Change bob to a ur5e

urfeex · urfeex · commit 04ce68d7f182 · 2025-11-13T09:42:57.000Z
This should make it easier to distinguish
diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/config/alice_calibration.yaml b/my_dual_robot_cell/my_dual_robot_cell_control/config/alice_calibration.yaml
@@ -2,43 +2,43 @@ kinematics:
   shoulder:
     x: 0
     y: 0
-    z: 0.15188497379686153
-    roll: -0
+    z: 0.15185
+    roll: 0
     pitch: 0
-    yaw: 6.0977137363254793e-05
+    yaw: 0
   upper_arm:
-    x: -5.6533207234432926e-06
+    x: 0
     y: 0
     z: 0
-    roll: 1.570844251867735
+    roll: 1.570796327
     pitch: 0
-    yaw: 2.541818406001163e-05
+    yaw: 0
   forearm:
-    x: -0.24357369892909492
+    x: -0.24355
     y: 0
     z: 0
-    roll: 3.1408819727448281
-    pitch: 3.1414601607728438
-    yaw: -3.1415265155090113
+    roll: 0
+    pitch: 0
+    yaw: 0
   wrist_1:
-    x: -0.21292841478821867
-    y: 0.00048506402454531479
-    z: 0.11301075109662011
-    roll: 3.1373004863304383
-    pitch: 3.1363886827765697
-    yaw: 3.1415791419793657
+    x: -0.2132
+    y: 0
+    z: 0.13105
+    roll: 0
+    pitch: 0
+    yaw: 0
   wrist_2:
-    x: 4.074182080180165e-05
-    y: -0.085310893242290478
-    z: -6.4346805950626749e-05
-    roll: 1.5715505891323607
+    x: 0
+    y: -0.08535
+    z: -1.750557762378351e-11
+    roll: 1.570796327
     pitch: 0
-    yaw: -1.1414933636491948e-05
+    yaw: 0
   wrist_3:
-    x: -7.319426521397714e-05
-    y: 0.08232894752301384
-    z: -5.8521744863255091e-05
-    roll: 1.5700854986261004
-    pitch: 3.1415926535897931
-    yaw: -3.1415870300000677
-  hash: calib_3443727564195709335
+    x: 0
+    y: 0.0921
+    z: -1.8890025766262e-11
+    roll: 1.570796326589793
+    pitch: 3.141592653589793
+    yaw: 3.141592653589793
+  hash: calib_16756443741236045476
diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/config/bob_calibration.yaml b/my_dual_robot_cell/my_dual_robot_cell_control/config/bob_calibration.yaml
@@ -2,43 +2,43 @@ kinematics:
   shoulder:
     x: 0
     y: 0
-    z: 0.15192390485501492
-    roll: -0
+    z: 0.1625
+    roll: 0
     pitch: 0
-    yaw: 7.5207672895458863e-05
+    yaw: 0
   upper_arm:
-    x: 1.1565754681822927e-07
+    x: 0
     y: 0
     z: 0
-    roll: 1.5701230398196422
+    roll: 1.570796327
     pitch: 0
-    yaw: -3.745754755790643e-05
+    yaw: 0
   forearm:
-    x: -0.24342623565759611
+    x: -0.425
     y: 0
     z: 0
-    roll: 0.0062667292139209178
-    pitch: -0.0013839232587116385
-    yaw: 3.5263175677186283e-05
+    roll: 0
+    pitch: 0
+    yaw: 0
   wrist_1:
-    x: -0.21319918045377464
-    y: -0.00042101985050556432
-    z: 0.11194857450023041
-    roll: 0.0037608148871306722
-    pitch: 0.00014433964301166516
-    yaw: -5.7788592498697277e-05
+    x: -0.3922
+    y: 0
+    z: 0.1333
+    roll: 0
+    pitch: 0
+    yaw: 0
   wrist_2:
-    x: 3.3301180434358473e-05
-    y: -0.085304702494341758
-    z: -2.7251181339165215e-05
-    roll: 1.5711157837487961
+    x: 0
+    y: -0.0997
+    z: -2.044881182297852e-11
+    roll: 1.570796327
     pitch: 0
-    yaw: -3.3083428877200004e-05
+    yaw: 0
   wrist_3:
-    x: -4.675513506427485e-05
-    y: 0.082256832990903556
-    z: -5.7204020078096673e-05
-    roll: 1.5701008950748028
-    pitch: 3.1415926535897931
-    yaw: 3.1415605336065866
-  hash: calib_10683367749926797482
+    x: 0
+    y: 0.09959999999999999
+    z: -2.042830148012698e-11
+    roll: 1.570796326589793
+    pitch: 3.141592653589793
+    yaw: 3.141592653589793
+  hash: calib_12788084448423163542
diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/dual-arm-simulator/docker-compose.yml b/my_dual_robot_cell/my_dual_robot_cell_control/dual-arm-simulator/docker-compose.yml
@@ -6,7 +6,7 @@ services:
       ursim_net_dual_arm:
         ipv4_address: 192.168.57.101
     environment:
-      ROBOT_MODEL: "UR3e"
+      ROBOT_MODEL: "UR3"
     volumes:
       - ./persistent_storage_alice/programs:/ursim/programs
       - ./persistent_storage_alice/urcaps:/urcaps
@@ -16,7 +16,7 @@ services:
       ursim_net_dual_arm:
         ipv4_address: 192.168.57.100
     environment:
-      ROBOT_MODEL: "UR3e"
+      ROBOT_MODEL: "UR5"
     volumes:
       - ./persistent_storage_bob/programs:/ursim/programs
       - ./persistent_storage_bob/urcaps:/urcaps
diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/launch/start_robots.launch.py b/my_dual_robot_cell/my_dual_robot_cell_control/launch/start_robots.launch.py
@@ -302,7 +302,7 @@ def generate_launch_description():
                 "ur20",
                 "ur30",
             ],
-            default_value="ur3e",
+            default_value="ur5e",
         )
     )
     declared_arguments.append(
diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/urdf/my_dual_robot_cell_controlled.urdf.xacro b/my_dual_robot_cell/my_dual_robot_cell_control/urdf/my_dual_robot_cell_controlled.urdf.xacro
@@ -14,7 +14,7 @@
   <xacro:arg name="alice_physical_parameters_file" default="$(find ur_description)/config/$(arg alice_ur_type)/physical_parameters.yaml" />
   <xacro:arg name="alice_visual_parameters_file" default="$(find ur_description)/config/$(arg alice_ur_type)/visual_parameters.yaml" />
 
