in the Rethink workstation setup) However I updated my machine to ROS Kinetic and Ubuntu 16.04 and as far as I am aware Sawyer works fine. Having done that I followed the libfreenect2 instructions for Ubuntu 16.04 and verified that my install was working by running Protonect from the build folder. After that I installed python bindings for libfreenect2, pylibfreenect2. https://github.com/r9y9/pylibfreenect2 (NOTE: Do not bother with pyfreenect2, it is not maintained and I don't think it ever actually worked) If you want skeleton tracking you should look into OpenNI. I dont have any experience with this though I am working on kinectv2+sawyer robot api, still a wip though. Anyways after the above steps all of the software is taken care of. Then comes the issue of actually mounting the Kinectv2 to the robot. The kinectv2 naturally angles upward by about 15 degrees or so, and I wanted a cheap and easy way to affix it to Sawyer, so I 3-d printed the below mounting block. It has a (6mm) hole in it for screwing the kinectv2 to it, and the bottom is a circular recess that measures ~82.3mm so that it fits very snugly onto Sawer's head (with a bit of filing down). The head will pan to the side long before the mounting block slips. It takes a great deal of force to remove it, which is good as there isnt anything to lock on to without an elaborate setup or drilling a hole into Sawyer. If anyone wants the .stl of the block it is here https://github.com/jshube2/sawyer_mods I can try to answer questions about getting the kinectv2 setup. I likely experienced every possible error message. -Josh
  10. josh_jhu

    Possible to change joint stiffness?

    Hi, Is it possible to increase the stiffness of Sawyer's joints through the SDK? Thanks, -Josh