Feature/real arm urdf import by richardnguyen165 · Pull Request #7 · Waybionic/waybionic_ground_station

richardnguyen165 · 2026-07-11T19:54:29Z

Finished rendering the arm and enabled joint movement via RViz. URDF file is included, and the .bak files have been cleaned up.

Video of Demo: https://youtu.be/xBz2U8d-bfE

Added instructions for building and launching the robot simulation.

…m_demo_v2" This reverts commit e757099, reversing changes made to ee099be.

…s/ folder

…rm_demo_v2" This reverts commit 723cb03.

…to waybionic_arm_demo_v2 # Conflicts: # waybionic_description/CMakeLists.txt

…he arm in order to position the arm correctly

Waybionic arm demo v2 merge into feature/real-arm-urdf-import

…-import Rebasing main onto feature/real-arm-urdf-import

yassinsolim

I tested this in Ubuntu 24.04 with ROS Jazzy. After manually resolving the current merge conflict, all three packages built, all 27 tests passed, check_urdf passed, and RViz loaded the model without missing-mesh errors.

I am requesting changes before merge:

Merge or rebase current main and resolve display.launch.py. Keep the current model-loading logic from main and change its default model to full_arm_mar24.urdf.

Fix the joint model or correct the documentation. Right now only joint3 moves, while joint1, joint2, and joint4 are fixed. The documentation currently describes four revolute joints.

Remove the unused STL exports. The PR adds 95 STL files, but the URDF only references base_link.STL, shoulder.STL, elbow.STL, forearm.STL, and wrist.STL. The other 90 files add about 37.74 MiB and should not be included in the clean repository.

Rewrite or remove the outdated model documentation. It currently references assembled.launch.py, test_all.launch.py, waybionic_assembled.urdf, test_all_meshes.urdf, and backup files that are not included.

Confirm whether March 24 or May 26 is the accepted CAD revision. The imported model and the mechanical-team request currently disagree.

Add a massless root or world link and verify the base inertia. KDL currently warns that it ignores inertia on the root base_link.

The visualization itself works. Once the branch is cleaned up and the model and documentation agree, it should be ready to merge.

…-import # Conflicts: # waybionic_bringup/launch/display.launch.py

richardnguyen165 · 2026-08-01T19:04:50Z

Launch command

source /opt/ros/jazzy/setup.bash
colcon build --packages-select waybionic_description waybionic_bringup
source install/setup.bash
ros2 launch waybionic_bringup display.launch.py

full_arm_mar24.urdf is now the launch default (the one-line change to
display.launch.py). To be explicit, or to select any other model without editing
the launch file:

ros2 launch waybionic_bringup display.launch.py \
  model:=$(ros2 pkg prefix waybionic_description --share)/urdf/full_arm_mar24.urdf

Brings up robot_state_publisher, RViz (waybionic.rviz), and the Joint State
Publisher GUI.

richardnguyen165 · 2026-08-01T19:06:02Z

Logical link / joint summary

6 links (5 physical + 1 massless root), 5 joints, 4 DOF:

world ──[world_to_base: fixed]──> base_link
      ──[joint1: revolute]──> shoulder
      ──[joint2: revolute]──> elbow
      ──[joint3: continuous]──> forearm
      ──[joint4: revolute]──> wrist

Joint	Type	Parent → Child	Axis	Range	Effort/Vel
`world_to_base`	fixed	world → base_link	—	—	—
`joint1`	revolute	base_link → shoulder	`0 0 1`	±3.14 rad	100 / 1
`joint2`	revolute	shoulder → elbow	`0 0 1`	±3.14 rad	100 / 1
`joint3`	continuous	elbow → forearm	`0 0 1`	unbounded	100 / 1
`joint4`	revolute	forearm → wrist	`0 0 1`	±3.14 rad	100 / 1

Masses from CAD: base_link 3.0245, shoulder 0.73934, elbow 1.6571,
forearm 1.1398, wrist 0.36714 kg. Full inertia tensors preserved from the export.

