├── .gitignore ├── CHANGELOG.md ├── LICENSE.md ├── README.md ├── deploy.sh ├── docs ├── README.md └── urdf_utils.md ├── setup.py ├── stretch_urdf ├── RE1V0 │ ├── meshes │ │ ├── base_imu.STL │ │ ├── base_imu_collision.STL │ │ ├── base_link.STL │ │ ├── base_link_collision.STL │ │ ├── d435.dae │ │ ├── laser.STL │ │ ├── laser_collision.STL │ │ ├── link_arm_l0.STL │ │ ├── link_arm_l0_collision.STL │ │ ├── link_arm_l1.STL │ │ ├── link_arm_l1_collision.STL │ │ ├── link_arm_l2.STL │ │ ├── link_arm_l2_collision.STL │ │ ├── link_arm_l3.STL │ │ ├── link_arm_l3_collision.STL │ │ ├── link_arm_l4.STL │ │ ├── link_arm_l4_collision.STL │ │ ├── link_aruco_inner_wrist.STL │ │ ├── link_aruco_inner_wrist_collision.STL │ │ ├── link_aruco_left_base.STL │ │ ├── link_aruco_left_base_collision.STL │ │ ├── link_aruco_right_base.STL │ │ ├── link_aruco_right_base_collision.STL │ │ ├── link_aruco_shoulder.STL │ │ ├── link_aruco_shoulder_collision.STL │ │ ├── link_aruco_top_wrist.STL │ │ ├── link_aruco_top_wrist_collision.STL │ │ ├── link_dry_erase_holder.STL │ │ ├── link_dry_erase_marker.STL │ │ ├── link_gripper.STL │ │ ├── link_gripper_collision.STL │ │ ├── link_gripper_finger_left.STL │ │ ├── link_gripper_finger_left_collision.STL │ │ ├── link_gripper_finger_right.STL │ │ ├── link_gripper_finger_right_collision.STL │ │ ├── link_gripper_fingertip_left.STL │ │ ├── link_gripper_fingertip_left_collision.STL │ │ ├── link_gripper_fingertip_right.STL │ │ ├── link_gripper_fingertip_right_collision.STL │ │ ├── link_ground_collision.STL │ │ ├── link_head.STL │ │ ├── link_head_collision.STL │ │ ├── link_head_pan.STL │ │ ├── link_head_pan_collision.STL │ │ ├── link_head_tilt.STL │ │ ├── link_head_tilt_collision.STL │ │ ├── link_left_wheel.STL │ │ ├── link_left_wheel_collision.STL │ │ ├── link_lift.STL │ │ ├── link_lift_collision.STL │ │ ├── link_mast.STL │ │ ├── link_mast_collision.STL │ │ ├── link_puller.STL │ │ ├── link_respeaker.STL │ │ ├── link_right_wheel.STL │ │ ├── link_right_wheel_collision.STL │ │ ├── link_straight_gripper.STL │ │ ├── link_straight_gripper_collision.STL │ │ ├── link_wrist_pitch.STL │ │ ├── link_wrist_pitch_collision.STL │ │ ├── link_wrist_roll.STL │ │ ├── link_wrist_roll_collision.STL │ │ ├── link_wrist_yaw.STL │ │ ├── link_wrist_yaw_bottom.STL │ │ ├── link_wrist_yaw_bottom_collision.STL │ │ ├── link_wrist_yaw_collision.STL │ │ ├── omni_wheel_m.STL │ │ ├── plug.stl │ │ ├── plug_collision.stl │ │ ├── respeaker_base.STL │ │ └── respeaker_base_collision.STL │ ├── stretch_description_RE1V0_tool_none.urdf │ ├── stretch_description_RE1V0_tool_stretch_dex_wrist.urdf │ ├── stretch_description_RE1V0_tool_stretch_gripper.urdf │ └── xacro │ │ ├── d435i │ │ ├── _d435.urdf.xacro │ │ ├── _d435i.urdf.xacro │ │ ├── _d435i_imu_modules.urdf.xacro │ │ ├── _materials.urdf.xacro │ │ └── _usb_plug.urdf.xacro │ │ ├── stretch_aruco.xacro │ │ ├── stretch_base_imu.xacro │ │ ├── stretch_d435i.xacro │ │ ├── stretch_description_RE1V0_tool_none.xacro │ │ ├── stretch_description_RE1V0_tool_stretch_dex_wrist.xacro │ │ ├── stretch_description_RE1V0_tool_stretch_gripper.xacro │ │ ├── stretch_dex_wrist.xacro │ │ ├── stretch_gripper.xacro │ │ ├── stretch_gripper_with_puller.xacro │ │ ├── stretch_laser_range_finder.xacro │ │ ├── stretch_main.xacro │ │ └── stretch_respeaker.xacro ├── RE2V0 │ ├── meshes │ │ ├── base_imu.STL │ │ ├── base_imu_collision.STL │ │ ├── base_link.STL │ │ ├── base_link_collision.STL │ │ ├── d405.stl │ │ ├── d435.dae │ │ ├── laser.STL │ │ ├── laser_collision.STL │ │ ├── link_DW3_tablet_12in.STL │ │ ├── link_DW3_tablet_12in_collision.STL │ │ ├── link_DW3_wrist_pitch.STL │ │ ├── link_DW3_wrist_pitch_collision.STL │ │ ├── link_DW3_wrist_quick_connect.STL │ │ ├── link_DW3_wrist_roll.STL │ │ ├── link_DW3_wrist_roll_collision.STL │ │ ├── link_DW3_wrist_yaw_bottom.STL │ │ ├── link_DW3_wrist_yaw_bottom_collision.STL │ │ ├── link_SE3_head_nav_cam.STL │ │ ├── link_SE3_head_nav_cam_collision.STL │ │ ├── link_SG3_aruco_d405.STL │ │ ├── link_SG3_aruco_fingertip_left.STL │ │ ├── link_SG3_aruco_fingertip_right.STL │ │ ├── link_SG3_gripper_body.STL │ │ ├── link_SG3_gripper_body_collision.STL │ │ ├── link_SG3_gripper_body_old.STL │ │ ├── link_SG3_gripper_finger_left.STL │ │ ├── link_SG3_gripper_finger_left_collision.STL │ │ ├── link_SG3_gripper_finger_right.STL │ │ ├── link_SG3_gripper_finger_right_collision.STL │ │ ├── link_SG3_gripper_fingertip_left.STL │ │ ├── link_SG3_gripper_fingertip_left_collision.STL │ │ ├── link_SG3_gripper_fingertip_right.STL │ │ ├── link_SG3_gripper_fingertip_right_collision.STL │ │ ├── link_arm_l0.STL │ │ ├── link_arm_l0_collision.STL │ │ ├── link_arm_l1.STL │ │ ├── link_arm_l1_collision.STL │ │ ├── link_arm_l2.STL │ │ ├── link_arm_l2_collision.STL │ │ ├── link_arm_l3.STL │ │ ├── link_arm_l3_collision.STL │ │ ├── link_arm_l4.STL │ │ ├── link_arm_l4_collision.STL │ │ ├── link_aruco_inner_wrist.STL │ │ ├── link_aruco_inner_wrist_collision.STL │ │ ├── link_aruco_left_base.STL │ │ ├── link_aruco_left_base_collision.STL │ │ ├── link_aruco_right_base.STL │ │ ├── link_aruco_right_base_collision.STL │ │ ├── link_aruco_shoulder.STL │ │ ├── link_aruco_shoulder_collision.STL │ │ ├── link_aruco_top_wrist.STL │ │ ├── link_aruco_top_wrist_collision.STL │ │ ├── link_camera.STL │ │ ├── link_camera_construction.STL │ │ ├── link_dry_erase_holder.STL │ │ ├── link_dry_erase_marker.STL │ │ ├── link_gripper.STL │ │ ├── link_gripper_collision.STL │ │ ├── link_gripper_finger_left.STL │ │ ├── link_gripper_finger_left_collision.STL │ │ ├── link_gripper_finger_right.STL │ │ ├── link_gripper_finger_right_collision.STL │ │ ├── link_gripper_fingertip_left.STL │ │ ├── link_gripper_fingertip_left_collision.STL │ │ ├── link_gripper_fingertip_right.STL │ │ ├── link_gripper_fingertip_right_collision.STL │ │ ├── link_ground_collision.STL │ │ ├── link_head.STL │ │ ├── link_head_collision.STL │ │ ├── link_head_pan.STL │ │ ├── link_head_pan_collision.STL │ │ ├── link_head_tilt.STL │ │ ├── link_head_tilt_collision.STL │ │ ├── link_left_wheel.STL │ │ ├── link_left_wheel_collision.STL │ │ ├── link_lift.STL │ │ ├── link_lift_collision.STL │ │ ├── link_mast.STL │ │ ├── link_mast_collision.STL │ │ ├── link_puller.STL │ │ ├── link_respeaker.STL │ │ ├── link_right_wheel.STL │ │ ├── link_right_wheel_collision.STL │ │ ├── link_straight_gripper.STL │ │ ├── link_straight_gripper_collision.STL │ │ ├── link_wrist_pitch.STL │ │ ├── link_wrist_pitch_collision.STL │ │ ├── link_wrist_roll.STL │ │ ├── link_wrist_roll_collision.STL │ │ ├── link_wrist_yaw.STL │ │ ├── link_wrist_yaw_bottom.STL │ │ ├── link_wrist_yaw_bottom_collision.STL │ │ ├── link_wrist_yaw_collision.STL │ │ ├── omni_wheel_m.STL │ │ ├── plug.stl │ │ ├── plug_collision.stl │ │ ├── respeaker_base.STL │ │ └── respeaker_base_collision.STL │ ├── stretch_description_RE2V0_eoa_wrist_dw3_tool_nil.urdf │ ├── stretch_description_RE2V0_eoa_wrist_dw3_tool_sg3.urdf │ ├── stretch_description_RE2V0_eoa_wrist_dw3_tool_tablet_12in.urdf │ ├── stretch_description_RE2V0_tool_none.urdf │ ├── stretch_description_RE2V0_tool_stretch_dex_wrist.urdf │ ├── stretch_description_RE2V0_tool_stretch_gripper.urdf │ └── xacro │ │ ├── d405 │ │ ├── _d405.urdf.xacro │ │ ├── _materials_d405.urdf.xacro │ │ └── _usb_plug_d405.urdf.xacro │ │ ├── d435i │ │ ├── _d435.urdf.xacro │ │ ├── _d435i.urdf.xacro │ │ ├── _d435i_imu_modules.urdf.xacro │ │ ├── _materials.urdf.xacro │ │ └── _usb_plug.urdf.xacro │ │ ├── stretch_aruco.xacro │ │ ├── stretch_base_imu.xacro │ │ ├── stretch_d405_sg3.xacro │ │ ├── stretch_d435i.xacro │ │ ├── stretch_description_RE2V0_eoa_wrist_dw3_tool_nil.xacro │ │ ├── stretch_description_RE2V0_eoa_wrist_dw3_tool_sg3.xacro │ │ ├── stretch_description_RE2V0_eoa_wrist_dw3_tool_tablet_12in.xacro │ │ ├── stretch_description_RE2V0_tool_none.xacro │ │ ├── stretch_description_RE2V0_tool_stretch_dex_wrist.xacro │ │ ├── stretch_description_RE2V0_tool_stretch_gripper.xacro │ │ ├── stretch_dex_wrist.xacro │ │ ├── stretch_gripper.xacro │ │ ├── stretch_gripper_with_puller.xacro │ │ ├── stretch_head_nav_cam.xacro │ │ ├── stretch_laser_range_finder.xacro │ │ ├── stretch_main.xacro │ │ ├── stretch_respeaker.xacro │ │ ├── stretch_tool_sg3.xacro │ │ ├── stretch_tool_tablet_12in.xacro │ │ └── stretch_wrist_dw3.xacro ├── SE3 │ ├── meshes │ │ ├── base_imu.STL │ │ ├── base_imu_collision.STL │ │ ├── base_link.STL │ │ ├── base_link_collision.STL │ │ ├── d405.stl │ │ ├── d435.dae │ │ ├── laser.STL │ │ ├── laser_collision.STL │ │ ├── laser_collision_old.STL │ │ ├── link_DW3_tablet_12in.STL │ │ ├── link_DW3_tablet_12in_collision.STL │ │ ├── link_DW3_wrist_pitch.STL │ │ ├── link_DW3_wrist_pitch_collision.STL │ │ ├── link_DW3_wrist_quick_connect.STL │ │ ├── link_DW3_wrist_roll.STL │ │ ├── link_DW3_wrist_roll_collision.STL │ │ ├── link_DW3_wrist_yaw_bottom.STL │ │ ├── link_DW3_wrist_yaw_bottom_collision.STL │ │ ├── link_SE3_head_nav_cam.STL │ │ ├── link_SE3_head_nav_cam_collision.STL │ │ ├── link_SE3_head_nav_cam_collision_old.STL │ │ ├── link_SG3_aruco_d405.STL │ │ ├── link_SG3_aruco_fingertip_left.STL │ │ ├── link_SG3_aruco_fingertip_right.STL │ │ ├── link_SG3_gripper_body.STL │ │ ├── link_SG3_gripper_body_collision.STL │ │ ├── link_SG3_gripper_body_old.STL │ │ ├── link_SG3_gripper_finger_left.STL │ │ ├── link_SG3_gripper_finger_left_collision.STL │ │ ├── link_SG3_gripper_finger_right.STL │ │ ├── link_SG3_gripper_finger_right_collision.STL │ │ ├── link_SG3_gripper_fingertip_left.STL │ │ ├── link_SG3_gripper_fingertip_left_collision.STL │ │ ├── link_SG3_gripper_fingertip_right.STL │ │ ├── link_SG3_gripper_fingertip_right_collision.STL │ │ ├── link_arm_l0.STL │ │ ├── link_arm_l0_collision.STL │ │ ├── link_arm_l1.STL │ │ ├── link_arm_l1_collision.STL │ │ ├── link_arm_l2.STL │ │ ├── link_arm_l2_collision.STL │ │ ├── link_arm_l3.STL │ │ ├── link_arm_l3_collision.STL │ │ ├── link_arm_l4.STL │ │ ├── link_arm_l4_collision.STL │ │ ├── link_aruco_inner_wrist.STL │ │ ├── link_aruco_inner_wrist_collision.STL │ │ ├── link_aruco_left_base.STL │ │ ├── link_aruco_left_base_collision.STL │ │ ├── link_aruco_right_base.STL │ │ ├── link_aruco_right_base_collision.STL │ │ ├── link_aruco_shoulder.STL │ │ ├── link_aruco_shoulder_collision.STL │ │ ├── link_aruco_top_wrist.STL │ │ ├── link_aruco_top_wrist_collision.STL │ │ ├── link_camera.STL │ │ ├── link_camera_collision.STL │ │ ├── link_ground_collision.STL │ │ ├── link_head.STL │ │ ├── link_head_collision.STL │ │ ├── link_head_pan.STL │ │ ├── link_head_pan_collision.STL │ │ ├── link_head_tilt.STL │ │ ├── link_head_tilt_collision.STL │ │ ├── link_left_wheel.STL │ │ ├── link_left_wheel_collision.STL │ │ ├── link_lift.STL │ │ ├── link_lift_collision.STL │ │ ├── link_mast.STL │ │ ├── link_mast_collision.STL │ │ ├── link_puller.STL │ │ ├── link_respeaker.STL │ │ ├── link_right_wheel.STL │ │ ├── link_right_wheel_collision.STL │ │ ├── link_wrist_yaw.STL │ │ ├── link_wrist_yaw_bottom.STL │ │ ├── link_wrist_yaw_bottom_collision.STL │ │ ├── link_wrist_yaw_collision.STL │ │ ├── omni_wheel_m.STL │ │ ├── plug.stl │ │ ├── plug_collision.stl │ │ ├── respeaker_base.STL │ │ └── respeaker_base_collision.STL │ ├── stretch_description_SE3_eoa_wrist_dw3_tool_nil.urdf │ ├── stretch_description_SE3_eoa_wrist_dw3_tool_sg3.urdf │ ├── stretch_description_SE3_eoa_wrist_dw3_tool_tablet_12in.urdf │ └── xacro │ │ ├── d405 │ │ ├── _d405.urdf.xacro │ │ ├── _materials_d405.urdf.xacro │ │ └── _usb_plug_d405.urdf.xacro │ │ ├── d435i │ │ ├── _d435.urdf.xacro │ │ ├── _d435i.urdf.xacro │ │ ├── _d435i_imu_modules.urdf.xacro │ │ ├── _materials.urdf.xacro │ │ └── _usb_plug.urdf.xacro │ │ ├── stretch_aruco.xacro │ │ ├── stretch_base_imu.xacro │ │ ├── stretch_d405_sg3.xacro │ │ ├── stretch_d435i.xacro │ │ ├── stretch_description_SE3_eoa_wrist_dw3_tool_nil.xacro │ │ ├── stretch_description_SE3_eoa_wrist_dw3_tool_sg3.xacro │ │ ├── stretch_description_SE3_eoa_wrist_dw3_tool_tablet_12in.xacro │ │ ├── stretch_head_nav_cam.xacro │ │ ├── stretch_laser_range_finder.xacro │ │ ├── stretch_main.xacro │ │ ├── stretch_respeaker.xacro │ │ ├── stretch_tool_sg3.xacro │ │ ├── stretch_tool_tablet_12in.xacro │ │ └── stretch_wrist_dw3.xacro ├── __init__.py ├── helpers.py └── urdf_utils.py ├── tools ├── stretch_urdf_example.py ├── stretch_urdf_ros_update.py └── stretch_urdf_viz.py └── urdf_generate.py /.gitignore: -------------------------------------------------------------------------------- 1 | # Byte-compiled / optimized / DLL files 2 | __pycache__/ 3 | *.py[cod] 4 | *$py.class 5 | 6 | # C extensions 7 | *.so 8 | 9 | # Distribution / packaging 10 | .Python 11 | env/ 12 | build/ 13 | develop-eggs/ 14 | dist/ 15 | downloads/ 16 | eggs/ 17 | .eggs/ 18 | lib/ 19 | lib64/ 20 | parts/ 21 | sdist/ 22 | var/ 23 | wheels/ 24 | *.egg-info/ 25 | .installed.cfg 26 | *.egg 27 | 28 | #Hello Body 29 | *.pyc 30 | 31 | # VS Code 32 | .vscode/ 33 | 34 | # PyInstaller 35 | # Usually these files are written by a python script from a template 36 | # before PyInstaller builds the exe, so as to inject date/other infos into it. 37 | *.manifest 38 | *.spec 39 | 40 | # Installer logs 41 | pip-log.txt 42 | pip-delete-this-directory.txt 43 | 44 | # Unit test / coverage reports 45 | htmlcov/ 46 | .tox/ 47 | .coverage 48 | .coverage.