Robot model simular as crane using in Construction
Hi
I would like to use Movelt for some collision detection/ obstacle detection (avoidance) to make trajectories in 3D. Fr my real scenario and application the robot is actually a construction crane (like 30-40m high). I would like to use some similar as possible robot model in Movelt. Is there some model in MatLab or any other Software that can be use it Movelt? The point is the robot should have some part that are not rigid like cable to hook the blocks and they can swing. Is there anything simular that I can find and import the configuration file in Movelt?
Thanks
As far as I'm aware MoveIt will not be able to control a 'robot' with flexible parts such as a crane's cable. The problem is very different to motion planning on a robot made of only rigid links. Someone with more experience of MoveIt will be able to confirm or correct this.
Im not looking for control solution. Just for bit more real scenario. And do not have to bi Moveit. I just need a URDF or SRDF robot file that have bit flexible joint to do collision detection/obstacle avoidance in such environment. My goal is to do do collision detection/obstacle avoidance.
Note: SRFD is MoveIt specific. Perhaps you mean
.sdf(ie: Gazebo)?yes. gazebo is fine too . any help on that?
You don't understand me: you asked for a "URDF or SRDF robot file" but also wrote that "MoveIt is not a requirement". SRDF is MoveIt only. It's a common mistake for people to say SRDF when they really mean
.sdf.Because the simulation software is not important. Can be in gazebo in that case need sdf robot file and if it Moveit then srdf. Important is the robot configuration file. Is it more clear now? Sorry for mistake
this is getting both pedantic and off-topic, but: SRDF does not contain any kinematics or robot structure, only semantic data (ie: group definitions and other meta-data). So you'd be looking for a
.urdf,.xacroor a.sdf.ok. thanks. So any of .urdf, .xacro or a .sdf file similar to cable driven robotic arm like a crane? I know its not possible to have exactly same characteristic as a crane but at least something similar.