richardnguyen165 · 2026-08-01T19:11:39Z

Test evidence

Clean rebuild (rm -rf build install log) at commit 298f707.

check_urdf — structural

robot name is: full-arm-mar24-urdf-and-meshes
---------- Successfully Parsed XML ---------------
root Link: world has 1 child(ren)
    child(1):  base_link
        child(1):  shoulder
            child(1):  elbow
                child(1):  forearm
                    child(1):  wrist

Root is world — confirms the KDL fix is in place.

colcon build / test / test-result

KDL root-inertia check (headless)

Mesh audit — all 5 referenced meshes present

CI: ROS 2 Jazzy Build and Test (ros:jazzy container, ubuntu-24.04) —
rosdep → colcon build → colcon test → colcon test-result --all.

richardnguyen165 · 2026-08-01T19:13:16Z

richard@RN-MSP9:~/waybionic_ground_station/waybionic_ground_station$ colcon test-result --all
build/waybionic_bringup/Testing/20260725-1947/Test.xml: 4 tests, 0 errors, 0 failures, 0 skipped
build/waybionic_bringup/test_results/waybionic_bringup/flake8.xunit.xml: 1 test, 0 errors, 0 failures, 0 skipped
build/waybionic_bringup/test_results/waybionic_bringup/lint_cmake.xunit.xml: 1 test, 0 errors, 0 failures, 0 skipped
build/waybionic_bringup/test_results/waybionic_bringup/pep257.xunit.xml: 1 test, 0 errors, 0 failures, 0 skipped
build/waybionic_bringup/test_results/waybionic_bringup/xmllint.xunit.xml: 1 test, 0 errors, 0 failures, 0 skipped
build/waybionic_description/Testing/20260725-1947/Test.xml: 2 tests, 0 errors, 0 failures, 0 skipped
build/waybionic_description/test_results/waybionic_description/lint_cmake.xunit.xml: 1 test, 0 errors, 0 failures, 0 skipped
build/waybionic_description/test_results/waybionic_description/xmllint.xunit.xml: 1 test, 0 errors, 0 failures, 0 skipped
build/waybionic_rviz_plugins/Testing/20260725-1943/Test.xml: 3 tests, 0 errors, 0 failures, 0 skipped
build/waybionic_rviz_plugins/test_results/waybionic_rviz_plugins/lint_cmake.xunit.xml: 1 test, 0 errors, 0 failures, 0 skipped
build/waybionic_rviz_plugins/test_results/waybionic_rviz_plugins/test_package_metadata.xunit.xml: 9 tests, 0 errors, 0 failures, 0 skipped
build/waybionic_rviz_plugins/test_results/waybionic_rviz_plugins/xmllint.xunit.xml: 2 tests, 0 errors, 0 failures, 0 skipped

Summary: 27 tests, 0 errors, 0 failures, 0 skipped

richardnguyen165 · 2026-08-01T19:17:42Z

Confirmed CAD revision


SolidWorks assembly	`full-arm-mar24.SLDASM`
Export tool	sw2urdf `1.6.0-4-g7f85cfe`, build `1.6.7995.38578`
Export timestamp	2026-07-11 13:16 UTC (STLs 13:16:25–28, URDF 13:16:31)
Delivered as	`full-arm-mar24-urdf-and-meshes/`

⚠️ Naming trap: the drop was archived locally in a folder labelled full-arm-mar8-…;
its contents are the mar24 assembly. A separate folder literally named
full-arm-mar24-20260627… is an earlier, incomplete export (2026-06-27, base_link
only, no meshes) and is not the source of this PR. Identify the revision by the
export timestamp and the checksums below, not by folder name.

