WEBVTT 00:00.230 --> 00:06.050 Let's continue by adding new links to our RDF model of the robot to complete its model. 00:06.380 --> 00:19.520 So the new link that we are going to add is called Forward Drive Art and let's associate a mesh for 00:19.520 --> 00:20.720 its visualization. 00:20.720 --> 00:31.010 So let's use the tag visual and then within it let's use the tag geometry and the tag mesh to render 00:31.010 --> 00:34.820 the model that is in the package. 00:36.740 --> 00:42.920 Arduino bot description still within the meshes folder. 00:44.030 --> 00:51.320 And for this link we are going to render the forward drive. 00:51.710 --> 01:01.490 R dot stl file and also we are going to scale it as we did for all the other meshes by 0.01 in all the 01:01.490 --> 01:02.450 directions. 01:02.720 --> 01:08.720 Then we also need to set the origin so where we are going to render this mesh. 01:09.320 --> 01:15.890 So with the tag origin and this express the orientation, so the orientation of this mesh with respect 01:15.890 --> 01:25.340 to the forward drive R and also its position, so X, Y, Z and so its translation, let's set the orientation 01:25.340 --> 01:32.090 so the r p y to be zero then -90 degrees. 01:32.090 --> 01:38.690 So in radians this is pi divided by two and then again 90 degrees. 01:38.690 --> 01:41.780 And so this is pi divided by two. 01:41.900 --> 01:48.030 These are values of the orientation and position that I've already tested and fine tuned by looking 01:48.030 --> 01:50.310 at how the mesh renders in Arviz. 01:50.760 --> 02:00.030 So let's also translate it by 0.19, then 0.06 and -0.08. 02:00.660 --> 02:04.860 Next, let's connect this new link to the previous one. 02:04.860 --> 02:13.980 So to the base plate by using a new joint and let's call this one joint two. 02:13.980 --> 02:17.250 And this will be the second movable joint of the robot. 02:17.250 --> 02:21.780 So let's set the type to be revolute. 02:21.780 --> 02:28.740 And the parent of this connection is the link base plate. 02:30.900 --> 02:32.850 And the child 02:36.240 --> 02:40.890 of this connection is the link that we have just created. 02:40.890 --> 02:43.020 So the forward drive arm. 02:43.970 --> 02:51.200 Now by setting this one to Revolute, this means that the forward drive arm can rotate with the respect 02:51.200 --> 02:52.400 to the base plate. 02:52.400 --> 02:58.820 And now we need to specify which is the rotation axis around which the forward drive arm can rotate 02:58.850 --> 03:01.100 with the respect to the base plate. 03:01.560 --> 03:04.470 Still to do so, we can use the axis tag. 03:04.490 --> 03:07.280 So let's use the tag axis. 03:07.280 --> 03:10.190 And this has the property X, y, z. 03:10.220 --> 03:12.800 In order to set which is the rotation axis. 03:12.800 --> 03:15.140 And for this one, let's set that. 03:15.140 --> 03:17.980 The rotation axis is the x axis. 03:17.990 --> 03:22.460 So to indicate this, let's use one zero and zero. 03:22.460 --> 03:27.080 So this indicates that x is the rotation axis. 03:27.760 --> 03:30.100 Then let's also specify its origin. 03:30.910 --> 03:37.240 So which is the transformation matrix that connects the forward drive arm to the base plate. 03:37.420 --> 03:42.730 And so let's say the orientation and then the position. 03:44.380 --> 03:49.930 And if we take a look to the CAD model of the robot, we can see that the two links are still oriented 03:49.930 --> 03:50.960 the same way. 03:50.980 --> 03:54.490 So we can set the RPI to zero. 03:54.490 --> 03:59.640 So this means that the forward drive R is oriented the same way as the base plate. 03:59.680 --> 04:08.830 And also we can see that the forward drive R is translated along the x axis of -two millimeters and 04:08.830 --> 04:12.580 along the Z axis of three centimeters and a half. 04:12.730 --> 04:21.310 So let's set the X, Y, z to be -0.02, then zero and 0.35. 