URDF Model for ROS

[Zoltan Vandor]

Hi,

Has anyone done a URDF model to use inmoov with ROS? 

Thanks, Zoltan

[peter heim]

This is mostly Inmoov on a mobile base but the hands are diffrent

https://github.com/inmoov-ros/inmoov_ros/tree/master/robbie_description/urdf

peter

[gael langevin]

Hello Zoltan and Peter,
I think RobotGuy6 is also doing stuff with ROS and InMoov.

I don't know if it is of any help but we have VinMoov (virtual InMoov) as a model that is available. Adapted by Gareth and Greg Perry.
Make a web search for VinMoov.
https://hackaday.io/project/4182/logs

Because Blender uses python it was possible to convert my files to create VinMoov, I wonder if it can be converted to URDF model.

Gael Langevin

Creator of InMoov

InMoov Robot

@inmoov

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[peter heim]

Hi gael

URDF only require stl or dae files but the origin of the part must be in the correct location on the part normally on the bottom if this is not as ros expects it then moveit will not find a solution. If you look at the model in a mesh viewer (rviz) with the origin visible all the axis should align

peter   

[gael langevin]

I see, does OBJ works as well? Blender can export DAE anyway, so I guess if someone would want to do it, it's possible.

Gael Langevin

Creator of InMoov

InMoov Robot

@inmoov

[peter heim]

Hi Gael

Not sure about OBJ maybe in ROS 2 but for simulation of control you dont want to high a resolution for you model it will increase the CPU load. As it is running the complete robot a arm trajectory can take 30 seconds to compute thats on a intel I3 with 8gig of ram its not much faster on a I7 laptop

Peter

[gael langevin]

Ok understood, so ideally low poly resolution each piece with their origin at the bottom of each part.

Gael Langevin

Creator of InMoov

InMoov Robot

@inmoov

[peter heim]

Yes just so we have a nice model to look at the other part to a good URDF is a shape for collision calculations at the moment i just use the same file but that is over kill

what you want is just the basic shape and about 5 to 10 percent larger. One of the bigger problems i have is the arm or part of the arm is in collision with the body or a object most due the the position error a larger collision envelope and better position accuracy would help. To understand the problem moveit  will plan for the shortest path past a collision that is why my pick up object fails a lot in real life but not in simulation

Peter   

[Zoltan Vandor]

Thanks for the many answers and tips.

What I'll attempt to do is to take the blender file from vinmoov (great work!) and divide the layers for phobos (great tool) That should allow me to export all the various types (yaml, urdf, srdf, what have you) for all those different types of modules.

Has anyone tried that before?

thanks, Zoltan

[Alan Timm]

Oddly enough I just started working on an URDF inmoov model last weekend.  There's so much left to do, but it's looking pretty good as of tonight.

I still need to hand calibrate hard joint limits, add collision meshes, and whatever else I need to load into Gazebo and eventually MoveIt.

If there's any interest, I'll start hosting a copy of my ROS workspace on github.

[Alan Timm]

Somehow I missed uploading the screenshot.  Here's what I've done so far.

On Tuesday, April 26, 2016 at 8:08:49 PM UTC-7, Alan Timm wrote:

Oddly enough I just started working on an URDF inmoov model last weekend.  There's so much left to do, but it's looking pretty good as of tonight.

I still need to hand calibrate hard joint limits, add collision meshes, and whatever else I need to load into Gazebo and eventually MoveIt.

If there's any interest, I'll start hosting a copy of my ROS workspace on github.

[Anton Fosselius]

I am very interested in your ROS workspace! :D please share!

[Alan Timm]

I'm hosting a copy of my ros inmoov project here:

https://github.com/AlansRobotLab/inmoov_ros

It's usable, but I already have a list of things that need to be done:

• reverse links and joints so that range of motion is 0 > x instead of 0 < -x or -x < 0
• add in second axis of artiuculated neck
• adjust min and max range of motion more exactly based on physical bot
• generate and assign simplified collision meshes
• add in nodes to each link
• create and add in servos, and subassemblies to complete model