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 | 1 | initial version |
yes it's possible, you can lay out the links and joints as shown in the animation you've linked above. It would be great if you could to take a crack at writing an initial URDF for this and let us help you debug it if necessary. Below is a template to help you get started, you'll need to fill in the blanks.
<robot name="crank">
<link name="world"/> <!-- inertial frame -->
<joint name="world_link1_joint" type="revolute">
</joint>
<link name="link1> <!-- left most red link in the animation -->
</link>
<joint name="link1_link2_joint" type="revolute">
</joint>
<link name="link2> <!-- blue link in the animation -->
</link>
<joint name="link2_link3_joint" type="revolute">
</joint>
<link name="link3> <!-- red sliding link in the animation -->
</link>
<joint name="link3_link4_joint" type="slider">
</joint>
<link name="link4> <!-- right most gray link in the animation -->
</link>
<joint name="link4_world_joint" type="fixed">
</joint>
</robot>
| | 2 | No.2 Revision |
yes it's possible, you can lay out the links and joints as shown in the animation you've linked above. It would be great if you could to take a crack at writing an initial URDF for this and let us help you debug it if necessary. Below is a template to help you get started, you'll need to fill in the blanks.
<robot name="crank">
<link name="world"/> <!-- inertial frame -->
<joint name="world_link1_joint" type="revolute">
</joint>
<link name="link1> <!-- left most red link in the animation -->
</link>
<joint name="link1_link2_joint" type="revolute">
</joint>
<link name="link2> <!-- blue link in the animation -->
</link>
<joint name="link2_link3_joint" type="revolute">
</joint>
<link name="link3> <!-- red sliding link in the animation -->
</link>
<joint name="link3_link4_joint" type="slider">
type="prismatic">
</joint>
<link name="link4> <!-- right most gray link in the animation -->
</link>
<joint name="link4_world_joint" type="fixed">
</joint>
</robot>
| | 3 | No.3 Revision |
yes it's possible, you can lay out the links and joints as shown in the animation you've linked above. It would be great if you could to take a crack at writing an initial URDF for this and let us help you debug it if necessary. Below is a template to help you get started, you'll need to fill in the blanks.
<robot name="crank">
<link name="world"/> <!-- inertial frame -->
<joint name="world_link1_joint" type="revolute">
</joint>
<link name="link1> <!-- left most red link in the animation -->
</link>
<joint name="link1_link2_joint" type="revolute">
</joint>
<link name="link2> <!-- blue link in the animation -->
</link>
<joint name="link2_link3_joint" type="revolute">
</joint>
<link name="link3> <!-- red sliding link in the animation -->
</link>
<joint name="link3_link4_joint" type="prismatic">
</joint>
<link name="link4> <!-- right most gray link in the animation -->
</link>
<joint name="link4_world_joint" type="fixed">
</joint>
</robot>
| | 4 | No.4 Revision |
yes it's possible, you can lay out the links and joints as shown in the animation you've linked above. It would be great if you could to take a crack at writing an initial URDF for this and let us help you debug it if necessary. Below is a template to help you get started, you'll need to fill in the blanks.
<robot name="crank">
<link name="world"/> <!-- inertial frame -->
<joint name="world_link1_joint" type="revolute">
</joint>
<link name="link1> name="link1"> <!-- left most red link in the animation -->
</link>
<joint name="link1_link2_joint" type="revolute">
</joint>
<link name="link2> name="link2"> <!-- blue link in the animation -->
</link>
<joint name="link2_link3_joint" type="revolute">
</joint>
<link name="link3> name="link3"> <!-- red sliding link in the animation -->
</link>
<joint name="link3_link4_joint" type="prismatic">
</joint>
<link name="link4> name="link4"> <!-- right most gray link in the animation -->
</link>
</robot>
| | 5 | No.5 Revision |
yes it's possible, you can lay out the links and joints as shown in the animation you've linked above. It would be great if you could to take a crack at writing an initial URDF for this and let us help you debug it if necessary. Below is a template to help you get started, you'll need to fill in the blanks.
