Re: [OpenRAVE-users] Getting started with inverse kinematics and robot model

[Daniel M. <ma...@in...>]

On 03/26/2012 05:14 PM, Daniel wrote:
> Hi!
>
> I am trying to use OpenRAVE to obtain the inverse kinematics for a Nao
> humanoid robot (more specific, I want to be able to control its hands in 6D
> from python or c++). It seems that I can accomplish this pretty easy as
> described here:
> http://openrave.programmingvision.com/en/main/openravepy/ikfast.html
>
> However, I am a bit stuck with the robot model. I have a urdf for the Nao
> (that uses .stl files to define<collision>  bodies and .dae files for
> <visuals>). I successfully converted this urdf to dae using urdf_to_collada
> from ROS electric. The file is attached.
> By comparing nao.dae to e.g. kuka-youbot.zae it seems that I need to define
> manipulators in the dae, so I added a<manipulator>  tag. However, I am still
> unabled to use the robot model. If I try to load the environment for the
> robot, I get  an error like "failed to find manipulator xxxx frame origin
> yyyy". So i think am still missing something here.
>
> Now my question is: Is there a tool to modify the .dae files, i.e. to define
> manipulators and sensors or is there a tutorial explaining the necessary
> steps to define the kinematic chains manually?
> I attached my dae and xml file, maybe this illustrates the problem better.
> I tried to define a manipulator with tip LHand_link and origin Torso_link. I
> only supplied a
> http://openrave-users-list.185357.n3.nabble.com/file/n3858432/nao-openrave.tgz
> version nao-openrave.tgz  without the meshes (for legal reasons).
>
> Thanks for your help!
> Best
> Daniel
>
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Just wanted to let you know, that I figured the basics out, and the urdf 
conversion and xml manipulator definition seems to work now. Will let 
you know if I run into some more troubles :)

Best
Daniel