From a8e12277cf5904e9e999a1587ff1a08f63604ae8 Mon Sep 17 00:00:00 2001 From: YusakuNakajima Date: Sun, 25 Aug 2024 12:50:57 +0900 Subject: [PATCH] Update --- README.md | 49 ++++++++++++++++++++++++++++--------------------- README_jp.md | 7 ++++--- 2 files changed, 32 insertions(+), 24 deletions(-) diff --git a/README.md b/README.md index 63d5b8f..a963edb 100755 --- a/README.md +++ b/README.md @@ -6,30 +6,29 @@ This package can operate both in simulation (Gazebo) and on the actual robot. #### **Table of Contents** -- [Robotic Powder Grinding for Laboratory Automation](#robotic-powder-grinding-for-laboratory-automation) - - [**Table of Contents**](#table-of-contents) -- [Overview](#overview) - [Supported Robots](#supported-robots) -- [Quick Start Guide](#quick-start-guide) - - [Setting up Environments of Host PC, Robot, and Docker](#setting-up-environments-of-host-pc-robot-and-docker) - - [Running Docker Container](#running-docker-container) - - [Building ROS Packages in Docker Container](#building-ros-packages-in-docker-container) - - [Demonstration](#demonstration) -- [Known Issues](#known-issues) -- [Future Work](#future-work) -- [Citation](#citation) -- [License](#license) + - [Quick Start Guide](#quick-start-guide) + - [Setting up Environments of Host PC, Robot, and Docker](#setting-up-environments-of-host-pc-robot-and-docker) + - [Running Docker Container](#running-docker-container) + - [Building ROS Packages in Docker Container](#building-ros-packages-in-docker-container) + - [Demonstration](#demonstration) + - [Known Issues](#known-issues) + - [Future Work](#future-work) + - [Citation](#citation) + - [License](#license) ### Overview **Last Updated:** 2023/10/24 This repository focuses on the ROS environment for robot control. - - -### Supported Robots -- UR5e -- UR3e -- Cobotta +## Supported Robots +- Confirmed to work with actual machines + - UR5e (Universal Robot) + - UR3e (Universal Robot) + - Cobotta (DENSO WAVE) + - FR3 (FAIRINO) +- Confirmed to work with simulation only + - Cobotta PRO 900 (DENSO WAVE) ### Quick Start Guide You can also view the Japanese version of the [README_jp](./README_jp.md). @@ -54,6 +53,9 @@ You can also view the Japanese version of the [README_jp](./README_jp.md). roslaunch grinding_robot_bringup ur5e_bringup.launch roslaunch grinding_robot_bringup ur3e_bringup.launch roslaunch grinding_robot_bringup cobotta_bringup.launch + roslaunch grinding_robot_bringup cobotta_pro_900_bringup.launch + roslaunch grinding_robot_bringup fr3_bringup.launch + ``` - If you want to use simulation, please launch with sim:=true. - Launching Grinding Motion: @@ -61,6 +63,9 @@ You can also view the Japanese version of the [README_jp](./README_jp.md). roslaunch grinding_motion_routines ur3e_grinding_demo.launch roslaunch grinding_motion_routines ur5e_grinding_demo.launch roslaunch grinding_motion_routines cobotta_grinding_demo.launch + roslaunch grinding_motion_routines cobotta_pro_900_grinding_demo.launch + roslaunch grinding_motion_routines fr3_grinding_demo.launch + ``` - Use the command g to prepare for grinding (g=grinding), and then use y to execute the grinding. - Use the command G to prepare for powder collection with a spatula (G=grinding), and then use y to execute the powder collection. @@ -70,6 +75,7 @@ You can also view the Japanese version of the [README_jp](./README_jp.md). ### Known Issues - Cobotta's .dea file is unreadable (use fixed .dae file from cobotta_description_converter.py in grinding_descriptions pkg). + ### Future Work - Add IKFast for motion planning - Need to load custom URDF for grinding on IKFast @@ -78,16 +84,17 @@ You can also view the Japanese version of the [README_jp](./README_jp.md). ### Citation - [Robotic Powder Grinding with a Soft Jig for Laboratory Automation in Material Science](https://doi.org/10.1109/IROS47612.2022.9981081) (IROS 2022) ``` -@InProceedings{RoboticPowderGrinding, +@InProceedings{RoboticPowderGrindingWithSoftJig, Title = {Robotic Powder Grinding with a Soft Jig for Laboratory Automation in Material Science}, Author = {Yusaku Nakajima, Masashi Hamaya, Yuta Suzuki, Takafumi Hawai, Felix Von Drigalski, Kazutoshi Tanaka, Yoshitaka Ushiku and Kanta Ono.}, Booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, Year = {2022}, Doi = {10.1109/IROS47612.2022.9981081} } -- [Robotic Powder Grinding with Audio-Visual Feedback for Laboratory Automation in Materials Science](https://omron-sinicx.github.io/powder-grinding/) (IROS 2023) ``` -- Related article: [Robotic Powder Grinding with Audio-Visual Feedback for Laboratory Automation in Materials Science](https://omron-sinicx.github.io/powder-grinding/) (IROS 2023) +If you are interested in the application of robotic powder grinding, please take a look at... +- [Robotic Powder Grinding with Audio-Visual Feedback for Laboratory Automation in Materials Science](https://ieeexplore.ieee.org/document/10341526) (IROS 2023) + - Github pages [here](https://omron-sinicx.github.io/powder-grinding/) ### License This repository is under the MIT license. See [LICENSE](./LICENSE) for details. diff --git a/README_jp.md b/README_jp.md index 8c54ed0..6e74ce0 100755 --- a/README_jp.md +++ b/README_jp.md @@ -79,16 +79,17 @@ This repository focuses on the ROS environment for robot control. ### Citation - [Robotic Powder Grinding with a Soft Jig for Laboratory Automation in Material Science](https://doi.org/10.1109/IROS47612.2022.9981081) (IROS 2022) ``` -@InProceedings{RoboticPowderGrinding, +@InProceedings{RoboticPowderGrindingWithSoftJig, Title = {Robotic Powder Grinding with a Soft Jig for Laboratory Automation in Material Science}, Author = {Yusaku Nakajima, Masashi Hamaya, Yuta Suzuki, Takafumi Hawai, Felix Von Drigalski, Kazutoshi Tanaka, Yoshitaka Ushiku and Kanta Ono.}, Booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, Year = {2022}, Doi = {10.1109/IROS47612.2022.9981081} } -- [Robotic Powder Grinding with Audio-Visual Feedback for Laboratory Automation in Materials Science](https://omron-sinicx.github.io/powder-grinding/) (IROS 2023) ``` -- Related article: [Robotic Powder Grinding with Audio-Visual Feedback for Laboratory Automation in Materials Science](https://omron-sinicx.github.io/powder-grinding/) (IROS 2023) +もし興味があれば、以下の関連研究もご覧ください +- [Robotic Powder Grinding with Audio-Visual Feedback for Laboratory Automation in Materials Science](https://ieeexplore.ieee.org/document/10341526) (IROS 2023) + - Github pages [here](https://omron-sinicx.github.io/powder-grinding/) ## License This repository is under the MIT license. See [LICENSE](./LICENSE) for details.