Skip to content

Commit

Permalink
use onshape-to-robot to create an accurate urdf of the robot
Browse files Browse the repository at this point in the history
  • Loading branch information
@pierfabre
pierfabre committed Jun 13, 2024
1 parent 0cb4197 commit d74c4f9
Show file tree
Hide file tree
Showing 4 changed files with 303 additions and 1 deletion.
106 changes: 105 additions & 1 deletion poetry.lock
View file

Some generated files are not rendered by default. Learn more about how customized files appear on GitHub.

1 change: 1 addition & 0 deletions pyproject.toml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@ pin = "^2.7.0"
crocoddyl = "^2.0.2"
panda3d-viewer = "^0.4.1"
cmeel-mim-solvers = "^0.0.4"
onshape-to-robot = "^0.3.26"

[tool.poetry.group.dev.dependencies]
ipykernel = "^6.26.0"
Expand Down
8 changes: 8 additions & 0 deletions robot/hardware/furuta/config.json
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,8 @@
{
"documentId": "5d10de487316a32e06c68c4c",
"outputFormat": "urdf",
"assemblyName": "big_motor_assembly",
"mergeSTLs": "collision",
"simplifySTLs": "no",
"maxSTLSize": 3
}
189 changes: 189 additions & 0 deletions robot/hardware/furuta/robot.urdf
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,189 @@
<robot name="onshape">
<link name="base_link">
<visual>
<origin xyz="0.00058914269298856124756 -0.00066759196360875738829 0.0020813262730572934522" rpy="1.5707963267949303088 2.6117996654306545712e-14 0.99208669193682585963" />
<geometry>
<mesh filename="package:///motor_mount.stl"/>
</geometry>
<material name="motor_mount_material">
<color rgba="0.49803921568627451677 0.49803921568627451677 0.49803921568627451677 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="package:///base_link_collision.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
</link>

<link name="arm">
<visual>
<origin xyz="0 -4.336808689942017736e-19 -0.0060000000000000192069" rpy="1.570796326794896558 -3.3588218230113393277e-31 -5.6972761659914007382e-30" />
<geometry>
<mesh filename="package:///big_arm_v30.stl"/>
</geometry>
<material name="big_arm_v30_material">
<color rgba="0.98039215686274505668 0.71372549019607844922 0.0039215686274509803377 1.0"/>
</material>
</visual>
<visual>
<origin xyz="0.024500000000002339351 -2.0673567024953598548e-15 0.0091500000000005604628" rpy="1.570796326794871467 1.1206313654817896778e-15 1.5707963267947995245" />
<geometry>
<mesh filename="package:///8x22x7_bearing.stl"/>
</geometry>
<material name="8x22x7_bearing_material">
<color rgba="0.2313725490196078538 0.38039215686274507888 0.7058823529411765163 1.0"/>
</material>
</visual>
<visual>
<origin xyz="-0.024500000000003178957 1.4137996329210977819e-15 0.0091499999999995196287" rpy="1.570796326794871467 1.3669620990704807052e-15 1.5707963267947995245" />
<geometry>
<mesh filename="package:///8x22x7_bearing.stl"/>
</geometry>
<material name="8x22x7_bearing_material">
<color rgba="0.64705882352941179736 0.64705882352941179736 0.64705882352941179736 1.0"/>
</material>
</visual>
<visual>
<origin xyz="-0.024500000000003178957 1.4137996329210977819e-15 0.0091499999999995196287" rpy="1.570796326794871467 1.3669620990704807052e-15 1.5707963267947995245" />
<geometry>
<mesh filename="package:///8x22x7_bearing.stl"/>
</geometry>
<material name="8x22x7_bearing_material">
<color rgba="0.2313725490196078538 0.38039215686274507888 0.7058823529411765163 1.0"/>
</material>
</visual>
<visual>
<origin xyz="0.024500000000002339351 -2.0673567024953598548e-15 0.0091500000000005604628" rpy="1.570796326794871467 1.1206313654817896778e-15 1.5707963267947995245" />
<geometry>
<mesh filename="package:///8x22x7_bearing.stl"/>
</geometry>
<material name="8x22x7_bearing_material">
<color rgba="0.64705882352941179736 0.64705882352941179736 0.64705882352941179736 1.0"/>
</material>
</visual>
<visual>
<origin xyz="-0.032770000000004066709 1.9355177183211225156e-15 0.0091499999999993253397" rpy="1.570796326794871467 1.1206313654817518125e-15 1.5707963267947995245" />
<geometry>
<mesh filename="package:///amt-x03-wide-base_rev_b.stl"/>
</geometry>
<material name="amt-x03-wide-base_rev_b_material">
<color rgba="0.91764705882352937127 0.91764705882352937127 0.91764705882352937127 1.0"/>
</material>
</visual>
<visual>
<origin xyz="-0.039000000000004829415 2.4589705271971240563e-15 0.0091499999999992281952" rpy="1.570796326794871467 1.134509153289578891e-15 1.5707963267947995245" />
<geometry>
<mesh filename="package:///amt-103-top-cover-rev-i.stl"/>
</geometry>
<material name="amt-103-top-cover-rev-i_material">
<color rgba="0.76862745098039220171 0.88627450980392152857 0.95294117647058818044 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="package:///arm_collision.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="-0.013235027648706472123 8.0890489617087629683e-05 0.005982411787785888585" rpy="0 0 0"/>
<mass value="0.05050000000000000322" />
<inertia ixx="7.9892816431331886321e-06" ixy="6.8594806497227925193e-08" ixz="-5.0233340212989459829e-07" iyy="3.843227742423442389e-05" iyz="3.8003401498373763081e-08" izz="3.7485961293858321346e-05" />
</inertial>
</link>

