Feature/spriti moz1 (#5)

* add moz1 omniwheel

* add ptc tabs

* add inspire hand

* modified camera direction

* add new camera

* add usb camera and ultrasonic

* add eef frame for eg2 4c2

* modified realsense glb path

* modified d405 direction

---------

Co-authored-by: Xu Shengnan <k2571675874@163.com>
Made-with: Cursor

Author: legubiao

README.md

@@ -28,12 +28,13 @@ Each gripper package includes:
 
 ### Dexterous Hands
 
-Located in `dexhands/` directory:
+Mainly located in `dexhands/` directory (Inspire RH56E2 is provided by `gripper/inspire_description`):
 
 | Brand                                      | Model                 | Repaint | Images                                                                                                                                                                                                                                       |
 |--------------------------------------------|-----------------------|---------|----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
 | [BrainCo](dexhands/brainco_description)    | REVO1<br>REVO2        | Yes     | <img src="dexhands/.images/brainco_revo1.png" width="150"> <img src="dexhands/.images/brainco_revo2_left.png" width="150"> <img src="dexhands/.images/brainco_revo2_right.png" width="150">                                                  |
 | [LinkerHand](dexhands/linkerhand_description) | O6<br>O7<br>L6<br>L10 | Yes     | <img src="dexhands/.images/linkerhand_o6.png" width="150"> <img src="dexhands/.images/linkerhand_o7.png" width="150"> <img src="dexhands/.images/linkerhand_l6.png" width="150"> <img src="dexhands/.images/linkerhand_l10.png" width="150"> |
+| [Inspire](gripper/inspire_description)     | RH56E2                | Yes     | <img src="dexhands/.images/inspire_rh56e2.png" width="150">                                                                                                                                                                                 |
 | [OyMotion](dexhands/oymotion_description)  | RoHand Gen2           | Yes     | <img src="dexhands/.images/rohand_gen2.png" width="150">                                                                                                                                                                                     |
 
 Features:

component_models/meshes/omniwheel_10.glb

@@ -0,0 +1,90 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:property name="PI" value="3.1415926535897931"/>
+
+  <!-- 被动轮宏定义 -->
+  <xacro:macro name="passive_wheel" params="parent_link passive_wheel_name radius angle sphere_radius:='0.08'">
+    <!-- 被动轮链接 -->
+    <link name="${passive_wheel_name}">
+      <inertial>
+        <origin xyz="0 0 0"/>
+        <mass value="0.1"/>
+        <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
+      </inertial>
+      <collision>
+        <geometry>
+          <sphere radius="${float(sphere_radius)}"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <!-- 被动轮关节 - 绕x轴旋转，在yz平面上分布，y轴负方向指向圆心 -->
+    <joint name="${passive_wheel_name}_joint" type="continuous">
+      <!-- 让y轴负方向指向圆心：被动轮在角度angle位置，需要绕x轴旋转angle角度使y轴负方向指向圆心 -->
+      <origin xyz="0 ${float(radius) * cos(float(angle))} ${float(radius) * sin(float(angle))}" rpy="${float(angle)} 0 0"/>
+      <parent link="${parent_link}"/>
+      <child link="${passive_wheel_name}"/>
+      <axis xyz="0 0 1"/>
+    </joint>
+  </xacro:macro>
+
+  <!-- 递归宏：创建被动轮循环 -->
+  <xacro:macro name="create_passive_wheels" params="parent_link wheel_name indices:=^ angle_step passive_wheel_radius_actual">
+    <xacro:if value="${indices}">
+      <!-- 弹出第一个索引 -->
+      <xacro:property name="index" value="${indices.pop(0)}"/>
+      <!-- 计算角度 -->
+      <xacro:property name="angle" value="${float(index) * float(angle_step)}"/>
+      <!-- 创建被动轮 -->
+      <xacro:passive_wheel 
+        parent_link="${parent_link}" 
+        passive_wheel_name="${wheel_name}_passive_${index}" 
+        radius="${passive_wheel_radius_actual}"
+        angle="${angle}"/>
+      <!-- 递归调用自己 -->
+      <xacro:create_passive_wheels 
+        parent_link="${parent_link}" 
+        wheel_name="${wheel_name}" 
+        indices="${indices}" 
+        angle_step="${angle_step}" 
+        passive_wheel_radius_actual="${passive_wheel_radius_actual}"/>
+    </xacro:if>
+  </xacro:macro>
+
+  <!-- 轮子宏定义 - 只包含轮子的link -->
+  <xacro:macro name="wheel" params="wheel_name 
+                inertial_origin_xyz:='0.0026089441594678298 -1.3189703553351252e-07 2.8695680726054107e-07'
+                ixx:='0.012235' ixy:='-0.0' ixz:='0.0' iyy:='0.006629' iyz:='0.0' izz:='0.006629'
+                passive_wheel_radius:='0.02' wheel_radius:='0.15' num_passive_wheels:='10'
+                enable_passive_wheels:='false'">
+    <!-- 轮子链接 -->
+    <link name="${wheel_name}">
+      <inertial>
+        <origin xyz="${inertial_origin_xyz}"/>
+        <mass value="4.24803000494366"/>
+        <inertia ixx="${ixx}" ixy="${ixy}" ixz="${ixz}" iyy="${iyy}" iyz="${iyz}" izz="${izz}"/>
+      </inertial>
+      <visual>
+        <geometry>
+          <mesh filename="file://$(find component_models)/meshes/omniwheel_10.glb"/>
+        </geometry>
+      </visual>
+    </link>
+
+    <!-- 根据参数决定是否创建被动轮 -->
+    <xacro:if value="${enable_passive_wheels}">
+      <!-- 创建10个绕一圈的被动轮 -->
+      <xacro:property name="num_passive_wheels_float" value="${float(num_passive_wheels)}"/>
+      <xacro:property name="angle_step" value="${2*PI / num_passive_wheels_float}"/>
+      <xacro:property name="passive_wheel_radius_actual" value="0.025"/>
+      <xacro:property name="indices" value="${[0,1,2,3,4,5,6,7,8,9]}"/>
+      <xacro:create_passive_wheels 
+        parent_link="${wheel_name}" 
+        wheel_name="${wheel_name}" 
+        indices="${list(indices)}" 
+        angle_step="${angle_step}" 
+        passive_wheel_radius_actual="${passive_wheel_radius_actual}"/>
+    </xacro:if>
+  </xacro:macro>
+</robot>
+