<robot name="crank">
<link name="world"/> <!-- inertial frame -->
<joint name="world_link1_joint" type="revolute">
</joint>
<link name="link1"> <!-- left most red link in the animation -->
<inertial>
<mass value="100.0" />
<!-- center of mass (com) is defined w.r.t. link local coordinate system -->
<origin xyz="0 0 0" />
<inertia ixx="10.0" ixy="0.0" ixz="0.0" iyy="10.0" iyz="0.0" izz="10.0" />
</inertial>
<visual>
<origin xyz="0 0 0.25" rpy="0 0 0" />
<geometry>
<box size="0.1 0.1 0.5"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0.025" rpy="0 0 0" />
<geometry>
<box size="1.0 1.0 0.05"/>
</geometry>
</collision>
</link>
<joint name="link1_link2_joint" type="revolute">
type="continuous">
<parent link="link1" />
<child link="link2" />
<origin xyz="0 0 0.5" rpy="0 0 0" />
<axis xyz="0 1 0"/>
</joint>
<link name="link2"> <!-- blue link in the animation -->
<inertial>
<mass value="1.0" />
<!-- center of mass (com) is defined w.r.t. link local coordinate system -->
<origin xyz="0.1 0 0" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
</inertial>
<visual>
<origin xyz="0.1 0 0" rpy="0 0 0" />
<geometry>
<box size="0.2 0.05 0.05"/>
</geometry>
</visual>
<collision>
<origin xyz="0.1 0 0" rpy="0 0 0" />
<geometry>
<box size="0.2 0.05 0.05"/>
</geometry>
</collision>
</link>
<joint name="link2_link3_joint" type="revolute">
type="continuous">
<parent link="link2" />
<child link="link3" />
<origin xyz="0.2 0 0" rpy="0 0 0" />
<axis xyz="0 1 0"/>
</joint>
<link name="link3"> <!-- red sliding link in the animation -->
<inertial>
<mass value="1.0" />
<origin xyz="0.25 0 0" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
</inertial>
<visual>
<origin xyz="0.25 0 0" rpy="0 0 0" />
<geometry>
<box size="0.5 0.05 0.05"/>
</geometry>
</visual>
<collision>
<origin xyz="0.25 0 0" rpy="0 0 0" />
<geometry>
<box size="0.5 0.05 0.05"/>
</geometry>
</collision>
</link>
<joint name="link3_link4_joint" type="prismatic">
type="continuous">
<parent link="link3" />
<child link="link4" />
<origin xyz="0.5 0 0" rpy="0 0 0" />
<axis xyz="0 1 0"/>
</joint>
<link name="link4"> <!-- right most gray link in the animation -->
<inertial>
<mass value="1.0" />
<origin xyz="0 0 0" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<sphere radius="0.1"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<sphere radius="0.1"/>
</geometry>
</collision>
</link>
<joint name="link4_link5_joint" type="prismatic">
<parent link="link4" />
<child link="link5" />
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="1 0 0"/>
<limit upper="0.4" lower="0" effort="1000.00" velocity="1000.00"/>
</joint>
<link name="link5"> <!-- right most gray link in the animation -->
<inertial>
<mass value="100.0" />
<origin xyz="0 0 0" />
<inertia ixx="10.0" ixy="0.0" ixz="0.0" iyy="10.0" iyz="0.0" izz="10.0" />
</inertial>
<visual>
<origin xyz="-0.2 0 0" rpy="0 0 0" />
<geometry>
<box size="0.4 0.1 0.1"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 -0.475" rpy="0 0 0" />
<geometry>
<box size="1.0 1.0 0.05"/>
</geometry>
</collision>
</link>
<gazebo reference="link1">
<turnGravityOff>false</turnGravityOff>
<material>Gazebo/Red</material>
</gazebo>
<gazebo reference="link2">
<turnGravityOff>true</turnGravityOff>
<material>Gazebo/Blue</material>
</gazebo>
<gazebo reference="link3">
<turnGravityOff>true</turnGravityOff>
<material>Gazebo/Red</material>
</gazebo>
<gazebo reference="link4">
<turnGravityOff>true</turnGravityOff>
<material>Gazebo/Blue</material>
<mu1>0</mu1>
<mu2>0</mu2>
</gazebo>
<gazebo reference="link5">
<turnGravityOff>false</turnGravityOff>
<material>Gazebo/Gray</material>
</gazebo>
</robot>
| | 6 | No.6 Revision |
yes it's possible, you can lay out the links and joints as shown in the animation you've linked above. It would be great if you could to take a crack at writing an initial URDF for this and let us help you debug it if necessary. Below is a template to help you get started, you'll need to fill in the blanks.Here's one that has both ends weighted down by gravity.