04:22.150 --> 04:25.420 In this case as well, since we are dealing with a movable joint. 04:25.420 --> 04:27.400 So a joint that can rotate. 04:27.430 --> 04:31.630 We need to set the mechanical and kinematic limits of this joint. 04:31.750 --> 04:38.770 And since we are using the same motors also to actuate this joint, let's apply the same limits. 04:39.250 --> 04:41.950 Let's move on and let's define a new link. 04:44.560 --> 04:45.910 Let's call this one. 04:47.960 --> 04:54.410 Horizontal arm and let's assign a visualization to it. 04:54.560 --> 05:01.940 So let's render a geometry and then let's display a mesh. 05:02.840 --> 05:10.190 And the mesh that we want to display is in the package Arduino board. 05:11.270 --> 05:14.570 Description in the Meshes folder. 05:14.570 --> 05:26.660 And for this link here, we want to display the horizontal AR dot mesh and as usual, let's scale it 05:27.230 --> 05:30.290 of 0.01 in all the directions. 05:31.220 --> 05:33.280 Then let's set its origin. 05:33.290 --> 05:35.330 So still within the visual tag. 05:36.140 --> 05:37.880 Let's set the origin. 05:37.880 --> 05:45.850 And so this has the property rpy to express the orientation and X, y, z to express the position. 05:45.920 --> 05:47.840 And let's set the orientation. 05:47.840 --> 06:00.710 So this one to be pi divided by two, then zero, and then again pi divided by two. 06:01.190 --> 06:03.020 And then for the translation. 06:03.020 --> 06:14.480 So here, let's set it to be -0.03, then -0.4 and -0.06. 06:15.500 --> 06:23.090 As usual, let's connect these new link that we have created to the previous ones by using a new joint. 06:23.390 --> 06:28.280 And let's call this one joint three. 06:28.370 --> 06:34.790 This is still a revolute joint, so the type is still revolute. 06:35.030 --> 06:38.570 And this joint connects the parent. 06:39.710 --> 06:41.540 That is the previous link. 06:41.540 --> 06:44.540 So the previous link is the forward drive R. 06:46.070 --> 06:52.770 And connect this link to the child, which is the link that we have just created. 06:52.790 --> 06:54.320 And so the horizontal arm. 06:56.590 --> 07:02.830 Now, since this is a revolute joint, it means that the horizontal arm can rotate with the respect 07:02.830 --> 07:04.750 to the forward drive arm. 07:04.750 --> 07:09.920 And also in this case, we need to express which is the rotation axis. 07:09.940 --> 07:12.850 So let's set the property X, Y, z. 07:13.210 --> 07:17.100 And in this case, the rotation axis is still the x axis. 07:17.110 --> 07:20.590 So let's set this one to be one zero and zero. 07:21.380 --> 07:23.540 Now, let's also set the origin. 07:25.120 --> 07:27.770 And so these express the transformation matrix. 07:27.770 --> 07:37.460 And so the orientation and the translation of the horizontal arm with respect to the forward drive are. 07:38.370 --> 07:39.690 We can take these values. 07:39.690 --> 07:45.780 Still looking at the CAD model of our robot in which we can see that the horizontal arm is oriented 07:45.780 --> 07:48.270 the same way as the forward drive arm. 07:48.450 --> 07:55.140 So let's set the RPI to be zero since they are oriented the same way, and then we can see that the 07:55.140 --> 08:00.960 horizontal AR is translated along the Z axis of eight centimeters. 08:00.960 --> 08:06.090 So let's set the X, y, z to be zero zero and 0.8. 08:06.900 --> 08:14.910 And also in this case, let's copy the same limits, so the same kinematics and mechanical limits also. 08:14.910 --> 08:18.150 So let's copy the ones that we used also for the joint to. 08:18.910 --> 08:21.560 Let's continue by adding more links to the robot. 08:21.580 --> 08:23.110 So let's add a new link. 08:23.830 --> 08:29.320 And this one is called Glow Support. 08:29.320 --> 08:35.260 And actually this one will be the last one that belongs to the arm and that will be the interface with 08:35.260 --> 08:35.980 the gripper. 08:35.980 --> 08:39.280 So to this one we will attach the gripper of the robot. 