DualArm integrated System [DAiSy] Ros2 URDF with Table by MideDay · Pull Request #46 · code-iai/iai_robots

MideDay · 2026-05-07T12:39:21Z

Renamed dualarm to daisy
Updated URDF for ROS2 compliance and added iai_table with fitting offsets for setup in SuTuRo-Lab as daisy.urdf.xacro
Includes working setup and configuration for physical UR5 hardware integration

…robot. Added dualarm with table urdf and launch files. Adjusted table urdf and launch files for ros2.

…r_description

…rm robot setup Co-authored-by: Copilot <copilot@github.com>

Removed unused robot-specific launch arguments for left and right robots. Added robot description command generation using Xacro.

maltehue · 2026-05-10T20:04:37Z

is the iai_table_robot_description used for anything but holding the mesh of the table?

maltehue · 2026-05-10T20:06:10Z

do the 4 xacro files in iai_daisy_description depend in any way on each other? it looks like a lot of duplicated code. If they are not needed they can be deleted and we only keep one correct one.

maltehue · 2026-05-10T20:06:57Z

@mitsav01 the final hardware setup version will be pushed later?

MideDay · 2026-05-12T12:58:23Z

is the iai_table_robot_description used for anything but holding the mesh of the table?

There are also meshes for the adapter plates and the base_to_optical_table.stl is used in iai_donbot_description.

MideDay · 2026-05-12T13:03:51Z

do the 4 xacro files in iai_daisy_description depend in any way on each other? it looks like a lot of duplicated code. If they are not needed they can be deleted and we only keep one correct one.

Mitesh already did a lot of clean up for those in his repo. I'm checking if that works for my sim setup in cram and then I'll discuss with him how we'll proceed with the PR.

@mitsav01 the final hardware setup version will be pushed later?

Depending on how we decide to proceed with the PR. Either I'll merge the final setup into this PR, or he'll do a separate PR for it.

working setup and configuration for physical UR5 hardware integration

working real hardware setup

…publisher to subscribe and publish to the same topic

Created README to reflect hardware setup and installation instructions.

Updated image paths and corrected section title for clarity.

Updated image syntax in README for better compatibility and clarity.

… publish to joint_states

mitsav01 and others added 17 commits February 26, 2026 14:09

Refactor launch files and URDF configuration for dualarm robot setup

50b746e

added dual gripper

f99ab8d

modified urdf

3e9c344

Refactor dual arm robot launch and URDF files

4df4427

added ros2 launch.py for display and upload launch files for dualarm …

be6a938

…robot. Added dualarm with table urdf and launch files. Adjusted table urdf and launch files for ros2.

Refactor launch files and URDF configuration for dualarm robot setup

f050fa0

adjusted files for dualarm with table urdf

ec6088f

adjusted mounting plate locations for dualarm

8af3de2

added second gripper and renamed urdfs/launchs to reflect that

60a842e

adjusted urdf for xacro:ur_robot. Refactored launch files

c9138ad

fixed urdf path in upload_dualarm_ur5s_two_gripper_table.launch.py

d540645

[iai_daisy] renamed DualArm to DAiSy (DualArm integrated System).

f56524b

[iai_table] changed dependecy back to ur_description instead of iai_u…

43bbc10

…r_description

Remove deprecated launch files and URDF/XACRO descriptions for dual-a…

9209f8d

…rm robot setup Co-authored-by: Copilot <copilot@github.com>

Add parameters to joint_state_publisher node

101cc01

Refactor launch file by removing unused arguments

d27b07e

Removed unused robot-specific launch arguments for left and right robots. Added robot description command generation using Xacro.

minor launch file changes

dbac7ce

working real hardware setup

a34155a

MideDay added 4 commits May 13, 2026 10:20

Merge branch 'ros-jazzy' into ros-jazzy

6457799

Merge pull request #2 from mitsav01/ros-jazzy

62bdb44

working setup and configuration for physical UR5 hardware integration

Merge branch 'ros-jazzy' into pr/MideDay/46

e1bf960

Merge pull request #3 from mitsav01/pr/MideDay/46

1348481

working real hardware setup

maltehue reviewed May 18, 2026

View reviewed changes

Comment thread iai_daisy_description/robots/daisy.urdf.xacro Outdated

[iai_daisy] removed kms40 mounting plate

55acfec

MideDay requested a review from maltehue May 26, 2026 12:46

MideDay added 3 commits May 26, 2026 15:39

[iai_daisy] adjusted left ur5 arm rotation to reflect real setup

511b4b9

[iai_daisy] fixed daisy_rsp.launch.py after failed merge

be1c3ff

[iai_daisy] adjusted gripper position on arm

8e0f31f

MideDay force-pushed the ros-jazzy branch from 4d327cb to 8e0f31f Compare May 28, 2026 12:57

MideDay added 3 commits May 28, 2026 16:58

[iai_daisy] made velocity_controller the initial controller

25432bb

[iai_daisy] remapped joint state publishing to avoid new joint_state_…

68a6e8c

…publisher to subscribe and publish to the same topic

[iai_daisy] fixed typo ...

1241bfc

maltehue requested a review from J-Schaefer June 1, 2026 12:56

MideDay and others added 10 commits June 4, 2026 15:37

[iai_daisy] added new gripper mounting plate and gripper fingertips.

6a2466f

[iai_daisy] added collision meshes for new fingers/gripper mount

ddaf6f1

Fix package share directory for daisy description

bc973ab

Add joint_state_publisher_gui node to launch file

6dc7e61

README for hardware setup and installation

9595846

Created README to reflect hardware setup and installation instructions.

Create initial_screen.png

cb1a427

uploaded necessary images

87d7208

Fix image paths and update section title

e01af40

Updated image paths and corrected section title for clarity.

Fix image syntax in README.md

fa45ff9

Updated image syntax in README for better compatibility and clarity.

Added the new parameters for griplink nodes. Re-added joint_states to…

128b9d9

… publish to joint_states

MideDay force-pushed the ros-jazzy branch from 9cbeaaa to 128b9d9 Compare June 19, 2026 12:49

[DAiSy] changed gripper mounting

752001a

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DualArm integrated System [DAiSy] Ros2 URDF with Table#46

DualArm integrated System [DAiSy] Ros2 URDF with Table#46
MideDay wants to merge 40 commits into
code-iai:ros-jazzyfrom
MideDay:ros-jazzy

MideDay commented May 7, 2026 •

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MideDay commented May 7, 2026 •

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