bb87928bce
Upstream: https://github.com/Rhoban/onshape-to-robot Upstream-Commit: 80e710700aac9573a2230f74f7ce9e094833a0bc Upstream-Branch: master
120 lines
4.3 KiB
ReStructuredText
120 lines
4.3 KiB
ReStructuredText
URDF
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====
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Introduction
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-------------
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URDF is a very standard format that can be exported by ``onshape-to-robot``. Below are the specific configuration entries that can be specified when using this format.
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When using this exporter, frames will be added as a *dummy links* attached to their body using a fixed joint
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``config.json`` entries (URDF)
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------------------------------
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Here is an example of complete ``config.json`` file, with details below:
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.. code-block:: javascript
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{
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"url": "document-url",
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"output_format": "urdf",
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// ...
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// General import options (see config.json documentation)
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// ...
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// Package name (for ROS) (default: "")
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"package_name": "my_robot",
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// Additional XML file to be included in the URDF (default: "")
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"additional_xml": "my_custom_file.xml",
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// Exclude inertial data for fixed bodies (default: false)
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"set_zero_mass_to_fixed": true,
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// Override joint properties (default: {})
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"joint_properties": {
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// Default properties for all joints
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"*": {
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"max_effort": 10.0,
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"max_velocity": 6.0,
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"friction": 0.5
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},
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// Set the properties for a specific joint
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"joint_name": {
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"max_effort": 20.0,
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"max_velocity": 10.0,
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"friction": 0.1,
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"limits": [0.5, 1.2]
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},
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"wheel": {
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"type": "continuous"
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}
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},
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// Override geometry properties (default: {})
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"geom_properties": {
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// Set properties for specific links using pattern matching
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"tibia": {
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"collision": {
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"mu1": "1.2",
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"mu2": "0.8"
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}
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},
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// Wildcard patterns are supported
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"leg_*": {
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"visual": {
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"material": "leg_material"
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}
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}
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},
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}
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``joint_properties`` *(default: {})*
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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Allow to specify the properties of the joints produced in the URDF output. The key should be joint names. The special ``default`` key will set default values for each joints.
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Possible values are:
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* ``max_effort``: The maximum effort that can be applied to the joint (added in the ``<joint effort=...>`` tag)
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* ``max_velocity``: The maximum velocity of the joint (added in the ``<joint velocity=...>`` tag)
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* ``friction``: The friction of the joint (added in the ``<joint_properties friction=...>`` tag)
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* ``type``: Sets the joint type (changing the ``<joint type="...">`` tag)
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* ``limits``: Override the joint limits, should be a list of two values (min, max)
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``geom_properties`` *(default: {})*
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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Allow to specify the properties of the geometries (collision and visual) produced in the URDF output. The key should be part names with support for wildcard pattern matching.
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Properties can be specified separately for ``visual`` and ``collision`` geometries, or applied to both if not nested.
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Wildcard patterns (``*``, ``?``, ``[seq]``) are supported for matching part names. When multiple patterns match, properties are merged in order with later matches overriding earlier ones.
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All properties are added as nested XML elements within the ``<visual>`` or ``<collision>`` tags. Common URDF geometry properties include:
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* ``mu1``, ``mu2``: Friction coefficients for collision geometries
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* ``kp``, ``kd``: Contact stiffness and damping parameters
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* ``material``: Material reference for visual geometries
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``package_name`` *(default: "")*
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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If you are exporting a URDF for ROS, you can specify the package name here. This will be used in the ``<robot>`` tag.
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``additional_xml`` *(default: "")*
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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If you want to include additional XML in the URDF, you can specify the path to the file here. This file will be included in the produced URDF file.
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.. note::
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Alternatively, ``additional_xml`` can be a list of files
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``set_zero_mass_to_fixed`` *(default: false)*
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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This option sets the mass to 0 for bodies that are :ref:`fixed <fixed-robot>` to the world.
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.. note::
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In PyBullet, such bodies are indeed recognized as fixed
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