08:39.760 --> 08:44.530 So the visualization, the mesh that we want to render. 08:45.310 --> 08:54.670 So let's use the tag geometry and within the tag mesh and the file name. 08:54.670 --> 09:04.600 So the mesh that we want to render is still in the package Arduino bot description within the meshes 09:04.600 --> 09:05.290 folder. 09:05.290 --> 09:12.670 And for this one we want to render the glow support dot mesh. 09:12.670 --> 09:18.250 And as always, let's scale it by 0.01 in all the directions. 09:19.310 --> 09:21.710 Let's also set the origin of this mesh. 09:23.600 --> 09:33.230 So let's set how it will be oriented and translate it with respect to the cloud support link. 09:33.530 --> 09:46.010 And the orientation is zero zero and pi divided by two and the translation instead is zero -0.05 and 09:46.010 --> 09:48.150 -0.15. 09:50.110 --> 09:53.650 Let's connect also this new link to the previous one of the robot. 09:53.770 --> 10:02.050 So let's use a new joint that connects the parent that we call. 10:02.590 --> 10:04.000 So let's assign a name. 10:05.290 --> 10:18.490 And this one is the horizontal are two close support and this connects the parent. 10:20.530 --> 10:23.830 That is the link horizontal arm. 10:23.830 --> 10:24.940 So the previous one. 10:26.740 --> 10:28.960 And this is connected to the child 10:31.810 --> 10:34.740 that is the link closer port. 10:34.750 --> 10:40.510 So this one that we have just created and now this connection is a fixed connection. 10:40.510 --> 10:46.420 So basically these two links is like if they were screwed together so they cannot move with respect 10:46.420 --> 10:47.350 to each other. 10:47.350 --> 10:53.020 So let's set the type of this connection to be fixed. 10:54.910 --> 11:01.720 And then as this is a fixed joint, we just need to define the origin of this connection. 11:01.720 --> 11:03.670 And so the X, Y, Z. 11:03.880 --> 11:06.730 So the translation and the p y. 11:07.030 --> 11:08.770 And so the orientation. 11:10.340 --> 11:15.680 We can take these values from the CAD model of the robot where we can see that the close support link 11:15.710 --> 11:18.890 is oriented the same way as the horizontal are. 11:18.920 --> 11:27.560 So let's set the Pi to be zero and then instead we can see that the close support is translated along 11:27.560 --> 11:31.940 the Y axis by 8.2cm. 11:31.940 --> 11:38.630 So let's set the translation to be 00. 82 and zero. 11:39.470 --> 11:43.180 Then let's add the two last links to the robot. 11:43.190 --> 11:45.290 So let's add two last links. 11:46.060 --> 11:49.930 And these ones are the ones that belongs to the gripper. 11:49.930 --> 11:53.080 And so they are the fingers, actually, of the gripper. 11:53.530 --> 11:55.150 Let's call the first one. 11:57.010 --> 11:57.850 Gripper. 11:59.530 --> 12:00.330 Right. 12:00.520 --> 12:01.900 And the second one? 12:04.120 --> 12:04.780 Gripper. 12:06.190 --> 12:06.740 Left. 12:07.290 --> 12:08.030 Left. 12:08.290 --> 12:08.740 Okay. 12:08.740 --> 12:10.990 For both of them, let's add a visualization. 12:11.530 --> 12:14.230 So visual. 12:15.160 --> 12:22.120 And then let's display a geometry and let's render a mesh. 12:22.510 --> 12:27.460 And the mesh is still in the package. 12:29.870 --> 12:30.710 Arduino board. 12:32.370 --> 12:37.670 Description within the meshes folder and for the gripper. 12:37.670 --> 12:39.460 Right, let's display. 12:39.470 --> 12:43.130 So let's render the mesh that is called right finger. 12:43.130 --> 12:52.730 So right finger dot STL and let's scale it as we have done with all the meshes. 12:53.660 --> 12:57.560 Now let's copy this tag visual also for the other gripper. 12:57.740 --> 13:07.460 So for the gripper left and let's just change the name of the mesh that is rendered to be the left finger 13:07.460 --> 13:08.540 dot STL. 13:08.960 --> 13:12.350 Now for both of them we also need to specify the origin. 