-  <xacro:arg name="bob_ur_type" default="ur3e" />
+  <xacro:arg name="bob_ur_type" default="ur5e" />
   <xacro:arg name="bob_joint_limits_parameters_file" default="$(find ur_description)/config/$(arg bob_ur_type)/joint_limits.yaml" />
   <xacro:arg name="bob_kinematics_parameters_file" default="$(find ur_description)/config/$(arg bob_ur_type)/default_kinematics.yaml" />
   <xacro:arg name="bob_physical_parameters_file" default="$(find ur_description)/config/$(arg bob_ur_type)/physical_parameters.yaml" />
diff --git a/my_dual_robot_cell/my_dual_robot_cell_description/urdf/my_dual_robot_cell.urdf.xacro b/my_dual_robot_cell/my_dual_robot_cell_description/urdf/my_dual_robot_cell.urdf.xacro
@@ -9,7 +9,7 @@
   <xacro:arg name="alice_physical_parameters_file" default="$(find ur_description)/config/$(arg alice_ur_type)/physical_parameters.yaml"/>
   <xacro:arg name="alice_visual_parameters_file" default="$(find ur_description)/config/$(arg alice_ur_type)/visual_parameters.yaml"/>
 
-  <xacro:arg name="bob_ur_type" default="ur3e"/>
+  <xacro:arg name="bob_ur_type" default="ur5e"/>
   <xacro:arg name="bob_joint_limits_parameters_file" default="$(find ur_description)/config/$(arg bob_ur_type)/joint_limits.yaml"/>
   <xacro:arg name="bob_kinematics_parameters_file" default="$(find ur_description)/config/$(arg bob_ur_type)/default_kinematics.yaml"/>
   <xacro:arg name="bob_physical_parameters_file" default="$(find ur_description)/config/$(arg bob_ur_type)/physical_parameters.yaml"/>
@@ -19,7 +19,7 @@
   <!--This will create the scene where the robots are located in-->
   <xacro:my_dual_robot_cell
     parent="world"
-    
+
     alice_ur_type="$(arg alice_ur_type)"
     alice_joint_limits_parameters_file="$(arg alice_joint_limits_parameters_file)"
     alice_kinematics_parameters_file="$(arg alice_kinematics_parameters_file)"

Original file line number	Diff line number	Diff line change
`@@ -302,7 +302,7 @@ def generate_launch_description():`
`302`	`302`	`"ur20",`
`303`	`303`	`"ur30",`
`304`	`304`	`],`
`305`		`- default_value="ur3e",`
	`305`	`+ default_value="ur5e",`
`306`	`306`	`)`
`307`	`307`	`)`
`308`	`308`	`declared_arguments.append(`