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rdiankov / openrave

Open Robotics Automation Virtual Environment: An environment for testing, developing, and deploying robotics motion planning algorithms.
http://www.openrave.org
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Easily Construct Robot From DH Parameters #331

Open baxelrod-bdai opened 9 years ago

baxelrod-bdai commented 9 years ago

Currently, to construct a robot from DH parameters you have to build the robot programatically using the LinkInfo and JoinInfo structures. For example: http://www.openrave.org/docs/latest_stable/tutorials/openravepy_examples/#creating-custom-kinematics-body

A clearer example and/or better functions to do this would be nice.

ompugao commented 9 years ago

+1

mkoval commented 9 years ago

I am successfully using this functionality to programmatically build a robot from a URDF file. Maybe the source code would be useful:

https://github.com/personalrobotics/or_urdf/blob/master/src/urdf_loader.cpp

I agree, however, that it would be nice to have more documentation about this. In particular, I'm not sure how the transformations and <offsetfrom> tags in .kinbody.xml map to those in LinkInfo. I'm also still not entirely sure how the inertia tensor should be specified.

phuicy commented 7 years ago

+1