add single fr3

[yuki-asano]

• added minimum set of fr3 (franka research 3) model which is almost same with panda model (only name is different)
• confirmed motions of the real robot by

(send *ri* :angle-vector (send *fr3* :angle-vector) 5000)
(send *ri* :start-grasp :rarm)
(send *ri* :stop-grasp :rarm)

[pazeshun]

JSK does not have real fr3, so I only confirmed that fr3.l seems correctly generated and the following procedure works on kinematics simulator:

(fr3-init)
(objects (list *fr3*))
(send *ri* :stop-grasp :rarm)
(send *ri* :start-grasp :rarm)
(send *fr3* :stop-grasp :rarm)
(send *fr3* :start-grasp :rarm)
(send *fr3* :init-pose)
(send *ri* :angle-vector (send *fr3* :angle-vector) 5000)

[k-okada]

if the only difference is name , why not load the existing lisp file and change robot name? -- ◉ Kei Okada 2023年10月31日(火) 20:45 Shun Hasegawa ***@***.***>:

…

***@***.**** approved this pull request. JSK does not have fr3, so I only confirmed that fr3.l seems correctly generated and the following procedure works on kinematic simulator: (fr3-init) (objects (list *fr3*)) (send *ri* :stop-grasp :rarm) (send *ri* :start-grasp :rarm) (send *fr3* :stop-grasp :rarm) (send *fr3* :start-grasp :rarm) (send *fr3* :init-pose) (send *ri* :angle-vector (send *fr3* :angle-vector) 5000) — Reply to this email directly, view it on GitHub <#1885 (review)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AADYNXCMMM2L6TVJIPWQ3S3YCDQDPAVCNFSM6AAAAAA6XAW2YGVHI2DSMVQWIX3LMV43YUDVNRWFEZLROVSXG5CSMV3GSZLXHMYTOMBWGA4TINZWHE> . You are receiving this because you are subscribed to this thread.Message ID: ***@***.***>

[pazeshun]

@k-okada

if the only difference is name , why not load the existing lisp file and change robot name?

I think @yuki-asano 's explanation is incorrect.

At least, joint names are different, so we have to generate fr3.l:
https://github.com/jsk-ros-pkg/jsk_robot/pull/1885/files#diff-3518a932c47d029d01ebd0f0d3e9f8d0656adbca5d2c218f48b9e326124596e1R2-R8
vs.

jsk_robot/jsk_panda_robot/panda_eus/models/panda.yaml

Lines 2 to 8 in ddf454d

	- panda_joint1 : rarm-collar-y
	- panda_joint2 : rarm-shoulder-p
	- panda_joint3 : rarm-shoulder-y
	- panda_joint4 : rarm-elbow-p
	- panda_joint5 : rarm-wrist-r
	- panda_joint6 : rarm-wrist-p
	- panda_joint7 : rarm-wrist-y

So it is hard to reuse panda-utils.l in fr3-utils.l, because current panda-utils.l uses defmethod against panda-robot, not fr3-robot:
https://github.com/jsk-ros-pkg/jsk_robot/blob/ddf454dd5f4f4c1aa43b81fda6e17a24d96c721f/jsk_panda_robot/panda_eus/euslisp/panda-utils.l

As for fr3-interface.l, we may be able to reuse panda-interface.l by defining fr3-interface as a child class of panda-interface. I do not think this is a good idea because code uniformity (parent class of all franka robots' interfaces is franka-common-interface) becomes lost, but I'll follow @k-okada 's decision. I reconsidered and will make a PR for this. -> yuki-asano#5

[pazeshun]

@k-okada Maybe I followed your comment. Could you check this PR again?

[pazeshun]

@k-okada Kindly ping

[pazeshun]

@k-okada Kindly ping

[pazeshun]

@k-okada Kindly ping

[pazeshun]

@k-okada Kindly ping