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Revo2 Description

Overview

The Revo2 Description repository offers detailed URDF models for BrainCo Revo2 dexterous hands. Additionally, the repository provides Docker support for easy visualization and simulation setup.

Features

• Detailed 3D Models: High-fidelity 3D models of Revo2 left and right hands for accurate simulation and visualization.
• RViz Visualization: Built-in launch files for visualizing robot models in RViz.
• Docker Support: Pre-configured Docker environment for easy setup and deployment.

Prerequisites

For Docker Usage

• Docker

For Native ROS2 Usage

• Ubuntu 20.04/22.04
• ROS 2 (Humble/Iron/Jazzy/Rolling)
• Additional packages: ros-<distro>-xacro, ros-<distro>-joint-state-publisher-gui

Installation and Setup

Option 1: Docker Setup (Recommended)

To use the Docker-based visualization:

Automatic Setup (Recommended)

The scripts will automatically build the Docker image on first use:

# Visualize left hand (default)
./scripts/visualize_revo2.sh left

# Visualize right hand
./scripts/visualize_revo2.sh right

Manual Setup (Optional)

You can also build the Docker image manually beforehand:

# Build the Docker image once
docker build -t revo2_description .docker

# Then use the scripts (they will skip building and use the existing image)
./scripts/visualize_revo2.sh left

Option 2: Native ROS2 Setup

For native ROS2 installation:

# Install ROS 2 (if not already installed)
# Follow instructions at: https://docs.ros.org/en/humble/Installation.html

# Install additional dependencies
sudo apt-get update
sudo apt-get install ros-<distro>-xacro ros-<distro>-joint-state-publisher-gui

# Create a ROS 2 workspace
mkdir -p ~/revo2_ws/src
cd ~/revo2_ws/src

# Copy or clone the revo2_description package
cp -r /path/to/revo2_description .

# Build the workspace
cd ~/revo2_ws
colcon build --packages-select revo2_description --symlink-install
source install/setup.bash

Visualization

RViz Visualization

Using Docker (Recommended)

# Visualize left hand (default)
./scripts/visualize_revo2.sh left

# Visualize right hand
./scripts/visualize_revo2.sh right

Using Native ROS2

After setting up the workspace:

# Source the workspace
source ~/revo2_ws/install/setup.bash

# Visualize left hand
ros2 launch revo2_description view_revo2_left_hand.launch.py

# Visualize right hand
ros2 launch revo2_description view_revo2_right_hand.launch.py

Joint Information

Left Hand Joints

Joint Name	Description	Range (degrees)	Range (radians)
left_thumb_flex_joint	Thumb flexion	0 ~ 59	0 ~ 1.03
left_thumb_abduct_joint	Thumb abduction	0 ~ 90	0 ~ 1.57
left_index_joint	Index finger	0 ~ 81	0 ~ 1.41
left_middle_joint	Middle finger	0 ~ 81	0 ~ 1.41
left_ring_joint	Ring finger	0 ~ 81	0 ~ 1.41
left_pinky_joint	Pinky finger	0 ~ 81	0 ~ 1.41

Right Hand Joints

Joint Name	Description	Range (degrees)	Range (radians)
right_thumb_flex_joint	Thumb flexion	0 ~ 59	0 ~ 1.03
right_thumb_abduct_joint	Thumb abduction	0 ~ 90	0 ~ 1.57
right_index_joint	Index finger	0 ~ 81	0 ~ 1.41
right_middle_joint	Middle finger	0 ~ 81	0 ~ 1.41
right_ring_joint	Ring finger	0 ~ 81	0 ~ 1.41
right_pinky_joint	Pinky finger	0 ~ 81	0 ~ 1.41

Package Structure

revo2_description/
├── launch/                 # ROS launch files
├── meshes/                 # 3D mesh files (.STL)
│   ├── revo2_left_hand/    # Left hand meshes
│   └── revo2_right_hand/   # Right hand meshes
├── scripts/                # Docker utility scripts
├── urdf/                   # URDF model files
├── rviz/                   # RViz configuration files
├── .docker/               # Docker support files
├── CMakeLists.txt
├── package.xml
├── CHANGELOG.rst
└── README.md

License

This project is licensed under the Apache License 2.0 - see the LICENSE file for details.