13:12.620 --> 13:21.410 So let's use the tag origin that has properties x, y, z and our p y. 13:22.340 --> 13:26.210 So let's copy this one also for the other link. 13:26.210 --> 13:28.370 So for the gripper left. 13:28.970 --> 13:30.830 And the orientation of the gripper left. 13:30.830 --> 13:38.570 So this one is zero zero and minus pi divided by two. 13:38.990 --> 13:49.490 And then its translation here is -0.04 0.5 and -0.1. 13:50.920 --> 13:52.690 And then for the second one. 13:52.690 --> 14:03.700 So for the gripper, right, the orientation is still so here, zero zero and minus five divided by 14:03.700 --> 14:12.400 two, and the translation is -0.1 0.5 and -0.1. 14:13.030 --> 14:17.890 Now we just need to connect these last two links to the previous ones of the robot. 14:17.980 --> 14:22.660 And so we do this by using two joint tags. 14:22.810 --> 14:24.730 So let's add the first one. 14:28.570 --> 14:30.040 And the second one. 14:30.130 --> 14:32.260 The first one is called. 14:34.350 --> 14:37.320 Joined for. 14:37.950 --> 14:43.230 And the last one is called Joint five. 14:43.440 --> 14:45.600 The joint for connects. 14:45.930 --> 14:52.200 The parent link, which is the previous one. 14:52.200 --> 14:54.270 So the support link. 14:55.080 --> 14:59.700 So this one and it connects to the child. 14:59.970 --> 15:01.470 That is the link. 15:03.480 --> 15:06.510 Gripper, Right. 15:07.960 --> 15:09.910 And then the joint five connects. 15:09.910 --> 15:13.690 Still, the parent is the same. 15:13.930 --> 15:20.590 So the parent link is still the low support and the child. 15:22.640 --> 15:23.660 Is the link. 15:29.700 --> 15:31.460 Gripper left. 15:31.470 --> 15:36.870 So these two links, the gripper right, and the gripper left, will have the same patent. 15:36.870 --> 15:40.800 So the close support, they will be connected to the same parent. 15:41.130 --> 15:43.860 Let's close also this tag here. 15:43.980 --> 15:50.850 And both of these joints are of type Revolute So this means that both the gripper left and the gripper 15:50.850 --> 15:55.170 right will be able to rotate with respect to the close support. 15:55.440 --> 16:01.230 So let's set the type to be revolute for both of them. 16:04.940 --> 16:11.660 Now as we set the type to be reviewed, we also need to specify for both of these links the rotation 16:11.660 --> 16:12.270 axis. 16:12.290 --> 16:17.120 So let's use the axis tag and then the X, y, z properties. 16:17.120 --> 16:21.280 And for both of them the rotation axis is the Z axis. 16:21.290 --> 16:25.490 So let's indicate this one by using zero zero and one. 16:25.820 --> 16:30.560 So let's copy this tag also for the joint five. 16:31.200 --> 16:35.660 Now we are missing to define the origin of both of these. 16:35.940 --> 16:44.010 And so the orientation or P and the translation X, Y, Z of both of these joints. 16:44.760 --> 16:46.980 So let's copy this one also here. 16:46.980 --> 16:52.380 And so basically we are missing to define the transformation matrix between the gripper, right, and 16:52.380 --> 16:56.130 the support and between the gripper left and still the support. 16:56.760 --> 17:03.360 As we can see from the CAD model, the Gripper right link is oriented the same way as the close up port. 17:03.360 --> 17:08.240 And also the gripper left is oriented the same way as the close up port. 17:08.250 --> 17:17.190 So we can set the property P to be zero for both of these joints and then we can see that the gripper 17:17.190 --> 17:27.490 right is translated by -four millimeters along the x axis, then by 1.3cm along the y axis and by -one 17:27.490 --> 17:29.820 centimeter along the Z axis. 17:29.970 --> 17:32.760 So let's set for the joint for. 17:32.760 --> 17:41.100 So here the translation to be -0.04, 0.13 and -0.1. 17:41.460 --> 17:50.640 And also we can see that the gripper left is translated by -2.2cm along the x axis, 1.3cm along the 17:50.640 --> 17:54.770 Y axis and -one centimeter along the Z axis. 17:54.780 --> 18:03.490 So let's set the property X, Y, Z to be -0.22, 0.13 and -0.1. 