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AGNI Robots wiki

Overview

this repository contains :

• agni_description : package describing robot arm and tool assemblies
• agni_moveit_config : package describing moveit config of robot arm and tool assemblies
• rqt_sr_dashboard : package containing a dashboard for the shadow hands

Robot assembly concept

agni_description provides a way to assemble robot arms and tools (hands) in a generic fashion. The idea is to use a set of xacro macros and wrappers to assemble virtually any tool (can be a complex robot) to any arm, even from different packages, with some little constraints.

The wrappers around existing URDF/Xacro descriptions permit to satisfy the constraints and prepare the macros for the generic arm_with_tool assembly calls.

Tutorial

• Instantiate existing arms with existing tools
• Add a new tool