<link name="pendulum">
<visual>
<origin xyz="0 1.3877787807814456755e-17 -0.050000000000000002776" rpy="-1.1709654061905921012e-31 -2.1145083691655151215e-30 -8.8529207681825370978e-32" />
<geometry>
<mesh filename="package:///pendulum.stl"/>
</geometry>
<material name="pendulum_material">
<color rgba="0.76862745098039220171 0.88627450980392152857 0.95294117647058818044 1.0"/>
</material>
</visual>
<visual>
<origin xyz="-6.8651681561782140761e-16 5.5511151231257827021e-17 -0.02399999999999529246" rpy="1.5707963267950095787 -2.2579160763314780629e-14 1.5707963267948776842" />
<geometry>
<mesh filename="package:///shaft_collar.stl"/>
</geometry>
<material name="shaft_collar_material">
<color rgba="0.76862745098039220171 0.88627450980392152857 0.95294117647058818044 1.0"/>
</material>
</visual>
<visual>
<origin xyz="-1.7234477733829578483e-15 -0.00011858569167555454982 0.016000000000012039314" rpy="-1.5707963267949807129 -7.0360384185652191249e-15 -1.5707963267948563679" />
<geometry>
<mesh filename="package:///shaft_collar.stl"/>
</geometry>
<material name="shaft_collar_material">
<color rgba="0.64705882352941179736 0.64705882352941179736 0.64705882352941179736 1.0"/>
</material>
</visual>
<visual>
<origin xyz="1.2524703496552547222e-15 -0.069999999999999479305 0.060000000000019974855" rpy="-3.1415926535897913396 -1.570796326794871689 0" />
<geometry>
<mesh filename="package:///shaft_collar.stl"/>
</geometry>
<material name="shaft_collar_material">
<color rgba="0.49803921568627451677 0.49803921568627451677 0.49803921568627451677 1.0"/>
</material>
</visual>
<visual>
<origin xyz="2.250803710079907205e-15 -0.085999999999999549027 0.060000000000019933222" rpy="-4.9182879990900638343e-14 -1.047197551196730414 -3.1415926535897757965" />
<geometry>
<mesh filename="package:///m10_nut.stl"/>
</geometry>
<material name="m10_nut_material">
<color rgba="0.76862745098039220171 0.88627450980392152857 0.95294117647058818044 1.0"/>
</material>
</visual>
<visual>
<origin xyz="0.041000000000007870427 -0.070000000000001921796 0.060000000000018934021" rpy="-3.1415926535897913396 -1.5707963267948712449 0" />
<geometry>
<mesh filename="package:///m10_weight.stl"/>
</geometry>
<material name="m10_weight_material">
<color rgba="0.97254901960784312376 0.52941176470588235947 0.0039215686274509803377 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="package:///pendulum_collision.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="-2.8026756890002010864e-05 -0.078181823599697705673 0.052811430731168944319" rpy="0 0 0"/>
<mass value="0.030800000000000004458" />
<inertia ixx="3.5706745101357647665e-05" ixy="7.3119143832000544751e-08" ixz="-6.7058777099475896936e-08" iyy="1.7443343462926887648e-05" iyz="1.7311560192378139223e-05" izz="1.9833506185981068098e-05" />
</inertial>
</link>

<joint name="arm" type="revolute">
<origin xyz="-0.0040000000000000139611 -1.3010426069826053208e-18 0.0091500000000000053513" rpy="-1.570796326794896558 8.7284454278903452765e-14 1.5707963267948801267" />
<parent link="arm" />
<child link="pendulum" />
<axis xyz="0 0 1"/>
<limit effort="1" velocity="20" />
<joint_properties friction="0.0"/>
</joint>

<joint name="base_link" type="revolute">
<origin xyz="0.0031935242862665912632 -0.0071650681287528461896 0.090081326273058190401" rpy="3.0839735524825034295e-14 3.011479954295665724e-15 1.5707963267948303887" />
<parent link="base_link" />
<child link="arm" />
<axis xyz="0 0 1"/>
<limit effort="1" velocity="20" />
<joint_properties friction="0.0"/>
</joint>


</robot>

0 comments on commit d74c4f9

Please sign in to comment.