component_models/xacro/omniwheel_10.xacro

@@ -4,8 +4,8 @@ project(inspire_description)
 find_package(ament_cmake REQUIRED)
 
 install(
-		DIRECTORY meshes xacro
-		DESTINATION share/${PROJECT_NAME}/
+    DIRECTORY meshes xacro config
+    DESTINATION share/${PROJECT_NAME}/
 )
 
 ament_package()

dexhands/.images/inspire_rh56e2.png

@@ -1,6 +1,6 @@
 # Inspire Description
 
-This package contains the URDF and related files for the Inspire Grippers.
+This package contains the URDF and related files for Inspire grippers and dexterous hands.
 
 ## Build
 
@@ -17,4 +17,29 @@ colcon build --packages-up-to inspire_description --symlink-install
   ros2 launch robot_common_launch gripper.launch.py gripper:=inspire
   ```
 
-  ![EG2](../.images/inspire_eg2.png)
+  ![EG2](../.images/inspire_eg2.png)
+
+## Visualize the Dexterous Hand
+
+### RH56E2 Hand
+Direction convention: `1` = left hand, `-1` = right hand.
+* Left
+  ```bash
+  source ~/ros2_ws/install/setup.bash
+  ros2 launch robot_common_launch hand.launch.py hand:=inspire type:=RH56E2
+  ```
+  ![RH56E2](../../dexhands/.images/inspire_rh56e2.png)
+* Right
+  ```bash
+  source ~/ros2_ws/install/setup.bash
+  ros2 launch robot_common_launch hand.launch.py hand:=inspire type:=RH56E2 direction:=-1
+  ```
+  ![RH56E2_Right](../../dexhands/.images/inspire_rh56e2_right.png)
+
+## ROS2 Control Demo (Dexterous Hand)
+
+### RH56E2 Hand
+```bash
+source ~/ros2_ws/install/setup.bash
+ros2 launch basic_joint_controller hand.launch.py hand:=inspire type:=RH56E2
+```

dexhands/.images/inspire_rh56e2_right.png

@@ -0,0 +1,46 @@
+# Type-specific controller config for Inspire dexterous hand (RH56E2).
+controller_manager:
+  ros__parameters:
+    update_rate: 100
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    hand_joint_controller:
+      type: basic_joint_controller/BasicJointController
+
+joint_state_broadcaster:
+  ros__parameters:
+    joints:
+      - thumb_joint1
+      - thumb_joint2
+      - index_joint
+      - middle_joint
+      - ring_joint
+      - pinky_joint
+    interfaces:
+      - position
+      - velocity
+      - effort
+
+hand_joint_controller:
+  ros__parameters:
+    update_rate: 100
+    joints:
+      - thumb_joint1
+      - thumb_joint2
+      - index_joint
+      - middle_joint
+      - ring_joint
+      - pinky_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+    home_1: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+    home_2: [0.3, 0.3, 0.3, 0.3, 0.3, 0.3]
+    home_3: [0.6, 0.6, 0.6, 0.6, 0.6, 0.6]
+    home_duration: 3.0
+    movej_duration: 3.0
+    hold_position_threshold: 0.1