* 49 | .cache 50 | nosetests.xml 51 | coverage.xml 52 | *.cover 53 | .hypothesis/ 54 | 55 | # Translations 56 | *.mo 57 | *.pot 58 | 59 | # Django stuff: 60 | *.log 61 | local_settings.py 62 | 63 | # Flask stuff: 64 | instance/ 65 | .webassets-cache 66 | 67 | # Scrapy stuff: 68 | .scrapy 69 | 70 | # Sphinx documentation 71 | docs/_build/ 72 | 73 | # PyBuilder 74 | target/ 75 | 76 | # Jupyter Notebook 77 | .ipynb_checkpoints 78 | 79 | # pyenv 80 | .python-version 81 | 82 | # celery beat schedule file 83 | celerybeat-schedule 84 | 85 | # SageMath parsed files 86 | *.sage.py 87 | 88 | # dotenv 89 | .env 90 | 91 | # virtualenv 92 | .venv 93 | venv/ 94 | ENV/ 95 | 96 | # Spyder project settings 97 | .spyderproject 98 | .spyproject 99 | 100 | # Rope project settings 101 | .ropeproject 102 | 103 | # mkdocs documentation 104 | /site 105 | 106 | # mypy 107 | .mypy_cache/ 108 | -------------------------------------------------------------------------------- /CHANGELOG.md: -------------------------------------------------------------------------------- 1 | # Changelog 2 | 3 | The changes between releases of Stretch URDF are documented here. 4 | 5 | ## [0.1.0](https://pypi.org/project/hello-robot-stretch-urdf/0.1.0/) - Oct 9, 2024 6 | 7 | This release introduces a utils module for generating custom URDFs on-the-fly. 8 | 9 | Features: 10 | 11 | 1. [PR for the urdf_utils module](https://github.com/hello-robot/stretch_urdf/pull/27) 12 | 13 | Testing: 14 | 15 | All testing done manually in the corresponding [Web Teleop PR](https://github.com/hello-robot/stretch_web_teleop/pull/108) 16 | 17 | Docs: 18 | 19 | Generated with `pydoc-markdown` and [available here](https://github.com/hello-robot/stretch_urdf/blob/main/docs/urdf_utils.md) 20 | 21 | -------------------------------------------------------------------------------- /LICENSE.md: -------------------------------------------------------------------------------- 1 | The following license applies to the entire contents of this directory (the "Contents"). The Contents consist of software and data used with the Stretch mobile manipulators, which are robots produced and sold by Hello Robot Inc. 2 | 3 | --- 4 | 5 | The Clear BSD License 6 | 7 | Copyright (c) 2021-2024 Hello Robot Inc. 8 | All rights reserved. 9 | 10 | Redistribution and use in source and binary forms, with or without 11 | modification, are permitted (subject to the limitations in the disclaimer 12 | below) provided that the following conditions are met: 13 | 14 | * Redistributions of source code must retain the above copyright notice, 15 | this list of conditions and the following disclaimer. 16 | 17 | * Redistributions in binary form must reproduce the above copyright 18 | notice, this list of conditions and the following disclaimer in the 19 | documentation and/or other materials provided with the distribution. 20 | 21 | * Neither the name of the copyright holder nor the names of its 22 | contributors may be used to endorse or promote products derived from this 23 | software without specific prior written permission. 24 | 25 | NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY 26 | THIS LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND 27 | CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 28 | LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 29 | PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR 30 | CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 31 | EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 32 | PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR 33 | BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER 34 | IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 35 | ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 36 | POSSIBILITY OF SUCH DAMAGE. 37 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Overview 2 | 3 | The Stretch URDF package provides URDF and Mesh files for use by Stretch Body. 4 | This URDF data is uncalibrated and is managed completely seperately from the Stretch ROS(2) URDF data. 5 | 6 | This package can be installed by: 7 | 8 | ``` 9 | python3 -m pip install -U hello-robot-stretch-urdf 10 | ``` 11 | 12 | The URDF and mesh data is installed as a Python package. It's location can be found as: 13 | 14 | import importlib.resources as importlib_resources 15 | pkg = str(importlib_resources.files("stretch_urdf")) 16 | 17 | The URDF naming convention is `stretch_description__.urdf` 18 | For example: 19 | 20 | model_name = robot.params['model_name'] 21 | tool_name = robot.params['tool'] 22 | urdf_name = pkg + '/%s/stretch_description_%s_%s.urdf' % (model_name, model_name, tool_name) 23 | 24 | For further example usesage, see the included `stretch_urdf_example.py` 25 | -------------------------------------------------------------------------------- /deploy.sh: -------------------------------------------------------------------------------- 1 | #! /bin/bash 2 | #build and upload to pYPi 3 | rm -rf dist 4 | rm -rf build 5 | rm -rf *.egg-info 6 | python3 setup.py sdist bdist_wheel 7 | python3 -m twine upload dist/* 8 | #to install: pip install hello-robot-stretch-urdf 9 | #to uninstall: pip uninstall hello-robot-stretch-urdf 10 | -------------------------------------------------------------------------------- /docs/README.md: -------------------------------------------------------------------------------- 1 | # Steps to generate API docs 2 | 3 | 1. Create a Python 3.9 virtual env using `conda create -n "pdmd2" python=3.9 ipython` and activate it 4 | 1. Install pydoc-markdown using `pip install git+https://github.com/hello-binit/pydoc-markdown.git@develop` 5 | 1. Run `pydoc-markdown -m stretch_urdf.urdf_utils -I $(pwd) --render-toc > docs/urdf_utils.md` in the "~/repos/stretch_urdf" folder 6 | 1. By default, each method is made heading 4 with `####`. My preference is to make it heading 2 (delete 2 `##` each) to make it easier to discern where one method's docs ends and the next starts. 7 | -------------------------------------------------------------------------------- /docs/urdf_utils.md: -------------------------------------------------------------------------------- 1 | # Table of Contents 2 | 3 | * [stretch\_urdf.urdf\_utils](#stretch_urdf.urdf_utils) 4 | * [get\_latest\_urdf](#stretch_urdf.urdf_utils.get_latest_urdf) 5 | * [clip\_joint\_limits](#stretch_urdf.urdf_utils.clip_joint_limits) 6 | * [make\_joints\_rigid](#stretch_urdf.urdf_utils.make_joints_rigid) 7 | * [merge\_arm](#stretch_urdf.urdf_utils.merge_arm) 8 | * [add\_virtual\_rotary\_joint](#stretch_urdf.urdf_utils.add_virtual_rotary_joint) 9 | * [generate\_urdf\_from\_robot](#stretch_urdf.urdf_utils.generate_urdf_from_robot) 10 | * [generate\_ik\_urdfs](#stretch_urdf.urdf_utils.generate_ik_urdfs) 11 | 12 | 13 | 14 | # stretch\_urdf.urdf\_utils 15 | 16 | 17 | 18 | ## get\_latest\_urdf 19 | 20 | ```python 21 | def get_latest_urdf() 22 | ``` 23 | 24 | Fetches the latest calibrated URDF from the calibration directory. 25 | 26 | **Returns** 27 | 28 | * `str`: Absolute filepath to the latest calibrated URDF. 29 | 30 | 31 | 32 | ## clip\_joint\_limits 33 | 34 | ```python 35 | def clip_joint_limits(robot, use_original_limits=True) 36 | ``` 37 | 38 | Enables more conservative joint limits to be set than in the 39 | original URDF. 40 | 41 | If these limits are outside the originally permitted range, 42 | the original range is used. Joint limits. Where these limits 43 | have a value of None, the original limit is used. 44 | 45 | **Arguments** 46 | 47 | * **robot** (`urdf_parser_py.urdf.Robot`): a manipulable URDF representation 48 | * **use_original_limits** (`bool`): don't impose any additional limits 49 | 50 | **Returns** 51 | 52 | * `urdf_parser_py.urdf.Robot`: modified URDF where joint limits are clipped 53 | 54 | 55 | 56 | ## make\_joints\_rigid 57 | 58 | ```python 59 | def make_joints_rigid(robot, ignore_joints=None) 60 | ``` 61 | 62 | Change any joint that should be immobile for end effector IK 63 | into a fixed joint. 64 | 65 | **Arguments** 66 | 67 | * **robot** (`urdf_parser_py.urdf.Robot`): a manipulable URDF representation 68 | * **ignore_joints** (`list(str) or None`): which joints to keep as-is 69 | 70 | **Returns** 71 | 72 | * `urdf_parser_py.urdf.Robot`: modified URDF where joints are "fixed" 73 | 74 | 75 | 76 | ## merge\_arm 77 | 78 | ```python 79 | def merge_arm(robot) 80 | ``` 81 | 82 | Replace telescoping arm with a single prismatic joint, 83 | which makes end-effector IK computation easier. 84 | 85 | **Arguments** 86 | 87 | * **robot** (`urdf_parser_py.urdf.Robot`): a manipulable URDF representation 88 | 89 | **Returns** 90 | 91 | * `urdf_parser_py.urdf.Robot`: modified URDF with single arm joint 92 | 93 | 94 | 95 | ## add\_virtual\_rotary\_joint 96 | 97 | ```python 98 | def add_virtual_rotary_joint(robot) 99 | ``` 100 | 101 | Add virtual rotary joint for mobile base. 102 | 103 | **Arguments** 104 | 105 | * **robot** (`urdf_parser_py.urdf.Robot`): a manipulable URDF representation 106 | 107 | **Returns** 108 | 109 | * `urdf_parser_py.urdf.Robot`: modified URDF with mobile base rotation joint 110 | 111 | 112 | 113 | ## generate\_urdf\_from\_robot 114 | 115 | ```python 116 | def generate_urdf_from_robot(robot, app_name, description=None) 117 | ``` 118 | 119 | Renders a `robot` URDF object out to a file in the /tmp 120 | folder. The file will be unique to your application given 121 | the `app_name` isn't the same as other applications. 