当前位置：首页 > news >正文

robosuite导入自定义机器人

news 来源：原创 2024/9/28 17:35:52

目的：

实现其他标准/非标准机器人的构建

案例一：

成果展示

添加机器人JAKA ZU 7 这个模型

具体步骤：

URDF文件准备

从 github 或机器人官网，下载 urdf 模型以及对应的 mesh

xml文件生成

官方提供的 urdf 模型如下：

<?xml version="1.0" encoding="utf-8" ?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) Commit Version: 1.5.1-0-g916b5db  Build Version: 1.5.7152.31018For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot name="jaka_zu7"><!-- LINK --><link name="world" /><link name="Link_0">     <inertial><origin xyz="0.00096371 8.8222E-08 0.019555" rpy="0 0 0" /><mass value="4.0392" /><inertia ixx="0.0048763" ixy="-1.8056E-07" ixz="2.5196E-05" iyy="0.0068003" iyz="-1.7678E-09" izz="0.010618" /></inertial><visual><origin xyz="0 0 0" rpy="0 0 0" /><geometry><mesh filename="/home/idm/Downloads/jaka_robot_v2.2/src/jaka_description/meshes/jaka_zu7_meshes/Link_0.STL" /></geometry><material name=""><color rgba="0.84706 0.84706 0.84706 1" /></material></visual><collision><origin xyz="0 0 0" rpy="0 0 0" /><geometry><mesh filename="/home/idm/Downloads/jaka_robot_v2.2/src/jaka_description/meshes/jaka_zu7_meshes/Link_0.STL" /></geometry></collision></link><gazebo><plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"><robotNamespace>/</robotNamespace><!-- <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType><legacyModeNS>true</legacyModeNS> --></plugin></gazebo>
</robot>

修改最下面，将 gazebo 改成：

    <mujoco><compiler meshdir="/home/idm/Downloads/jaka_robot_v2.2/src/jaka_description/meshes/jaka_zu7_meshes/" balanceinertia="true" discardvisual="false" /></mujoco>

