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| 2017-04-28 03:43:06 -0500 | commented answer | kinematic problem with an urdf loaded in move-it thanks a lot the first two solution helped a lot.
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| 2017-04-28 03:10:53 -0500 | marked best answer | kinematic problem with an urdf loaded in move-it Good morning to everyone,
I am having some problems with the "Robot model" built by move-it starting from a urdf I made. The Urdf is this one: <?xml version="1.0"?>
<!--
DH for Racer_5L:
a = [0.05000, 0.3700, 0.05000, 0.00000, 0.00000, 0.0000]
d = [0.36500, 0.00000,0.00000, 0.38594, 0.00000, 0.0800]
alpha = [ -1.570796327, 0,-1.570796327, 1.570796327, -1.570796327, 0 ]
q_home_offset = [0, 0, 0, 0, 0, 0]
-->
<robot name="Racer5L"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:xacro="http://ros.org/wiki/xacro">
<property name="pi" value="3.14159265" />
<!-- Inertia parameters -->
<property name="base_mass" value="4.0" /> <!-- Invented number, only matters for simulator -->
<property name="shoulder_mass" value="3.7000" />
<property name="upper_arm_mass" value="8.3930" />
<property name="forearm_mass" value="2.2750" />
<property name="wrist_1_mass" value="1.2190" />
<property name="wrist_2_mass" value="1.2190" />
<property name="wrist_3_mass" value="0.1879" />
<material name="gray">
<color rgba="0.41 0.41 0.41 1"/>
</material>
<!--kinematic chain-->
<link name="base" >
<origin xyz="0 0 0"/>
</link>
<joint name="fixed" type="fixed">
<parent link="base"/>
<child link="base_link"/>
</joint>
<link name="base_link" >
<visual>
<geometry>
<mesh filename="package://omni_base_robot_model_tom/meshes/CAD_5L_STL/AA_Racer5_1.stl" scale="0.01 0.01 0.01" />
</geometry>
<origin xyz="0.0 0.0 0" rpy="0 0 0.0 " />
<material name="gray"/>
</visual>
</link>
<joint name="Ax_1" type="revolute">
<origin rpy="0 0 0" xyz="0.0 0.0 0.242" />
<axis xyz="0 0 1" />
<parent link="base_link"/>
<child link="link_1"/>
<limit lower="-2.967059725" upper="2.967059725" effort="1" velocity="3.14"/>
</joint>
<link name="link_1">
<visual>
<geometry>
<mesh filename="package://omni_base_robot_model_tom/meshes/CAD_5L_STL/AA_Racer5_2.stl" scale="0.01 0.01 0.01" />
</geometry>
<material name="gray"/>
<origin rpy="0 0.0 0" xyz="0.0 0.0 -0.242"/>
</visual>
</link>
<joint name="Ax_2" type="revolute">
<origin xyz="0.0 -0.05 0.123" rpy="0 0 0" />
<axis xyz="1 0 0" />
<parent link="link_1" />
<child link = "link_2" />
<limit lower="-1.483529862" upper="2.356194488" effort="1" velocity="3.14"/>
</joint>
<link name="link_2">
<visual>
<geometry>
<mesh filename="package://omni_base_robot_model_tom/meshes/CAD_5L_STL/AA_Racer5_3.stl" scale="0.01 0.01 0.01"/>
</geometry>
<origin xyz="0.0 0.05 -0.365" rpy="0 0 0"/>
<material name="gray"/>
</visual>
</link>
<joint name="Ax_3" type="revolute">
<origin xyz="0 0 0.370" rpy="0 0 0" />
<parent link="link_2" />
<child link = "link_3" />
<axis xyz="1 0 0" />
<limit lower="-3.14159265" upper="1.134464012" effort="1" velocity="3.14"/>
</joint>
<link name="link_3">
<visual>
<geometry>
<mesh filename="package://omni_base_robot_model_tom/meshes/CAD_5L_STL/AA_Racer5_4.stl" scale="0.01 0.01 0.01"/>
</geometry>
<origin rpy="0 0 0" xyz="0.0 0.05 -0.735"/>
<material name="gray"/>
</visual>
</link>
<joint name="ee_fixed_joint" type="fixed">
<parent link="link_3" />
<child link = "ee_link" />
<origin xyz="0.0 -0.1 0.05 ...
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| 2017-04-27 04:14:17 -0500 | commented question | kinematic problem with an urdf loaded in move-it @geoff I riedited the question trying to be more specific.