<robot name="crank">
<link name="link1"> <!-- left most red link in the animation -->
<inertial>
<mass value="100.0" />
<!-- center of mass (com) is defined w.r.t. link local coordinate system -->
<origin xyz="0 0 0" />
<inertia ixx="10.0" ixy="0.0" ixz="0.0" iyy="10.0" iyz="0.0" izz="10.0" />
</inertial>
<visual>
<origin xyz="0 0 0.25" rpy="0 0 0" />
<geometry>
<box size="0.1 0.1 0.5"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0.025" rpy="0 0 0" />
<geometry>
<box size="1.0 1.0 0.05"/>
</geometry>
</collision>
</link>
<joint name="link1_link2_joint" type="continuous">
<parent link="link1" />
<child link="link2" />
<origin xyz="0 0 0.5" rpy="0 0 0" />
<axis xyz="0 1 0"/>
</joint>
<link name="link2"> <!-- blue link in the animation -->
<inertial>
<mass value="1.0" />
<!-- center of mass (com) is defined w.r.t. link local coordinate system -->
<origin xyz="0.1 0 0" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
</inertial>
<visual>
<origin xyz="0.1 0 0" rpy="0 0 0" />
<geometry>
<box size="0.2 0.05 0.05"/>
</geometry>
</visual>
<collision>
<origin xyz="0.1 0 0" rpy="0 0 0" />
<geometry>
<box size="0.2 0.05 0.05"/>
</geometry>
</collision>
</link>
<joint name="link2_link3_joint" type="continuous">
<parent link="link2" />
<child link="link3" />
<origin xyz="0.2 0 0" rpy="0 0 0" />
<axis xyz="0 1 0"/>
</joint>
<link name="link3"> <!-- red sliding link in the animation -->
<inertial>
<mass value="1.0" />
<origin xyz="0.25 0 0" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
</inertial>
<visual>
<origin xyz="0.25 0 0" rpy="0 0 0" />
<geometry>
<box size="0.5 0.05 0.05"/>
</geometry>
</visual>
<collision>
<origin xyz="0.25 0 0" rpy="0 0 0" />
<geometry>
<box size="0.5 0.05 0.05"/>
</geometry>
</collision>
</link>
<joint name="link3_link4_joint" type="continuous">
<parent link="link3" />
<child link="link4" />
<origin xyz="0.5 0 0" rpy="0 0 0" />
<axis xyz="0 1 0"/>
</joint>
<link name="link4"> <!-- right most gray link in the animation -->
<inertial>
<mass value="1.0" />
<origin xyz="0 0 0" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<sphere radius="0.1"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<sphere radius="0.1"/>
</geometry>
</collision>
</link>
<joint name="link4_link5_joint" type="prismatic">
<parent link="link4" />
<child link="link5" />
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="1 0 0"/>
<limit upper="0.4" lower="0" effort="1000.00" velocity="1000.00"/>
</joint>
<link name="link5"> <!-- right most gray link in the animation -->
<inertial>
<mass value="100.0" />
<origin xyz="0 0 0" />
<inertia ixx="10.0" ixy="0.0" ixz="0.0" iyy="10.0" iyz="0.0" izz="10.0" />
</inertial>
<visual>
<origin xyz="-0.2 0 0" rpy="0 0 0" />
<geometry>
<box size="0.4 0.1 0.1"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 -0.475" rpy="0 0 0" />
<geometry>
<box size="1.0 1.0 0.05"/>
</geometry>
</collision>
</link>
<gazebo reference="link1">
<turnGravityOff>false</turnGravityOff>
<material>Gazebo/Red</material>
</gazebo>
<gazebo reference="link2">
<turnGravityOff>true</turnGravityOff>
<material>Gazebo/Blue</material>
</gazebo>
<gazebo reference="link3">
<turnGravityOff>true</turnGravityOff>
<material>Gazebo/Red</material>
</gazebo>
<gazebo reference="link4">
<turnGravityOff>true</turnGravityOff>
<material>Gazebo/Blue</material>
<mu1>0</mu1>
<mu2>0</mu2>
</gazebo>
<gazebo reference="link5">
<turnGravityOff>false</turnGravityOff>
<material>Gazebo/Gray</material>
</gazebo>
</robot>
Apply torque to see it rotate
rosservice call /gazebo/apply_joint_effort '{joint_name: link1_link2_joint, effort: 10, start_time: 0, duration: 10000000}'
| | 7 | No.7 Revision |
yes it's possible, you can lay out the links and joints as shown in the animation you've linked above. Here's one that has both ends weighted down by gravity.