注意修改下 meshdir 的路径。

然后执行 ./compile urdf robot.xml，实现 urdf 到 xml 的转变，后续操作之需要在 xml 的基础上修改即可；

xml修改

原始生成的文件如下：

<mujoco model="jaka_zu7"><compiler angle="radian" meshdir="/home/idm/Downloads/jaka_robot_v2.2/src/jaka_description/meshes/jaka_zu7_meshes/" /><size njmax="500" nconmax="100" /><asset><mesh name="Link_0" file="Link_0.STL" /><mesh name="Link_1" file="Link_1.STL" /><mesh name="Link_2" file="Link_2.STL" /><mesh name="Link_3" file="Link_3.STL" /><mesh name="Link_4" file="Link_4.STL" /><mesh name="Link_5" file="Link_5.STL" /><mesh name="Link_6" file="Link_6.STL" /></asset><worldbody><geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.84706 0.84706 0.84706 1" mesh="Link_0" /><geom type="mesh" rgba="0.84706 0.84706 0.84706 1" mesh="Link_0" /><body name="Link_1" pos="0 0 0.12015"><inertial pos="-2.5186e-07 0.0033226 -0.001509" quat="1 0.00056994 2.2456e-05 6.30952e-05" mass="15.135" diaginertia="0.044302 0.043091 0.030523" /><joint name="joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28 6.28" /><geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.84706 0.84706 0.84706 1" mesh="Link_1" /><geom type="mesh" rgba="0.84706 0.84706 0.84706 1" mesh="Link_1" /><body name="Link_2" pos="0 0 0" quat="0.707105 0.707108 0 0"><inertial pos="0.18 8.8001e-09 -0.14308" quat="0.5 0.5 0.5 0.5" mass="42.872" diaginertia="1.1119 1.0844 0.1014" /><joint name="joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="-1.48 4.62" /><geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.84706 0.84706 0.84706 1" mesh="Link_2" /><geom type="mesh" rgba="0.84706 0.84706 0.84706 1" mesh="Link_2" /><body name="Link_3" pos="0.36 0 0"><inertial pos="0.15515 5.4643e-08 -0.012576" quat="0.517406 0.481957 0.481946 0.517433" mass="16.562" diaginertia="0.28365 0.279787 0.0196608" /><joint name="joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="-3.05 3.05" /><geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.84706 0.84706 0.84706 1" mesh="Link_3" /><geom type="mesh" rgba="0.84706 0.84706 0.84706 1" mesh="Link_3" /><body name="Link_4" pos="0.30353 0 -0.11501"><inertial pos="-2.1345e-06 -0.0058004 0.0026717" quat="0.699182 0.714944 2.86648e-05 -8.42093e-06" mass="5.5525" diaginertia="0.0092564 0.00897016 0.00522324" /><joint name="joint_4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.48 4.62" /><geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.84706 0.84706 0.84706 1" mesh="Link_4" /><geom type="mesh" rgba="0.84706 0.84706 0.84706 1" mesh="Link_4" /><body name="Link_5" pos="0 -0.1135 0" quat="0.707105 0.707108 0 0"><inertial pos="-2.0304e-06 -0.0028889 -0.0023424" quat="0.709446 0.70476 -1.15346e-05 9.23912e-07" mass="6.3339" diaginertia="0.012993 0.0127003 0.0058451" /><joint name="joint_5" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28 6.28" /><geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.84706 0.84706 0.84706 1" mesh="Link_5" /><geom type="mesh" rgba="0.84706 0.84706 0.84706 1" mesh="Link_5" /><body name="Link_6" pos="0 0.107 0" quat="0.707105 -0.707108 0 0"><inertial pos="2.7652e-05 -1.3485e-05 -0.021245" quat="-0.0453216 0.705107 0.0468242 0.7061" mass="1.4169" diaginertia="0.0011337 0.00072384 0.000718438" /><joint name="joint_6" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28 6.28" /><geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.84706 0.84706 0.84706 1" mesh="Link_6" /><geom type="mesh" rgba="0.84706 0.84706 0.84706 1" mesh="Link_6" /></body></body></body></body></body></body></worldbody>
</mujoco>

首先把 compiler, size 这两行去掉，没用了，然后把 asset 中的 file 修改下路径即可；
增加代码

<actuator><motor ctrllimited="true" ctrlrange="-150.0 150.0" joint="joint_1" name="torq_j1"/><motor ctrllimited="true" ctrlrange="-150.0 150.0" joint="joint_2" name="torq_j2"/><motor ctrllimited="true" ctrlrange="-150.0 150.0" joint="joint_3" name="torq_j3"/><motor ctrllimited="true" ctrlrange="-28.0 28.0" joint="joint_4" name="torq_j4"/><motor ctrllimited="true" ctrlrange="-28.0 28.0" joint="joint_5" name="torq_j5"/><motor ctrllimited="true" ctrlrange="-28.0 28.0" joint="joint_6" name="torq_j6"/>
</actuator>

在 link_6 后面加上 right_hand

 <body name="Link_6" pos="0 0.107 0" quat="0.707105 -0.707108 0 0"><inertial pos="2.7652e-05 -1.3485e-05 -0.021245" quat="-0.0453216 0.705107 0.0468242 0.7061" mass="1.4169" diaginertia="0.0011337 0.00072384 0.000718438" /><joint name="joint_6" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28 6.28" /><geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.84706 0.84706 0.84706 1" mesh="Link_6" /><geom type="mesh" rgba="0.84706 0.84706 0.84706 1" mesh="Link_6" /><body name="right_hand" pos="0 0.098 0" quat="0.707 -0.707 0 0" ><!-- This camera points out from the eef. --><camera mode="fixed" name="eye_in_hand" pos="0.05 0 0" quat="0 0.707108 0.707108 0" fovy="75"/></body>
</body>

截止到此，该机器人配置文件可用了。