🤖 Robot

Arms

see:

  • config/trossen/arm_{l|r}.yaml: Low-level arm and motor parameters.

  • src/conf/arms/default.yaml: High-level configuration, including IP addresses and end-effector offsets.

  • src/tatbot/data/arms.py: The Pydantic data model that loads these configurations.

Update Firmware

First update the firmware to the latest version:

https://docs.trossenrobotics.com/trossen_arm/main/getting_started/software_setup.html#software-upgrade

Download latest firmware:

https://docs.trossenrobotics.com/trossen_arm/main/downloads.html

cd ~/Downloads && wget <get link from above>
unzip firmware-wxai_v0-v1.8.4.zip
teensy_loader_cli --mcu=TEENSY41 -s firmware-wxai_v0-v1.8.4.hex

TODO: Set the velocity_tolerance to 0.2 times the velocity max https://docs.trossenrobotics.com/trossen_arm/main/getting_started/configuration.html#joint-limits TODO: Edit end effector parameters for tattoo ee https://docs.trossenrobotics.com/trossen_arm/main/api/structtrossen__arm_1_1EndEffector.html#struct-documentation TODO: Create trossen_arm.StandardEndEffector.wxai_v0_tatbot_l and trossen_arm.StandardEndEffector.wxai_v0_tatbot_r

Home Arms

https://docs.trossenrobotics.com/trossen_arm/main/service.html#arm-homing

URDF

  • tatbot is defined using URDF at tatbot/urdf/tatbot.urdf

  • based off the official URDF

IK

  • jax

  • pyroki

  • every stroke tatbot executes is a sequence of joint angles

  • joint angles are computed using inverse kinematics (ik)

  • ik is computed on the GPU in parallel

see:

  • src/tatbot/data/stroke.py

  • src/tatbot/gen/batch.py