Open MADONOKOUKI opened 3 years ago
Here is my .urdf file. I convert the xacro file to urdf file using rosrun command in niryo one linux terminal.
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from niryo_one.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--
niryo_one.urdf.xacro
Copyright (C) 2017 Niryo
All rights reserved.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
-->
<robot name="niryo_one" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Properties -->
<!-- Links -->
<link name="world"/>
<link name="base_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://niryo_one_description/meshes/v2/collada/base_link.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://niryo_one_description/meshes/v2/stl/base_link.stl"/>
</geometry>
</collision>
</link>
<link name="shoulder_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://niryo_one_description/meshes/v2/collada/shoulder_link.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://niryo_one_description/meshes/v2/stl/shoulder_link.stl"/>
</geometry>
</collision>
</link>
<link name="arm_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://niryo_one_description/meshes/v2/collada/arm_link.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://niryo_one_description/meshes/v2/stl/arm_link.stl"/>
</geometry>
</collision>
</link>
<link name="elbow_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://niryo_one_description/meshes/v2/collada/elbow_link.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://niryo_one_description/meshes/v2/stl/elbow_link.stl"/>
</geometry>
</collision>
</link>
<link name="forearm_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://niryo_one_description/meshes/v2/collada/forearm_link.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://niryo_one_description/meshes/v2/stl/forearm_link.stl"/>
</geometry>
</collision>
</link>
<link name="wrist_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://niryo_one_description/meshes/v2/collada/wrist_link.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://niryo_one_description/meshes/v2/stl/wrist_link.stl"/>
</geometry>
</collision>
</link>
<link name="hand_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://niryo_one_description/meshes/v2/collada/hand_link.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://niryo_one_description/meshes/v2/stl/hand_link.stl"/>
</geometry>
</collision>
</link>
<link name="tool_link">
</link>
<!--Joints -->
<joint name="joint_world" type="fixed">
<parent link="world"/>
<child link="base_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<joint name="joint_1" type="revolute">
<parent link="base_link"/>
<child link="shoulder_link"/>
<origin rpy="0 0 0" xyz="0 0 0.103"/>
<axis xyz="0 0 1"/>
<limit effort="1" lower="-3.05433" upper="3.05433" velocity="1.0"/>
</joint>
<joint name="joint_2" type="revolute">
<parent link="shoulder_link"/>
<child link="arm_link"/>
<origin rpy="1.5707963268 -1.5707963268 0" xyz="0 0 0.08"/>
<limit effort="1" lower="-1.5708" upper="0.640187" velocity="1.0"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="joint_3" type="revolute">
<parent link="arm_link"/>
<child link="elbow_link"/>
<origin rpy="0 0 -1.5707963268" xyz="0.21 0.0 0"/>
<limit effort="1" lower="-1.397485" upper="1.5707963268" velocity="1.0"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="joint_4" type="revolute">
<parent link="elbow_link"/>
<child link="forearm_link"/>
<origin rpy="0 1.5707963268 0" xyz="0.0415 0.03 0"/>
<limit effort="1" lower="-3.05433" upper="3.05433" velocity="1.0"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="joint_5" type="revolute">
<parent link="forearm_link"/>
<child link="wrist_link"/>
<origin rpy="0 -1.5707963268 0" xyz="0 0 0.18"/>
<limit effort="1" lower="-1.74533" upper="1.91986" velocity="1.0"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="joint_6" type="revolute">
<parent link="wrist_link"/>
<child link="hand_link"/>
<origin rpy="0 1.5707963268 0" xyz="0.0164 -0.0055 0"/>
<limit effort="1" lower="-2.57436" upper="2.57436" velocity="1.0"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="hand_tool_joint" type="fixed">
<parent link="hand_link"/>
<child link="tool_link"/>
<origin rpy="-1.5707963268 -1.5707963268 0" xyz="0 0 0.0073"/>
<!-- <origin rpy="-0.002 1.329 0.007" xyz="0.075 0.001 0.162"/> -->
</joint>
</robot>
Hi, I'm using IKFast and some of the IKs when the end-effector are pointing down are failing. I haven't made a point cloud plot of these failures. Perhaps later.
However, I wanted to ask how is progress on your side?
Hi, My name is koki.
I purchase a niryo one robot. And I want to use urdf file. In this repository, https://github.com/NiryoRobotics/niryo_one_ros/tree/master/niryo_one_description/urdf shows the urdf file. However, when calculating the inverse kinematics using this file, I received wrong result as I expected.
Can I make urdf file from ros in niryo one linux system? I think each joint's coordinate is difficult to get. For this reason, I want to know how to get the correct urdf file from my own niryo one robot.
By the way, I use ikpy to calculate the inverse kinematics. https://github.com/Phylliade/ikpy
I write the code like that
Best.