|
| 2017-04-27 03:50:10 -0500 | edited question | kinematic problem with an urdf loaded in move-it kinematic problem with an urdf loaded in move-it
Good morning to everyone,
I am having some problems with the "Robot mod |
| 2017-04-26 15:30:03 -0500 | asked a question | kinematic problem with an urdf loaded in move-it kinematic problem with an urdf loaded in move-it
Good morning to everyone,
I am having some problems with the "Robot mod |
| 2017-01-31 21:00:43 -0500 | received badge | ● Popular Question
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| 2017-01-31 12:40:02 -0500 | answered a question | Joint axes problem in urdf Hi @bhavyadoshi26 and thanks for your interest, here is the full code I am using: <!--kinematic chain-->
<link name="base_footprint" >
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0" />
</link>
<link name="base_link">
<visual>
<geometry>
<mesh filename="package://omni_base_robot_model_tom/meshes/STL_Comau/AA_Racer5_1.stl" />
</geometry>
<material name="gray"/>
</visual>
</link>
<joint name="base_footprint_joint" type="fixed">
<origin xyz="0 0 0.051" rpy="0 0 0" />
<parent link="base_footprint"/>
<child link="base_link"/>
</joint>
<link name="upper_arm_link">
<visual>
<geometry>
<mesh filename="package://omni_base_robot_model_tom/meshes/STL_Comau/AA_Racer5_2.stl" />
</geometry>
<material name="gray"/>
<origin rpy="0 0 0" xyz="0.05 0 0.3650"/>
</visual>
</link>
<joint name="shoulder_lift_joint" type="revolute">
<axis xyz="0 0 1" rpy="-1.57 0 0"/>
<parent link="base_link" />
<child link = "upper_arm_link" />
<limit lower="-6.28" upper="6.28" effort="10.0" velocity="3.14"/>
<dynamics damping="10" friction="0.1"/>
</joint>
<link name="forearm_link">
<visual>
<geometry>
<mesh filename="package://omni_base_robot_model_tom/meshes/STL_Comau/AA_Racer5_3.stl" />
</geometry>
<origin rpy="0 0 0" xyz="0.027 0 0.0"/>
<material name="gray"/>
</visual>
</link>
<joint name="elbow_joint" type="revolute">
<axis xyz="1 0 0" rpy="0 0 0"/>
<parent link="upper_arm_link" />
<child link = "forearm_link" />
<limit lower="-6.28" upper="6.28" effort="10.0" velocity="3.14"/>
<dynamics damping="10" friction="0.1"/>
</joint>
Unfortunately I cannot upload the image because of the rate (<5), anyway the problem seems to be the same discussed on the question you linked, but the solution does not seems to be helpfull. |
| 2017-01-31 03:44:19 -0500 | asked a question | Joint axes problem in urdf Good morning,
I am trying to build the urdf of a robot.
When I declare the kinematic model inserting for example one joint between two link, the child one does not rotate on the joint axes. This is the code <link name="upper_arm_link">
<visual>
<geometry>
<mesh filename="package://omni_base_robot_model_tom/meshes/STL_Comau/AA_Racer5_2.stl" />
</geometry>
</visual>
</link>
<joint name="elbow_joint" type="revolute">
<parent link="upper_arm_link" />
<child link = "forearm_link" />
<origin xyz="0.27 0 0.2" rpy="0.0 0.0 0.0" />
<axis xyz="1 0 0"/>
<limit lower="-6.24" upper="6.24" effort="10.0" velocity="3.14"/>
<dynamics damping="10" friction="0.1"/>
</joint>
<link name="forearm_link">
<visual>
<geometry>
<mesh filename="package://omni_base_robot_model_tom/meshes/STL_Comau/AA_Racer5_3.stl" />
</geometry>
</visual>
</link>
According to the code the "forearm_link" should rotate on the x axes of the joint; but it rotates on the x axes of the global frame.
How can i fix this problem?
Edit: Hi @bhavyadoshi26 and thanks for your interest, here is the full code I am using: <!--kinematic chain-->
<link name="base_footprint" >
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0" />
</link>
<link name="base_link">
<visual>
<geometry>
<mesh filename="package://omni_base_robot_model_tom/meshes/STL_Comau/AA_Racer5_1.stl" />
</geometry>
<material name="gray"/>
</visual>
</link>
<joint name="base_footprint_joint" type="fixed">
<origin xyz="0 0 0.051" rpy="0 0 0" />
<parent link="base_footprint"/>
<child link="base_link"/>
</joint>
<link name="upper_arm_link">
<visual>
<geometry>
<mesh filename="package://omni_base_robot_model_tom/meshes/STL_Comau/AA_Racer5_2.stl" />
</geometry>
<material name="gray"/>
<origin rpy="0 0 0" xyz="0.05 0 0.3650"/>
</visual>
</link>
<joint name="shoulder_lift_joint" type="revolute">
<axis xyz="0 0 1" rpy="-1.57 0 0"/>
<parent link="base_link" />
<child link = "upper_arm_link" />
<limit lower="-6.28" upper="6.28" effort="10.0" velocity="3.14"/>
<dynamics damping="10" friction="0.1"/>
</joint>
<link name="forearm_link">
<visual>
<geometry>
<mesh filename="package://omni_base_robot_model_tom/meshes/STL_Comau/AA_Racer5_3.stl" />
</geometry>
<origin rpy="0 0 0" xyz="0.027 0 0.0"/>
<material name="gray"/>
</visual>
</link>
<joint name="elbow_joint" type="revolute">
<axis xyz="1 0 0" rpy="0 0 0"/>
<parent link="upper_arm_link" />
<child link = "forearm_link" />
<limit lower="-6.28" upper="6.28" effort="10.0" velocity="3.14"/>
<dynamics damping="10" friction="0.1"/>
</joint>
Unfortunately I cannot upload the image because of the rate (<5), anyway the problem seems to be the same discussed on the question you linked, but the solution does not seems to be helpfull. |
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