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sr_robot_launch package from sr_interface repo

sr_error_reporter sr_example sr_grasp hand_kinematics kdl_coupling sr_interface sr_moveit_hand_config sr_multi_description sr_box_ur10_moveit_config sr_multi_moveit_config sr_multi_moveit_test sr_robot_commander sr_robot_launch

API Docs
Browse Code

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	2021-12-10
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

sr_robot_launch/README.md

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	rospy
	catkin
	controller_manager_msgs
	joint_state_publisher
	robot_state_publisher
	std_msgs
	sr_multi_description
	sr_robot_msgs
	ur_gazebo
	ros_control_robot
	sr_utilities_common
	rostest

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
sr_interface
sr_3dmouse

Launch files

launch/sr_ur10arm_hand_blockly.launch
- - sim [default: false]
  - gui [default: true]
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: $(find sr_description_common)/worlds/shadowhands_and_arms.world]
  - start_home [default: false]
  - home_angles [default: ]
  - external_control_loop [default: false]
  - robot_state_pub_frequency [default: 250]
  - joint_state_pub_frequency [default: 125]
  - wear_logging [default: false]
  - hands [default: both]
  - robot_model [default: ur10e]
  - robot_description [default: '$(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]
  - 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: [/ra_trajectory_controller/state, /la_trajectory_controller/state, /rh_trajectory_controller/state, /lh_trajectory_controller/state]]
  - hand_serial [default: $(arg lh_serial)]
  - hand_id [default: lh]
  - aws_save_period [default: 36000]
  - local_save_period [default: 5]
  - hand_serial [default: $(arg rh_serial)]
  - hand_id [default: rh]
  - aws_save_period [default: 36000]
  - local_save_period [default: 5]
launch/trajectory_services.launch
- - arm_group_name
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_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 -2.1 -J la_wrist_2_joint -1.5708 -J la_shoulder_lift_joint -1.89 -J la_wrist_3_joint 2]
  - 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: 1.5]
  - 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)]
  - 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_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_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 ra_shoulder_pan_joint 0.0 -J ra_elbow_joint 2.0 -J ra_wrist_1_joint -1 -J ra_wrist_2_joint 1.5708 -J ra_shoulder_lift_joint -1.25 -J ra_wrist_3_joint -2]
  - 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)]
  - 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_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: $(find sr_description_common)/worlds/demo_space_large_bimanual.world]
  - start_home [default: true]
  - home_angles [default: -J ra_shoulder_pan_joint 0.0 -J ra_elbow_joint 2.0 -J ra_wrist_1_joint -1 -J ra_wrist_2_joint 1.5708 -J ra_shoulder_lift_joint -1.25 -J ra_wrist_3_joint -2 -J la_shoulder_pan_joint 0.0 -J la_elbow_joint -2.0 -J la_wrist_1_joint -2.1 -J la_wrist_2_joint -1.5708 -J la_shoulder_lift_joint -1.89 -J la_wrist_3_joint 2]
  - external_control_loop [default: false]
  - robot_state_pub_frequency [default: 250]
  - joint_state_pub_frequency [default: 125]
  - hands [default: both]
  - arms [default: true]
  - robot_model [default: ur10e]
  - robot_description [default: '$(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)]
  - right_arm_speed_scale [default: 0.5]
  - left_arm_speed_scale [default: 0.5]
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_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_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 ra_shoulder_pan_joint 0.0 -J ra_elbow_joint 2.0 -J ra_wrist_1_joint -1 -J ra_wrist_2_joint 1.5708 -J ra_shoulder_lift_joint -1.25 -J ra_wrist_3_joint -2]
  - 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)]
  - 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/unimanual_controller_stopper.launch
- - side [default: right]
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_bimanual.scene]
  - world [default: $(find sr_description_common)/worlds/shadowhands_and_arms.world]
  - world [default: $(find sr_description_common)/worlds/demo_space_large_bimanual.world]
  - side [default: right]
  - robot_model [default: ur10e]
  - robot_description [default: '$(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]
  - start_home [default: true]
  - home_angles [default: -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]
  - 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]
  - 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]
  - tf_prefix [default: ]
  - 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/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_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_bimanual.scene]
  - world [default: $(find sr_description_common)/worlds/shadowhands_and_arms.world]
  - start_home [default: false]
  - home_angles [default: ]
  - external_control_loop [default: false]
  - robot_state_pub_frequency [default: 250]
  - joint_state_pub_frequency [default: 125]
  - wear_logging [default: false]
  - side [default: right]
  - robot_model [default: ur10e]
  - robot_description [default: '$(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]
  - 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]]
  - trajectory_controllers_list [default: [/$(arg arm_prefix)_trajectory_controller/state]]
  - hand_serial [default: $(arg hand_serial)]
  - hand_id [default: $(arg hand_id)]
  - aws_save_period [default: 36000]
  - local_save_period [default: 5]
  - 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/bimanual_controller_stopper.launch
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: $(find sr_description)/mujoco_models/sr_hand_e_plus_left_environment.xml]
  - hand_ik_solver [default: sr_hand_kinematics]
  - robot_description_param [default: robot_description]
launch/sr_bimanual_hardware_control_loop.launch
- - debug [default: false]
  - robot_state_pub_frequency [default: 250]
  - joint_state_pub_frequency [default: 125]
  - hands [default: both]
  - arm_ctrl [default: true]
  - robot_model [default: ur10e]
  - robot_description [default: '$(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_at_lower_level [default: $(eval not arm_ctrl)]
  - 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]
  - 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]]
  - 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)]
  - log_split_size [default: 64]
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_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]
  - 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]
  - log_split_size [default: 64]
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_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 -2.1 -J la_wrist_2_joint -1.5708 -J la_shoulder_lift_joint -1.89 -J la_wrist_3_joint 2]
  - 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: 1.5]
  - arm_y_separation [default: 0.0]
  - 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)]
  - 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)]

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sr_robot_launch package from sr_interface repo

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Starting the robots (simulated / real)

Shadow hand only

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Real hand

Shadow hand with UR10 arm

Simulation

Real Robots

Real Robots, using the normal (not limited) joint range

Hand with tactile sensors

Bimanual system

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