Model M#

#

Note

The most accurate information regarding the model can be found in the URDF files under the models directory of the Rainbow Robotics SDK repository. It is highly recommended to refer to this source for the latest updates and details.


Model M

  • Mecanum Wheel

Mecanum Wheel

Degrees of Freedom (DOF)#


  • Total DOF: 26

Joint Names#


The joint names of the M model are as follows:

  • Wheels: wheel_fr, wheel_fl, wheel_rr, wheel_rl

  • Torso: torso_0, torso_1, torso_2, torso_3, torso_4, torso_5

  • Right Arm: right_arm_0, right_arm_1, right_arm_2, right_arm_3, right_arm_4, right_arm_5, right_arm_6

  • Left Arm: left_arm_0, left_arm_1, left_arm_2, left_arm_3, left_arm_4, left_arm_5, left_arm_6

  • Head: head_0, head_1

Mobility Indexes#


The indexes related to mobility are as follows:

  • Wheel FR(Front-Right) Index: 0

  • Wheel FL(Front-Left) Index: 1

  • Wheel RR(Rear-Right) Index: 2

  • Wheel RL(Rear-Left) Index: 3

Body Indexes#


The indexes related to the body parts are as follows:

  • Torso Indexes: 4, 5, 6, 7, 8, 9

  • Right Arm Indexes: 10, 11, 12, 13, 14, 15, 16

  • Left Arm Indexes: 17, 18, 19, 20, 21, 22, 23

Head Indexes#


The indexes related to the head parts are as follows:

  • Head Indexes: 24, 25

Brake and Motor Information#


Components Without Brakes#

The following components do not have brakes:

  • Wheels: wheel_fr, wheel_fl, wheel_rr, wheel_rl

  • Right Arm: right_arm_6

  • Left Arm: left_arm_6


Components Without Physical Brake Buttons#

The following components have brakes but do not have physical buttons for releasing them (can only be released electronically):

  • Torso: torso_3, torso_4, torso_5

  • Right Arm: right_arm_4, right_arm_5

  • Left Arm: left_arm_4, left_arm_5


Components With Physical Brake Buttons#

The following components have brakes and include physical buttons for releasing them:

  • Torso: torso_0, torso_1, torso_2

  • Right Arm: right_arm_0, right_arm_1, right_arm_2, right_arm_3

  • Left Arm: left_arm_0, left_arm_1, left_arm_2, left_arm_3

Parameter Lists#


Parameter Name

Default Value

Min Value

Max Value

Unit

robot_model_name

“rby1m”

-

-

model_name

“”

-

-

battery_config (type, cutoff_voltage, fully_charged_voltage, …)

[0, 44.7, 58.6, 1123.0, -61.587, 1.0168, -0.0045]

-

-

soft_stop_enabled

0

0

1

power_command.timeout

1.0

0.0

10.0

sec

servo_on_command.timeout

15.0

0.0

30.0

sec

servo_on_command.new_data_timeout

3.0

0.0

10.0

sec

gravity

[0, 0, -9.8]

-

-

m/s²

default.velocity_limit_scaling

1.0

0.01

1.5

default.acceleration_limit_scaling

1.0

0.01

1.5

default.linear_acceleration_limit

5.0

0.01

10.0

default.angular_acceleration_limit

1.0

0.01

5.0

default.optimal_control_command.velocity_tracking_gain

0.1

1e-5

1.0

default.optimal_control_command.stop_cost

1e-3

1e-6

1e9

default.se2_velocity_command.acceleration_limit

[1.0, 5.0, 99.0]

-

-

jog_command.one_step_size

0.087266463 (5°)

0.017453293 (1°)

0.17453293 (10°)

rad

jog_command.canceling_time

0.1

1e-3

10.0

sec

joint_position_command.cutoff_frequency

15.0

1e-3

100.0

Hz

joint_position_command.canceling_time

0.1

1e-3

1.0

sec

joint_position_command.torque_saturation_time

0.1

1e-3

1.0

sec

cartesian_command.cutoff_frequency

15.0

1e-3

100.0

Hz

cartesian_command.canceling_time

0.1

1e-3

1.0

sec

cartesian_command.torque_saturation_time

0.1

1e-3

1.0

sec

impedance_control_command.torque_saturation_time

0.1

1e-3

1.0

sec

optimal_control_command.torque_saturation_time

0.1

1e-3

1.0

sec

stop_command.canceling_time

0.1

1e-3

1.0

sec

stop_command.torque_saturation_time

0.1

1e-3

1.0

sec

joint_velocity_command.canceling_time

0.1

1e-3

1.0

sec

joint_velocity_command.torque_saturation_time

0.1

1e-3

1.0

sec

se2_velocity_command.canceling_time

0.1

1e-3

1.0

sec

Example Usage in Python#


# Set parameters using the dot notation, following the provided examples
robot.set_parameter("default.acceleration_limit_scaling", "0.8")
robot.set_parameter("joint_position_command.cutoff_frequency", "5")
robot.set_parameter("cartesian_command.cutoff_frequency", "5")
robot.set_parameter("default.linear_acceleration_limit", "5")