122 | 123 | This enables you to safety generate URDFs on-the-fly 124 | to be used by your app. E.g. `generate_ik_urdfs()` uses 125 | this method to generate "calibrated" inverse kinematics 126 | URDFs, so each robot's unique backlash and skew parameters 127 | are baked into the IK calculations. 128 | 129 | **Arguments** 130 | 131 | * **robot** (`urdf_parser_py.urdf.Robot`): the URDF representation to render out to a file 132 | * **app_name** (`str`): the name of your application 133 | * **description** (`str or None`): further description of the URDF 134 | 135 | **Returns** 136 | 137 | * `str`: filepath of the generated URDF 138 | 139 | 140 | 141 | ## generate\_ik\_urdfs 142 | 143 | ```python 144 | def generate_ik_urdfs(app_name, rigid_wrist_urdf=True) 145 | ``` 146 | 147 | Generates URDFs for IK packages. The latest calibrated 148 | URDF is used as a starting point, then these modifications 149 | are applied: 150 | 1. Clip joint limits 151 | 2. Make non-IK joints rigid 152 | 3. Merge arm joints 153 | 4. Add virtual rotary base joint 154 | 5. (optionally) Make wrist joints rigid 155 | 156 | **Arguments** 157 | 158 | * **app_name** (`str`): the name of your application 159 | * **rigid_wrist_urdf** (`bool or None`): whether to also generate a IK URDF with a fixed dex wrist 160 | 161 | **Returns** 162 | 163 | * `list(str)`: one or two filepaths, depending on `rigid_wrist_urdf`, 164 | to the generated URDFs. The first element will be the 165 | full IK version, and the second will be the rigid 166 | wrist version. 167 | 168 | -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- 1 | import setuptools 2 | from os.path import isfile 3 | import glob 4 | 5 | with open("README.md", "r") as fh: 6 | long_description = fh.read() 7 | 8 | script_path='./tools' 9 | ex_scripts = glob.glob(script_path+'/*.py') + glob.glob(script_path+'/*.sh') 10 | stretch_scripts=[f for f in ex_scripts if isfile(f)] 11 | 12 | setuptools.setup( 13 | name="hello-robot-stretch-urdf", 14 | version="0.1.0", 15 | author="Hello Robot Inc.", 16 | author_email="support@hello-robot.com", 17 | description="Stretch URDF", 18 | long_description=long_description, 19 | long_description_content_type="text/markdown", 20 | url="https://github.com/hello-robot/stretch_urdf", 21 | package_data={"stretch_urdf": ["RE2V0/meshes/*.STL","RE2V0/meshes/*.stl","RE2V0/meshes/*.dae","RE2V0/xacro/*.xacro","RE2V0/xacro/d435i/*.xacro","RE2V0/xacro/d405/*.xacro","RE2V0/*.urdf", 22 | "RE1V0/meshes/*.STL","RE1V0/meshes/*.dae","RE1V0/xacro/*.xacro","RE1V0/xacro/d435i/*.xacro","RE1V0/*.urdf", 23 | "SE3/meshes/*.STL","SE3/meshes/*.stl","SE3/meshes/*.dae","SE3/xacro/*.xacro","SE3/xacro/d435i/*.xacro","SE3/xacro/d405/*.xacro","SE3/*.urdf"]}, 24 | scripts=stretch_scripts, 25 | packages=['stretch_urdf'], 26 | classifiers=[ 27 | "Programming Language :: Python :: 3", 28 | "Operating System :: OS Independent" 29 | ], 30 | 31 | install_requires=['urchin'] 32 | ) 33 | -------------------------------------------------------------------------------- /stretch_urdf/RE1V0/meshes/base_imu.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_urdf/7e435cf1a4cc2f47e5b047b6b548a53c691166f1/stretch_urdf/RE1V0/meshes/base_imu.STL 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142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | 163 | 164 | 165 | 166 | -------------------------------------------------------------------------------- /stretch_urdf/SE3/xacro/d405/_materials_d405.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /stretch_urdf/SE3/xacro/d405/_usb_plug_d405.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | -------------------------------------------------------------------------------- /stretch_urdf/SE3/xacro/d435i/_d435.urdf.xacro: 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/stretch_urdf/SE3/xacro/d435i/_d435i.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /stretch_urdf/SE3/xacro/d435i/_d435i_imu_modules.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | -------------------------------------------------------------------------------- /stretch_urdf/SE3/xacro/d435i/_materials.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /stretch_urdf/SE3/xacro/d435i/_usb_plug.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | -------------------------------------------------------------------------------- /stretch_urdf/SE3/xacro/stretch_aruco.