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Found 4 results

  1. Hi, for a current application, i would like to use an customized pneumatic gripper. I want to do the path planning with moveIt. For this i need the end gripper in the urdf file so it is visible in the RVIZ. i have already tried to load the necessary xacro file with the send_urdf_fragment function. The function did not give an error message, but the gripper was still not inserted Used code: rosrun intera_interface send_urdf_fragment.py -f ~/path/right_end_effector.urdf.xacro -l right_hand -j right_gripper_base Is there anything else I need to watch out for? Thank you very much
  2. I am trying to control the Sawyer robot with the help of the Intera MoveIt tutorial. https://sdk.rethinkrobotics.com/intera/MoveIt_Tutorial The problem is with the following command: roslaunch sawyer_moveit_config sawyer_moveit.launch electric_gripper:=true The first time I ran it everything went fine, I was able to plan and execute movements in rviz. But when I ran the command again today the following error came up and nothing works anymore. [ERROR] [1638439994.358624936]: Link 'right_gripper_tip' declared as part of a chain in group 'right_arm' is not known to the URDF
  3. Hello, I have built my own magnetic gripper (size: 350x250x70) and I'd like to know if I can tell the robot the size/model of the gripper, maybe via a URDF file, so it can use it for the self-collision check. FYI: it is also possible for me to use the click-smart-plate if that's necessary. Can any one please help me ? Best Atma PS: This is the URDF file I'm using: <?xml version="1.0"?> <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="magnetplate_of_doom"> <xacro:macro name="magnetplate_of_doom" params="side"> <joint name="${side}_gripper_base" type="fixed"> <origin rpy="0 0 0" xyz="0 0 0"/> <!-- Enter the 3D pose of your end effector frame here w.r.t. end of arm --> <parent link="${side}_hand"/> <child link="${side}_robotiq_gripper"/> </joint> <link name="${side}_robotiq_gripper"> <inertial> <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/> <!-- only modify this if there is an C.O.M. offset w.r.t your gripper_base joint above --> <mass value="4"/> <!-- Enter your mass and inertial properties here --> <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/> </inertial> </link> </xacro:macro> <xacro:magnetplate_of_doom side="right"/> </robot>
  4. Hi, I attached a Weiss WSG50 gripper to our Sawyer and I would like to update the gravity compensation to account for the gripper's mass. I have the gripper's urdf here: https://github.com/nalt/wsg50-ros-pkg/blob/master/wsg_50_simulation/urdf/wsg_50.urdf How do I integrate this into Sawyer's URDF and make the controller use this at runtime? Thanks!