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Revo2 Description

👉 Want the ROS 2 version? Visit revo2_description (ROS2)

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.
• Gazebo Simulation: Launch files for simulating robot models in Gazebo.
• Docker Support: Pre-configured Docker environment for easy setup and deployment.

Prerequisites

For Docker Usage

• Docker

For Native ROS1 Usage

• Ubuntu 20.04
• ROS Noetic
• Additional packages: ros-noetic-xacro, ros-noetic-joint-state-publisher-gui, ros-noetic-gazebo-ros-pkgs

Installation and Setup

Option 1: Docker Setup (Recommended)

To use the Docker-based visualization and simulation:

Automatic Setup (Recommended)

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

# Visualize left hand (default) - image will be built automatically on first run
./scripts/visualize_revo2.sh left

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

# Simulate left hand (default)
./scripts/simulate_revo2.sh left

# Simulate right hand
./scripts/simulate_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_ros1 .docker

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

Option 2: Native ROS1 Setup

For native ROS1 installation:

# Install ROS Noetic (if not already installed)
# Follow instructions at: http://wiki.ros.org/noetic/Installation/Ubuntu

# Install additional dependencies
sudo apt-get update
sudo apt-get install ros-noetic-xacro ros-noetic-joint-state-publisher-gui ros-noetic-gazebo-ros-pkgs

# Create a catkin 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
catkin_make
source devel/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 ROS1

After setting up the workspace:

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

# Visualize left hand
roslaunch revo2_description display_revo2_left_hand.launch

# Visualize right hand
roslaunch revo2_description display_revo2_right_hand.launch

Gazebo Simulation

Using Docker (Recommended)

# Simulate left hand (default)
./scripts/simulate_revo2.sh left

# Simulate right hand
./scripts/simulate_revo2.sh right

Using Native ROS1

After setting up the workspace:

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

# Simulate left hand
roslaunch revo2_description gazebo_revo2_left_hand.launch

# Simulate right hand
roslaunch revo2_description gazebo_revo2_right_hand.launch

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

License

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