CAD Model to Robot Simulator | URDF to PROTO | Webots | [Tutorial 17]

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  • Опубліковано 20 чер 2020
  • Wish to import and use any urdf or STL file as PROTO files in Webots ..? Soft_illusion Channel is back with a new video to teach you that..!! (A channel which aims to help the robotics community).
    To understand this video better it would be great if you have some knowledge of UDRF (Unified Robot Description Format ), an XML format for representing a robot model and STL files which is a file format native to the stereolithography CAD software created by 3D Systems.
    This video teaches one of the most fundamental requirements while using a robot simulator like Webots. It teaches you how to import different objects from different sources into Webots. This is the most standard technique used to convert URDF to PROTO files. It is useful not just to integrate different robots and objects but also to any scene or environments such as a city, mall, or warehouse. The procedure has been explained using 2 objects: COVID-19 and F16 Airplane.
    #3d_model #design_robot #import_model_webots
    Following are the steps:
    1. Download STL file of the required objects; Eg: grabcad.com/ (an open source community where 3D models of thousands of mechanical objects/designs can be found.
    2. Create a Xacro file which is basically just a scripting mechanism that allows more modularity and code re-use when defining a URDF model. This acts as the bridge between URDF and PROTO. Creating a basic XACRO has been explained in the video, further details and examples can be found here: wiki.ros.org/xacro
    3. Make the necessary changes in the mesh filename, robot name, and other specifications such as Mass, Color, Roll/Pitch/Yaw, link origins, scaling parameters, etc as explained in the video.
    4. Webots package to convert URDF to PROTO : github.com/cyberbotics/urdf2w...
    How to use the package has been explained in the video. A basic understanding of pip will be useful here. Running the commands from the above link will convert the URDF to a PROTO.
    5. Import the PROTO files into Webots - This comes will changing basic functionalities of translation, rotation and controller.
    6. Right-click on the PROTO and convert to Base Nodes to enable further modifications and functionalities.
    7. After step 6 you can follow other tutorials to add custom sensors, controller behaviors, actuator motions etc.
    Following are the files that have been used in the video to explain the procedure.
    1. COVID-19 : grabcad.com/library/coronavir...
    2. F-16 Flight: grabcad.com/library/f-16-figh...
    Disclaimer:
    Coronavirus has only been used as an example here. Do avoid corona. Stay home, stay safe and help reduce the spread. :) #GoCoronaGo
    As an initial step before diving into Webots, it is important to understand it’s the importance and what sets it apart from other simulators like Gazebo and NVIDIA Isaac. User friendly, easy to learn & implement on custom robots and applications are not the only pros. For those who understand the intricacy involved, this software is easy to integrate with ROS, multi-threading is possible and an amazing tool for multi-agent navigation.
    Wait, that’s not all..!! Good news for Reinforcement learning fans..!!! OpenAI Gym blends well with Webots.
    If the above information triggers any thought, please feel free to comment to initiate discussions not only on Gazebo or NVIDIA Isaac but also robotics in general.
    Robotics is not difficult..! It is inspiring and challenging..!! We are in the current era of the Robotics Revolution, where Disco will be the name of a pet robot, not dog.
    This channel is driven with a motive to provide good robotics tools to aid everyone gains a good and simple understanding of this so-called complex robotics domain. Hopefully, this will build the bridge to turn the novel ideas of viewers into reality.
    Below are links to help you get started with any Webots project.
    Download Webots:
    cyberbotics.com/
    Webots tutorial playlist:
    www.youtube.com/watch?v=yi4e5...
    The tutorials begin with the basic installation of the simulator, and ranges to higher-level applications like object detection (using camera) and actuator (linear/rotor) control.
    Facebook link to the Intro Video Artist, Arvind Kumar Bhartia:
    / arvindkumar.bhartia.9
    Comment if you have any doubts on the above video.
    Also do make suggestions if you need a tutorial on any other project topics.
    Do Share so that I can continue to make many more videos with the same boost. :)
    Happy Coding. :)

КОМЕНТАРІ • 21

  • @jrohit1110
    @jrohit1110 3 роки тому +1

    Nice vid mate!

  • @37kuba
    @37kuba Рік тому +1

    Just be careful when you download virus files from the internet. Great tutorial BTW.

  • @gavinjin6100
    @gavinjin6100 4 роки тому +1

    Hi, thanks for your inspiring video. I am wondering whether this tutorial is based on Linux only? When I tried to do the same thing on my computer, I failed at step 4 when I ran the stuff on my command prompt. It displays the message "xml.parser.expat.ExpatError: not well-formed (invlaid token): line1, column 1". I was following your instructions exactly.

    • @coolrobotics
      @coolrobotics  4 роки тому

      Thank you very much.
      Yes, this is based on Linux. you can refer and compare your Xacro with below link:
      github.com/harshkakashaniya/Soft_illusion/tree/master/URDF

    • @gavinjin6100
      @gavinjin6100 4 роки тому

      @@coolrobotics I referred to your Xacro exactly and tried to run the terminal code on Linux. However, I got the error feedback like this: 'ascii' codec can't decode byte 0xef in position 0: ordinal not in range(128). Would you please suggest a possible solution to this?

    • @coolrobotics
      @coolrobotics  4 роки тому

      Go through steps in readme for download the package.
      github.com/cyberbotics/urdf2webots

  • @isurucumaranathunga
    @isurucumaranathunga 2 роки тому +1

    Hi thank you so much for the video. Can you please tell me the method to convert my robot to a proto. I want to transfer it to another world

    • @coolrobotics
      @coolrobotics  2 роки тому +1

      You can refer this document:
      cyberbotics.com/doc/guide/tutorial-7-your-first-proto

  • @robotics9965
    @robotics9965 Рік тому

    It says "Covid.xacro" is not a URDF file. 🤔

    • @huangyiqi481
      @huangyiqi481 3 місяці тому

      hi, did you manage to fix it?

  • @robbinkoot2154
    @robbinkoot2154 2 місяці тому

    does not work anymore. you cannot input xacro files in the urdf2webots.importer command anymore:
    python -m urdf2webots.importer --input=myrobot.xacro
    "myrobot.xacro" is not a URDF file.