网站采集注意,263企业网盘,建设银行官方网站 诚聘英才,网站太花哨目录 目的#xff1a;案例一#xff1a;成果展示具体步骤#xff1a;URDF文件准备xml文件生成xml修改机器人构建 目的#xff1a;
实现其他标准/非标准机器人的构建
案例一#xff1a;
成果展示 添加机器人JAKA ZU 7 这个模型
具体步骤#xff1a;
URDF文件准备
从… 目录 目的案例一成果展示具体步骤URDF文件准备xml文件生成xml修改机器人构建 目的
实现其他标准/非标准机器人的构建
案例一
成果展示 添加机器人JAKA ZU 7 这个模型
具体步骤
URDF文件准备
从 github 或机器人官网下载 urdf 模型以及对应的 mesh
xml文件生成
官方提供的 urdf 模型如下
?xml version1.0 encodingutf-8 ?
!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawnergmail.com) Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018For more information, please see http://wiki.ros.org/sw_urdf_exporter --
robot namejaka_zu7!-- LINK --link nameworld /link nameLink_0 inertialorigin xyz0.00096371 8.8222E-08 0.019555 rpy0 0 0 /mass value4.0392 /inertia ixx0.0048763 ixy-1.8056E-07 ixz2.5196E-05 iyy0.0068003 iyz-1.7678E-09 izz0.010618 //inertialvisualorigin xyz0 0 0 rpy0 0 0 /geometrymesh filename/home/idm/Downloads/jaka_robot_v2.2/src/jaka_description/meshes/jaka_zu7_meshes/Link_0.STL //geometrymaterial namecolor rgba0.84706 0.84706 0.84706 1 //material/visualcollisionorigin xyz0 0 0 rpy0 0 0 /geometrymesh filename/home/idm/Downloads/jaka_robot_v2.2/src/jaka_description/meshes/jaka_zu7_meshes/Link_0.STL //geometry/collision/linkgazeboplugin namegazebo_ros_control filenamelibgazebo_ros_control.sorobotNamespace//robotNamespace!-- robotSimTypegazebo_ros_control/DefaultRobotHWSim/robotSimTypelegacyModeNStrue/legacyModeNS --/plugin/gazebo
/robot修改最下面将 gazebo 改成 mujococompiler meshdir/home/idm/Downloads/jaka_robot_v2.2/src/jaka_description/meshes/jaka_zu7_meshes/ balanceinertiatrue discardvisualfalse //mujoco注意修改下 meshdir 的路径。
然后执行 ./compile urdf robot.xml实现 urdf 到 xml 的转变后续操作之需要在 xml 的基础上修改即可
xml修改
原始生成的文件如下
mujoco modeljaka_zu7compiler angleradian meshdir/home/idm/Downloads/jaka_robot_v2.2/src/jaka_description/meshes/jaka_zu7_meshes/ /size njmax500 nconmax100 /assetmesh nameLink_0 fileLink_0.STL /mesh nameLink_1 fileLink_1.STL /mesh nameLink_2 fileLink_2.STL /mesh nameLink_3 fileLink_3.STL /mesh nameLink_4 fileLink_4.STL /mesh nameLink_5 fileLink_5.STL /mesh nameLink_6 fileLink_6.STL //assetworldbodygeom typemesh contype0 conaffinity0 group1 rgba0.84706 0.84706 0.84706 1 meshLink_0 /geom typemesh rgba0.84706 0.84706 0.84706 1 meshLink_0 /body nameLink_1 pos0 0 0.12015inertial pos-2.5186e-07 0.0033226 -0.001509 quat1 0.00056994 2.2456e-05 6.30952e-05 mass15.135 diaginertia0.044302 0.043091 0.030523 /joint namejoint_1 pos0 0 0 axis0 0 1 limitedtrue range-6.28 6.28 /geom typemesh contype0 conaffinity0 group1 rgba0.84706 0.84706 0.84706 1 meshLink_1 /geom typemesh rgba0.84706 0.84706 0.84706 1 meshLink_1 /body nameLink_2 pos0 0 0 quat0.707105 0.707108 0 0inertial pos0.18 8.8001e-09 -0.14308 quat0.5 0.5 0.5 0.5 mass42.872 diaginertia1.1119 1.0844 0.1014 /joint namejoint_2 pos0 0 0 axis0 0 1 limitedtrue range-1.48 4.62 /geom typemesh contype0 conaffinity0 group1 rgba0.84706 