18:03.910 --> 18:09.640 Finally, since the two fingers of the robot will move together, they are composed of a gear system 18:09.640 --> 18:17.170 that ensures that they open and close together so that they open and close by the same angle to indicate 18:17.170 --> 18:17.560 this. 18:17.560 --> 18:24.250 Also, in the urdf model of our robot, we need to use a new tag that is the mimic tag. 18:24.370 --> 18:31.300 So within the joint file, let's use the tag mimic to indicate that we want the joint five to mimic 18:31.300 --> 18:37.390 the behavior of the joint that we called joint four. 18:37.390 --> 18:42.100 But we want this one to mimic this behavior but in the opposite direction. 18:42.100 --> 18:47.230 So let's set the multiplier to be minus one. 18:47.230 --> 18:55.000 And this means that when the joint four will rotate 90 degrees, the joint five will rotate -90 degrees. 18:55.000 --> 18:57.580 Since they are oriented in the opposite way. 18:58.090 --> 19:03.490 And now we just need to add the mechanical and kinematic limits for these two joints. 19:03.490 --> 19:05.710 So for the joint, for and for the joint. 19:05.740 --> 19:13.600 Five And so once more we can copy the same limit that we used, for example, for the joint three. 19:13.900 --> 19:18.060 So let's paste them in both the joint four and the joint five. 19:18.070 --> 19:23.570 And in this case, however, the two fingers of the gripper have different mechanical limits. 19:23.590 --> 19:25.710 In fact, the gripper, right. 19:25.720 --> 19:31.330 So this one, the joint four can rotate from -90 degrees to zero. 19:31.330 --> 19:33.180 So let's set this 1 to 0. 19:33.190 --> 19:35.200 So 0.0. 19:35.440 --> 19:40.240 And the second one instead, so the joint five can rotate from zero. 19:41.290 --> 19:45.010 So 0.0 to 90 degrees. 19:45.010 --> 19:46.420 So this is fine. 19:47.070 --> 19:52.830 With this, we have completed the RDF model of our robot with all the links and the joints that compose 19:52.830 --> 19:53.610 the robot. 19:53.760 --> 19:57.060 So let's see how the robot renders. 19:57.210 --> 19:59.730 So let's open a new terminal. 20:00.330 --> 20:03.390 Let's go to the Arduino bot workspace here. 20:04.290 --> 20:05.940 Let's build the workspace. 20:06.300 --> 20:08.070 Then in a new terminal. 20:08.070 --> 20:11.040 So here we can source the workspace. 20:12.030 --> 20:16.560 And then let's use the same command that we used in the previous lesson to visualize. 20:16.560 --> 20:18.240 So to preview the model. 20:18.360 --> 20:20.820 And this is the Ros to launch. 20:20.820 --> 20:29.010 And from the Urdf tutorial package, we want to use the display dot launch and we want to visualize 20:29.010 --> 20:32.670 our model that is in the folder home. 20:33.630 --> 20:42.200 Then in the package Arduino bot workspace in the source folder in the Arduino bot description package, 20:42.210 --> 20:47.470 then in the Urdf folder and this called Arduino dot Urdf dot. 20:48.340 --> 20:50.110 So let's press enter. 20:50.110 --> 20:53.860 And now we can see that the full model of the robot is rendered. 20:53.860 --> 20:59.820 And also we can see that here we have a slider that we can use to move all the joints of the robot. 20:59.830 --> 21:04.360 So all the joints for which we set the type to be revolute. 21:04.390 --> 21:09.340 Now here appear in this slider and we can actually operate them. 21:09.340 --> 21:11.620 And also we can see that for the last one. 21:11.620 --> 21:17.290 So for the gripper, despite having only one slider, we are actuating two frames. 21:17.290 --> 21:25.600 So here we can see that these two, one and two, these two frames here are rotating just by actuating 21:25.600 --> 21:26.350 one slider. 21:26.350 --> 21:30.630 And so this is the behavior that we obtained by using the mimic tag.