Import Romeo in V-rep (from URDF)
Posted: 27 Jan 2014, 19:16
Hi,
I would like to import the model URDF of Romeo in V-Rep (https://github.com/laas/romeo/tree/mast ... escription). The package contains the URDF file and the meshes. In order to import the meshes correctly, I had to change all the paths deleting "romeo_description/" :
from
to
After using the plugin, the result is :
There are some part that I don't understand:
1) All the joint with the type = fixed are converted in a force sensor... why?
2) The tree of the robot start with "waist" that is the first joint defined in the URDF file. It is defined as "fixed" in the URDF file, so it becomes a forse sensor. It is not better to have a shape for the first object of the robot? It is normal ?
Moreover I cannot find the link <link name="base_link"/>, the first one defined in the URDF.
3) The inertial parameters of the shape seem different with respect to that ones in the URDF file. For example for the Body:
They should be the same if I select "relative to the shape frame"?
This is what the official documentation says (http://projetromeo.com/romeo-documentat ... _mass.html):
Thank you for the help!
I would like to import the model URDF of Romeo in V-Rep (https://github.com/laas/romeo/tree/mast ... escription). The package contains the URDF file and the meshes. In order to import the meshes correctly, I had to change all the paths deleting "romeo_description/" :
from
Code: Select all
<mesh filename="package://romeo_description/meshes/Waist.dae"/>
Code: Select all
<mesh filename="package://meshes/Waist.dae" />
Code: Select all
URDF import operation started.
ERROR: found an invalid inertia entry for link 'LFinger11Link'
ERROR: found an invalid inertia entry for link 'LFinger12Link'
ERROR: found an invalid inertia entry for link 'LFinger13Link'
ERROR: found an invalid inertia entry for link 'LFinger21Link'
ERROR: found an invalid inertia entry for link 'LFinger22Link'
ERROR: found an invalid inertia entry for link 'LFinger23Link'
ERROR: found an invalid inertia entry for link 'LFinger31Link'
ERROR: found an invalid inertia entry for link 'LFinger32Link'
ERROR: found an invalid inertia entry for link 'LFinger33Link'
ERROR: found an invalid inertia entry for link 'LThumb1Link'
ERROR: found an invalid inertia entry for link 'LThumb2Link'
ERROR: found an invalid inertia entry for link 'LThumb3Link'
ERROR: found an invalid inertia entry for link 'RFinger11Link'
ERROR: found an invalid inertia entry for link 'RFinger12Link'
ERROR: found an invalid inertia entry for link 'RFinger13Link'
ERROR: found an invalid inertia entry for link 'RFinger21Link'
ERROR: found an invalid inertia entry for link 'RFinger22Link'
ERROR: found an invalid inertia entry for link 'RFinger23Link'
ERROR: found an invalid inertia entry for link 'RFinger31Link'
ERROR: found an invalid inertia entry for link 'RFinger32Link'
ERROR: found an invalid inertia entry for link 'RFinger33Link'
ERROR: found an invalid inertia entry for link 'RThumb1Link'
ERROR: found an invalid inertia entry for link 'RThumb2Link'
ERROR: found an invalid inertia entry for link 'RThumb3Link'
There are 69 joints.
ERROR: there is no joint with name ''
There are 70 links.
Creating link 'base_link'...
ERROR: there is no joint with name ''
Creating link 'body'...
Creating link 'torso'...
Creating link 'NeckYawLink'...
Creating link 'NeckPitchLink'...
Creating link 'HeadPitchLink'...
Creating link 'HeadRollLink'...
Creating link 'LShoulderPitchLink'...
Creating link 'LShoulderYawLink'...
Creating link 'LElbowRollLink'...
Creating link 'LElbowYawLink'...
Creating link 'LWristRollLink'...
Creating link 'LWristYawLink'...
Creating link 'l_wrist'...
Creating link 'RShoulderPitchLink'...
Creating link 'RShoulderYawLink'...
Creating link 'RElbowRollLink'...
Creating link 'RElbowYawLink'...
Creating link 'RWristRollLink'...
Creating link 'RWristYawLink'...
Creating link 'r_wrist'...
Creating link 'LHipYawLink'...
Creating link 'LHipRollLink'...
Creating link 'LHipPitchLink'...
Creating link 'LKneePitchLink'...
Creating link 'LAnklePitchLink'...
Creating link 'l_ankle'...
Creating link 'l_sole'...
Creating link 'l_toe'...
Creating link 'RHipYawLink'...
Creating link 'RHipRollLink'...
Creating link 'RHipPitchLink'...
Creating link 'RKneePitchLink'...
Creating link 'RAnklePitchLink'...
Creating link 'r_ankle'...
Creating link 'r_sole'...
Creating link 'r_toe'...
Creating link 'LFinger11Link'...
Creating link 'LFinger12Link'...
Creating link 'LFinger13Link'...
Creating link 'LFinger21Link'...
Creating link 'LFinger22Link'...
Creating link 'LFinger23Link'...
Creating link 'LFinger31Link'...
Creating link 'LFinger32Link'...
Creating link 'LFinger33Link'...
Creating link 'LThumb1Link'...
Creating link 'LThumb2Link'...
Creating link 'LThumb3Link'...
Creating link 'RFinger11Link'...
Creating link 'RFinger12Link'...
Creating link 'RFinger13Link'...
Creating link 'RFinger21Link'...
Creating link 'RFinger22Link'...
Creating link 'RFinger23Link'...
Creating link 'RFinger31Link'...
Creating link 'RFinger32Link'...
Creating link 'RFinger33Link'...
Creating link 'RThumb1Link'...
Creating link 'RThumb2Link'...
Creating link 'RThumb3Link'...
Creating link 'gaze'...
Creating link 'LEyePitch_link'...
Creating link 'CameraLeftEye'...
Creating link 'REyePitch_link'...
Creating link 'CameraRightEye'...
Creating link 'CameraLeft'...
Creating link 'CameraRight'...
Creating link 'l_gripper'...
Creating link 'r_gripper'...
There are 0 sensors.
URDF import operation finished.
1) All the joint with the type = fixed are converted in a force sensor... why?
2) The tree of the robot start with "waist" that is the first joint defined in the URDF file. It is defined as "fixed" in the URDF file, so it becomes a forse sensor. It is not better to have a shape for the first object of the robot? It is normal ?
Moreover I cannot find the link <link name="base_link"/>, the first one defined in the URDF.
3) The inertial parameters of the shape seem different with respect to that ones in the URDF file. For example for the Body:
Code: Select all
<link name="body">
<inertial>
<origin xyz="0.00932 0.0005 -0.2119" rpy="0 0 0"/>
<mass value="4.16277"/>
<inertia ixx="0.24187936706" ixy="-6.889635e-05" ixz="0.00282915469" iyy="0.23816771319" iyz="0.00030625215" izz="0.02147385599" />
</inertial>
...
</link>
They should be the same if I select "relative to the shape frame"?
This is what the official documentation says (http://projetromeo.com/romeo-documentat ... _mass.html):
Code: Select all
The center of mass position and the inertial matrix are described relative to the local coordinate system of the current solid (S) (o, R).
All solids (S) and local coordinate system are described relative to the zero posture: standing with straight legs and arms pointing forwards).
Thank you for the help!