0.84706 0.84706 1 meshLink_2 /geom typemesh rgba0.84706 0.84706 0.84706 1 meshLink_2 /body nameLink_3 pos0.36 0 0inertial pos0.15515 5.4643e-08 -0.012576 quat0.517406 0.481957 0.481946 0.517433 mass16.562 diaginertia0.28365 0.279787 0.0196608 /joint namejoint_3 pos0 0 0 axis0 0 1 limitedtrue range-3.05 3.05 /geom typemesh contype0 conaffinity0 group1 rgba0.84706 0.84706 0.84706 1 meshLink_3 /geom typemesh rgba0.84706 0.84706 0.84706 1 meshLink_3 /body nameLink_4 pos0.30353 0 -0.11501inertial pos-2.1345e-06 -0.0058004 0.0026717 quat0.699182 0.714944 2.86648e-05 -8.42093e-06 mass5.5525 diaginertia0.0092564 0.00897016 0.00522324 /joint namejoint_4 pos0 0 0 axis0 0 1 limitedtrue range-1.48 4.62 /geom typemesh contype0 conaffinity0 group1 rgba0.84706 0.84706 0.84706 1 meshLink_4 /geom typemesh rgba0.84706 0.84706 0.84706 1 meshLink_4 /body nameLink_5 pos0 -0.1135 0 quat0.707105 0.707108 0 0inertial pos-2.0304e-06 -0.0028889 -0.0023424 quat0.709446 0.70476 -1.15346e-05 9.23912e-07 mass6.3339 diaginertia0.012993 0.0127003 0.0058451 /joint namejoint_5 pos0 0 0 axis0 0 1 limitedtrue range-6.28 6.28 /geom typemesh contype0 conaffinity0 group1 rgba0.84706 0.84706 0.84706 1 meshLink_5 /geom typemesh rgba0.84706 0.84706 0.84706 1 meshLink_5 /body nameLink_6 pos0 0.107 0 quat0.707105 -0.707108 0 0inertial pos2.7652e-05 -1.3485e-05 -0.021245 quat-0.0453216 0.705107 0.0468242 0.7061 mass1.4169 diaginertia0.0011337 0.00072384 0.000718438 /joint namejoint_6 pos0 0 0 axis0 0 1 limitedtrue range-6.28 6.28 /geom typemesh contype0 conaffinity0 group1 rgba0.84706 0.84706 0.84706 1 meshLink_6 /geom typemesh rgba0.84706 0.84706 0.84706 1 meshLink_6 //body/body/body/body/body/body/worldbody
/mujoco首先把 compiler, size 这两行去掉没用了然后把 asset 中的 file 修改下路径即可增加代码
actuatormotor ctrllimitedtrue ctrlrange-150.0 150.0 jointjoint_1 nametorq_j1/motor ctrllimitedtrue ctrlrange-150.0 150.0 jointjoint_2 nametorq_j2/motor ctrllimitedtrue ctrlrange-150.0 150.0 jointjoint_3 nametorq_j3/motor ctrllimitedtrue ctrlrange-28.0 28.0 jointjoint_4 nametorq_j4/motor ctrllimitedtrue ctrlrange-28.0 28.0 jointjoint_5 nametorq_j5/motor ctrllimitedtrue ctrlrange-28.0 28.0 jointjoint_6 nametorq_j6/
/actuator在 link_6 后面加上 right_hand body nameLink_6 pos0 0.107 0 quat0.707105 -0.707108 0 0inertial pos2.7652e-05 -1.3485e-05 -0.021245 quat-0.0453216 0.705107 0.0468242 0.7061 mass1.4169 diaginertia0.0011337 0.00072384 0.000718438 /joint namejoint_6 pos0 0 0 axis0 0 1 limitedtrue range-6.28 6.28 /geom typemesh contype0 conaffinity0 group1 rgba0.84706 0.84706 0.84706 1 meshLink_6 /geom typemesh rgba0.84706 0.84706 0.84706 1 meshLink_6 /body nameright_hand pos0 0.098 0 quat0.707 -0.707 0 0 !-- This camera points out from the eef. --camera modefixed nameeye_in_hand pos0.05 0 0 quat0 0.707108 0.707108 0 fovy75//body
/body截止到此该机器人配置文件可用了。
机器人构建
从原有机器人中随便找个机器人的 py 文件复制一份然后该个名字并在 init 中注册以下就可以了
