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AlexanderKoch-Koch / low_cost_robot

MIT License
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URDF with extension? #32

Closed Tianchong-Jiang closed 3 months ago

Tianchong-Jiang commented 3 months ago

Hi Alex,

I built a follower arm and it was really nice. Thanks for the great work!

I wonder if you have an URDF file for the follower arm with the extension?

I am also happy to add the extension to the URDF file myself. I've been editing the raw file and rendering the changes with rviz. It was difficult to align the axis of rotation and other stuff. What software have you been using to make the URDF file?

Thank you!

Best regards, Tianchong Jiang

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sinantie commented 3 months ago

Hi Alex (and Tianchong),

This is an amazing project! I have also built the follower and leader robots and tried to take a slightly different route. I have "updated" the Fusion follower_arm.f3z model (.f3z) instead with the elbow_to_wrist extension. I've been struggling a bit though to "export" to URDF... Trying to add the wrist extension within the MuJoCo visualiser by hand is quite hard, as it's a lot of guesswork to "nail" the pos.

I've tried exporting with the Fusion to URDF plugin, but it doesn't work "out of the box" which makes me think that it was not what was originally used (as the plugin requires to follow a few naming/design conventions which doesn't seem to be the case with the .f3z model).

Any thoughts?

Thanks a lot!!

Cheers,

Yannis Konstas

Screenshot 2024-06-18 at 22 18 02

tc-huang commented 3 months ago

Hello @Tianchong-Jiang and @sinantie,

I have created PR #33, which includes the URDF for the follower arm (including the elbow_to_wrist_extension part).

I hope this will be helpful.

Best regards, tc-huang

Tianchong-Jiang commented 3 months ago

Hi @tc-huang,

Thank you so much for the file!

Best, Tiachong