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 6 | 7 | 10 | 12 | 19 | 20 | 21 | 24 | 25 | 27 | 28 | 30 | 32 | 33 | 34 | 35 | 38 | 39 | 41 | 42 | 43 | 44 | 45 | 48 | 51 | 53 | 55 | 57 | 58 | 59 | 60 | 62 | 63 | 66 | 68 | 75 | 76 | 77 | 80 | 81 | 83 | 84 | 86 | 88 | 89 | 90 | 91 | 94 | 95 | 97 | 98 | 99 | 100 | 101 | 104 | 107 | 109 | 111 | 113 | 114 | 115 | 117 | 118 | 121 | 123 | 130 | 131 | 132 | 135 | 136 | 138 | 139 | 141 | 143 | 144 | 145 | 146 | 149 | 150 | 152 | 153 | 154 | 155 | 156 | 159 | 162 | 164 | 166 | 168 | 169 | 170 | 172 | 173 | 176 | 178 | 185 | 186 | 187 | 190 | 191 | 193 | 194 | 196 | 198 | 199 | 200 | 201 | 204 | 205 | 207 | 208 | 209 | 210 | 211 | 214 | 217 | 219 | 221 | 223 | 224 | 225 | 227 | 228 | 231 | 233 | 240 | 241 | 242 | 245 | 246 | 248 | 249 | 251 | 253 | 254 | 255 | 256 | 259 | 260 | 262 | 263 | 264 | 265 | 266 | 269 | 272 | 274 | 276 | 278 | 279 | 280 | 281 | 282 | 283 | 284 | -------------------------------------------------------------------------------- /stretch_urdf/SE3/xacro/stretch_base_imu.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 6 | 7 | 10 | 12 | 19 | 20 | 21 | 24 | 25 | 27 | 28 | 30 | 32 | 33 | 34 | 35 | 38 | 39 | 41 | 42 | 43 | 44 | 47 | 50 | 52 | 54 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | -------------------------------------------------------------------------------- /stretch_urdf/SE3/xacro/stretch_d405_sg3.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /stretch_urdf/SE3/xacro/stretch_d435i.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 13 | 14 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /stretch_urdf/SE3/xacro/stretch_description_SE3_eoa_wrist_dw3_tool_nil.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /stretch_urdf/SE3/xacro/stretch_description_SE3_eoa_wrist_dw3_tool_sg3.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /stretch_urdf/SE3/xacro/stretch_description_SE3_eoa_wrist_dw3_tool_tablet_12in.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /stretch_urdf/SE3/xacro/stretch_head_nav_cam.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 6 | 7 | 10 | 12 | 19 | 20 | 21 | 24 | 25 | 27 | 28 | 30 | 32 | 33 | 34 | 35 | 38 | 39 | 41 | 42 | 43 | 44 | 47 | 50 | 52 | 54 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | -------------------------------------------------------------------------------- /stretch_urdf/SE3/xacro/stretch_laser_range_finder.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 6 | 7 | 10 | 12 | 19 | 20 | 21 | 24 | 25 | 27 | 28 | 30 | 32 | 33 | 34 | 35 | 38 | 39 | 41 | 42 | 43 | 44 | 45 | 48 | 51 | 53 | 55 | 57 | 58 | 59 | 60 | -------------------------------------------------------------------------------- /stretch_urdf/SE3/xacro/stretch_respeaker.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 6 | 7 | 10 | 12 | 19 | 20 | 21 | 24 | 25 | 27 | 28 | 30 | 32 | 33 | 34 | 35 | 38 | 39 | 41 | 42 | 43 | 44 | 45 | 48 | 51 | 53 | 55 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | -------------------------------------------------------------------------------- /stretch_urdf/SE3/xacro/stretch_tool_tablet_12in.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 9 | 11 | 18 | 19 | 20 | 23 | 24 | 26 | 27 | 29 | 31 | 32 | 33 | 34 | 37 | 38 | 40 | 41 | 42 | 43 | 46 | 49 | 51 | 53 | 55 | 56 | -------------------------------------------------------------------------------- /stretch_urdf/SE3/xacro/stretch_wrist_dw3.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 6 | 7 | 10 | 12 | 19 | 20 | 21 | 24 | 25 | 27 | 28 | 30 | 32 | 33 | 34 | 35 | 38 | 39 | 41 | 42 | 43 | 44 | 47 | 50 | 52 | 54 | 56 | 57 | 59 | 60 | 63 | 65 | 72 | 73 | 74 | 77 | 78 | 80 | 81 | 83 | 85 | 86 | 87 | 88 | 91 | 92 | 94 | 95 | 96 | 97 | 100 | 103 | 105 | 107 | 109 | 110 | 111 | 113 | 114 | 117 | 119 | 126 | 127 | 128 | 131 | 132 | 134 | 135 | 137 | 139 | 140 | 141 | 142 | 145 | 146 | 148 | 149 | 150 | 151 | 154 | 157 | 159 | 161 | 163 | 164 | 165 | 166 | 167 | 169 | 170 | 173 | 176 | 178 | 180 | 182 | 183 | 184 | -------------------------------------------------------------------------------- /stretch_urdf/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_urdf/7e435cf1a4cc2f47e5b047b6b548a53c691166f1/stretch_urdf/__init__.py -------------------------------------------------------------------------------- /stretch_urdf/helpers.py: -------------------------------------------------------------------------------- 1 | import urchin as urdf_loader 2 | from stretch_body.robot_params import RobotParams 3 | 4 | 5 | # def get_current_urdf(): 6 | # urdf = urdf_loader.URDF.load(urdf_name) -------------------------------------------------------------------------------- /tools/stretch_urdf_example.py: -------------------------------------------------------------------------------- 1 | #! /usr/bin/env python3 2 | 3 | 4 | import urchin as urdf_loader 5 | import time 6 | import stretch_body.robot 7 | try: 8 | # works on ubunut 22.04 9 | import importlib.resources as importlib_resources 10 | str(importlib_resources.files("stretch_body")) 11 | except AttributeError as e: 12 | # works on ubuntu 20.04 13 | import importlib_resources 14 | str(importlib_resources.files("stretch_body")) 15 | 16 | 17 | def get_configuration(robot): 18 | s = robot.get_status() 19 | configuration = { 20 | 'joint_left_wheel': 0.0, 21 | 'joint_right_wheel': 0.0, 22 | 'joint_lift': s['lift']['pos'], 23 | 'joint_arm_l0': s['arm']['pos'] / 4.0, 24 | 'joint_arm_l1': s['arm']['pos'] / 4.0, 25 | 'joint_arm_l2': s['arm']['pos'] / 4.0, 26 | 'joint_arm_l3': s['arm']['pos'] / 4.0, 27 | 'joint_wrist_yaw': s['end_of_arm']['wrist_yaw']['pos'], 28 | 'joint_head_pan': s['head']['head_pan']['pos'], 29 | 'joint_head_tilt': s['head']['head_tilt']['pos']} 30 | return configuration 31 | 32 | def main(): 33 | r = stretch_body.robot.Robot() 34 | r.startup() 35 | 36 | pkg = str(importlib_resources.files("stretch_urdf")) # eg .local/lib/python3.10/site-packages/stretch_urdf) 37 | model_name = r.params['model_name'] 38 | tool_name = r.params['tool'] 39 | urdf_name = pkg + '/%s/stretch_description_%s_%s.urdf' % (model_name, model_name, tool_name) 40 | urdf = urdf_loader.URDF.load(urdf_name) 41 | links = ['base_link','link_wrist_yaw'] 42 | 43 | try: 44 | while True: 45 | lfk = urdf.link_fk(cfg=get_configuration(r), links=links, use_names=True) 46 | print('###############################3') 47 | for ll in links: 48 | print('----------- %s ---------'%ll.upper()) 49 | print(lfk[ll]) 50 | time.sleep(0.1) 51 | except (KeyboardInterrupt, SystemExit): 52 | pass 53 | r.stop() 54 | 55 | if __name__ == "__main__": 56 | main() -------------------------------------------------------------------------------- /urdf_generate.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | import subprocess 3 | import shlex 4 | import sys 5 | import os 6 | import glob 7 | 8 | #This script generates 9 | def get_ros_version(): 10 | if 'ROS_DISTRO' in os.environ.keys(): 11 | if os.environ['ROS_DISTRO'] == 'noetic': 12 | print(f"Found ROS_DISTRO = noetic") 13 | return 1 14 | if os.environ['ROS_DISTRO'] == 'humble': 15 | print(f"Found ROS_DISTRO = humble") 16 | return 2 17 | 18 | ros_version = get_ros_version() 19 | 20 | if ros_version is None: 21 | print("Unable to find a valid ROS Installation") 22 | sys.exit() 23 | 24 | #Factory tool to generate URDFs from Xacros 25 | 26 | def run_cmd(cmdstr): 27 | process = subprocess.run(shlex.split(cmdstr), capture_output=True, text=True) 28 | if(process.returncode != 0): 29 | print("update_uncalibrated_urdf.py ERROR: {}".format(process.stderr), file=sys.stderr) 30 | sys.exit(1) 31 | return process 32 | 33 | def generate_from_descriptions(root_dir,xacro_dir,descriptions): 34 | urdfs = [] 35 | for d in descriptions: 36 | if ros_version==2: 37 | bashCommand = "ros2 run xacro xacro {}".format(xacro_dir + d + '.xacro') 38 | if ros_version==1: 39 | bashCommand = f"rosrun xacro xacro {xacro_dir + d}.xacro" 40 | 41 | print(bashCommand) 42 | process = run_cmd(bashCommand) 43 | urdf = process.stdout 44 | urdf_filepath = root_dir + d + '.urdf' 45 | urdfs.append(urdf_filepath) 46 | urdf_lines = urdf.split('\n') 47 | with open(urdf_filepath, "w") as open_file: 48 | for u in urdf_lines: 49 | # if u.find('d435.dae') > -1: # Replace path for realsense 50 | # ss = u.find('file://') 51 | # u = u[:ss] + './meshes/d435.dae"/>' 52 | print(u, file=open_file) 53 | 54 | open_file.close() 55 | 56 | def get_descriptions(xacro_dir): 57 | descriptions=[] 58 | d=glob.glob(xacro_dir+'stretch_description*.xacro') 59 | for a in d: 60 | descriptions.append(a[a.rfind('/')+1:-6]) 61 | return descriptions 62 | 63 | def main(): 64 | 65 | #Descriptions should include all configurations that we officially "support" 66 | for model_name in ['RE1V0', 'RE2V0', 'SE3']: 67 | root_dir = './stretch_urdf/'+model_name+'/' 68 | xacro_dir = root_dir + 'xacro/' 69 | generate_from_descriptions(root_dir, xacro_dir, get_descriptions(xacro_dir)) 70 | 71 | 72 | if __name__ == '__main__': 73 | main() 74 | --------------------------------------------------------------------------------