STL SHA256 — byte-identical to the 2026-07-11 export:

Mesh	Bytes	SHA256
`base_link.STL`	86,284	`1eeca9a2bd8638cbd7267bf386c4f073d42ed5dc296994893e4fc739b0fd9879`
`shoulder.STL`	3,677,284	`a6cdd947841af9425e626bbd55f58c713f69c069b096b56fd4e201b8c7405dfa`
`elbow.STL`	5,163,684	`b02de46cd343878d5e2c37c92097e2b6de7241f4b62da5b2992ca20dcce045d5`
`forearm.STL`	1,048,984	`f43da709a418c165aec60dcfb862e31e382b9e51dc380186a7aefe130fffa333`
`wrist.STL`	1,136,184	`a94b9769819b0e0019a631514e47daea57a8ad98efd1208a666f4e2e88a94dd7`

All 5 committed to git (no LFS, ~10.6 MiB total) and installed via
install(DIRECTORY urdf meshes …) in waybionic_description/CMakeLists.txt.
These are the only meshes the model needs — nothing else is referenced.

Haroldmin1028 and others added 22 commits June 6, 2026 13:44

Setup clean Waybionic foundation and placeholder arm

e73e3d4

Add build instructions for basic robot setup

77bacc9

Added instructions for building and launching the robot simulation.

Managed to get the urdf working, but still waiting

03cfd84

Clean foundation PR, automate RViz launch

f4e60a0

Got latest STL files fromNoah

3c8b930

Created readme file for documentation

3237c6f

Address PR comments, ignore Annin packages, fix display.launch.py

461ad64

Add ignore file for external annin package

fcce00e

Python files for testing

ee099be

Merge branch 'rebuild/waybionic-foundation' into waybionic_arm_demo_v2

e757099

Revert "Merge branch 'rebuild/waybionic-foundation' into waybionic_ar…

723cb03

…m_demo_v2" This reverts commit e757099, reversing changes made to ee099be.

Reverted the merge, created a file that shows all the parts

be22501

Deleted old annin packages, updates BuildInstructions.md, added meshe…

c014417

…s/ folder

Reapply "Merge branch 'rebuild/waybionic-foundation' into waybionic_a…

1d9709a

…rm_demo_v2" This reverts commit 723cb03.

Merge remote-tracking branch 'origin/rebuild/waybionic-foundation' in…

ab3c142

…to waybionic_arm_demo_v2 # Conflicts: # waybionic_description/CMakeLists.txt

Updated model import checklist (task #6)

fd78b2a

Mechanical team requirements laid out - must send the URDF file for t…

4bccbb2

…he arm in order to position the arm correctly

Updated demanded version of urdf

d8513ca

Merge remote-tracking branch 'origin/main' into waybionic_arm_demo_v2

ad4f4b4

Merge pull request #3 from Waybionic/waybionic_arm_demo_v2

9b13b38

Waybionic arm demo v2 merge into feature/real-arm-urdf-import

Add real-arm URDF exported from SolidWorks + launch fixes

2fd5d5a

Merge remote-tracking branch 'origin/main' into feature/real-arm-urdf…

93d481a

…-import Rebasing main onto feature/real-arm-urdf-import

richardnguyen165 requested a review from yassinsolim as a code owner July 11, 2026 19:54

richardnguyen165 assigned richardnguyen165, yassinsolim, Gkong5020 and mujtaba-zia Jul 11, 2026

yassinsolim requested changes Jul 18, 2026

View reviewed changes

richard.nguyen1 added 2 commits July 25, 2026 12:27

Merge remote-tracking branch 'origin/main' into feature/real-arm-urdf…

fc6acde

…-import # Conflicts: # waybionic_bringup/launch/display.launch.py

Deleted the unused STL parts.

32f8481

richard.nguyen1 added 4 commits July 25, 2026 12:53

Deleted old markdown files.

a8cf615

Restored placeholder urdf file.

00dc68a

Added KDL, updated documentation to include testing instructions.

a6ce2ca

Added dummy link.

298f707

richardnguyen165 requested a review from yassinsolim August 1, 2026 19:52

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Launch command

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Logical link / joint summary

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Test evidence

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Confirmed CAD revision

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