<robot name="crank">
<link name="link1"> <!-- left most red link in the animation -->
<inertial>
<mass value="100.0" />
<!-- center of mass (com) is defined w.r.t. link local coordinate system -->
<origin xyz="0 0 0" />
<inertia ixx="10.0" ixy="0.0" ixz="0.0" iyy="10.0" iyz="0.0" izz="10.0" />
</inertial>
<visual>
<origin xyz="0 0 0.25" rpy="0 0 0" />
<geometry>
<box size="0.1 0.1 0.5"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0.025" rpy="0 0 0" />
<geometry>
<box size="1.0 1.0 0.05"/>
</geometry>
</collision>
</link>
<joint name="link1_link2_joint" type="continuous">
<parent link="link1" />
<child link="link2" />
<origin xyz="0 0 0.5" rpy="0 0 0" />
<axis xyz="0 1 0"/>
</joint>
<link name="link2"> <!-- blue link in the animation -->
<inertial>
<mass value="1.0" />
<!-- center of mass (com) is defined w.r.t. link local coordinate system -->
<origin xyz="0.1 0 0" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
</inertial>
<visual>
<origin xyz="0.1 0 0" rpy="0 0 0" />
<geometry>
<box size="0.2 0.05 0.05"/>
</geometry>
</visual>
<collision>
<origin xyz="0.1 0 0" rpy="0 0 0" />
<geometry>
<box size="0.2 0.05 0.05"/>
</geometry>
</collision>
</link>
<joint name="link2_link3_joint" type="continuous">
<parent link="link2" />
<child link="link3" />
<origin xyz="0.2 0 0" rpy="0 0 0" />
<axis xyz="0 1 0"/>
</joint>
<link name="link3"> <!-- red sliding link in the animation -->
<inertial>
<mass value="1.0" />
<origin xyz="0.25 0 0" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
</inertial>
<visual>
<origin xyz="0.25 0 0" rpy="0 0 0" />
<geometry>
<box size="0.5 0.05 0.05"/>
</geometry>
</visual>
<collision>
<origin xyz="0.25 0 0" rpy="0 0 0" />
<geometry>
<box size="0.5 0.05 0.05"/>
</geometry>
</collision>
</link>
<joint name="link3_link4_joint" type="continuous">
<parent link="link3" />
<child link="link4" />
<origin xyz="0.5 0 0" rpy="0 0 0" />
<axis xyz="0 1 0"/>
</joint>
<link name="link4"> <!-- right most gray link in the animation -->
<inertial>
<mass value="1.0" />
<origin xyz="0 0 0" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<sphere radius="0.1"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<sphere radius="0.1"/>
</geometry>
</collision>
</link>
<joint name="link4_link5_joint" type="prismatic">
<parent link="link4" />
<child link="link5" />
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="1 0 0"/>
<limit upper="0.4" lower="0" effort="1000.00" velocity="1000.00"/>
</joint>
<link name="link5"> <!-- right most gray link in the animation -->
<inertial>
<mass value="100.0" />
<origin xyz="0 0 0" />
<inertia ixx="10.0" ixy="0.0" ixz="0.0" iyy="10.0" iyz="0.0" izz="10.0" />
</inertial>
<visual>
<origin xyz="-0.2 0 0" rpy="0 0 0" />
<geometry>
<box size="0.4 0.1 0.1"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 -0.475" rpy="0 0 0" />
<geometry>
<box size="1.0 1.0 0.05"/>
</geometry>
</collision>
</link>
<gazebo reference="link1">
<turnGravityOff>false</turnGravityOff>
<material>Gazebo/Red</material>
</gazebo>
<gazebo reference="link2">
<turnGravityOff>true</turnGravityOff>
<material>Gazebo/Blue</material>
</gazebo>
<gazebo reference="link3">
<turnGravityOff>true</turnGravityOff>
<material>Gazebo/Red</material>
</gazebo>
<gazebo reference="link4">
<turnGravityOff>true</turnGravityOff>
<material>Gazebo/Blue</material>
<mu1>0</mu1>
<mu2>0</mu2>
</gazebo>
<gazebo reference="link5">
<turnGravityOff>false</turnGravityOff>
<material>Gazebo/Gray</material>
</gazebo>
</robot>
Apply torque to see it rotate
rosservice call /gazebo/apply_joint_effort '{joint_name: link1_link2_joint, effort: 10, start_time: 0, duration: 10000000}'
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