How to build an URDF

Technology
1

Hello,

I would like to make an urdf file for poppy_4dof_arm_mini. @jgrizou Is it possible to find values for origin in open scad :

<origin xyz="0.0284 0 0" rpy="3.14159265358979 0 1.5707963267949"></origin>

Thanks.

2

I don’t think so, you must do it by hand knowing the size of the motors and the lenght and thickness of the 3D printed part (thickness is always 3mm). The good news is that all constants are defined in separate files (xl320_def, ollo, parts).

If you have really really strong motivation you can do a blueprint of the robot.

In any case if you need specific measurements let me know, I can also double check them if you post them here.

3

Ok urdf built. The mini dof have now a V-REP scene and can be simulated.

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