1 00:00:00,350 --> 00:00:03,570 Universal Robot description for format is an awesome tool. 2 00:00:03,870 --> 00:00:11,850 If you don't know, let me tell you, it can be utilized in Mac lab, in resource, in beta and all 3 00:00:11,850 --> 00:00:15,300 of the most popular simulators for robotics. 4 00:00:15,450 --> 00:00:16,680 So now let's get started. 5 00:00:16,680 --> 00:00:17,640 How to create one. 6 00:00:18,150 --> 00:00:26,400 I am going to create another for you there to have a structured package for easy understanding and explanation 7 00:00:26,400 --> 00:00:26,760 as well. 8 00:00:27,150 --> 00:00:30,570 Let's create the folder to be named as your idea. 9 00:00:30,990 --> 00:00:36,120 In this folder I am going to create a file that is going to be maze bot. 10 00:00:36,120 --> 00:00:36,990 Or you are. 11 00:00:38,650 --> 00:00:39,100 This. 12 00:00:40,470 --> 00:00:46,610 Is going to be a little bit hard for you if you have not done your idea of programming and animals and 13 00:00:46,620 --> 00:00:48,870 dex programming before getting started. 14 00:00:48,870 --> 00:00:52,470 Let me give you an extension name to install it. 15 00:00:52,740 --> 00:00:54,150 And that is you are. 16 00:00:55,790 --> 00:00:58,070 It is going to be support. 17 00:00:58,070 --> 00:01:04,040 Two of your ideas echoed by Scott installed this one by Miller Robotics. 18 00:01:05,650 --> 00:01:06,400 What it does. 19 00:01:06,400 --> 00:01:08,350 It helps you write your new idea. 20 00:01:08,530 --> 00:01:10,390 That's what it does. 21 00:01:10,780 --> 00:01:13,780 So in a huge idea, we have this structure. 22 00:01:14,380 --> 00:01:18,340 And if you don't know what it is like, we explain you. 23 00:01:19,910 --> 00:01:26,200 Foreign are ways for just basic creation of our robot for RV is not visible. 24 00:01:26,480 --> 00:01:35,240 We just need a visual representation and a link and the joint for real world gazebo like simulation. 25 00:01:35,240 --> 00:01:36,650 Real simulation. 26 00:01:36,650 --> 00:01:38,090 Real world simulation. 27 00:01:38,570 --> 00:01:41,120 We need some more things as well. 28 00:01:41,120 --> 00:01:49,570 For example, collision properties, masses, inertia, so the physical forces can be simulated on them. 29 00:01:49,670 --> 00:01:52,010 But for our viewers, we don't need anything of that. 30 00:01:52,610 --> 00:01:54,710 Link name is base footprint. 31 00:01:55,160 --> 00:01:57,140 And do I need it? 32 00:01:57,290 --> 00:02:05,660 Yes, I need it because whenever we create a link, we need a parent for some reason and we can see 33 00:02:05,660 --> 00:02:08,570 that this link has no property. 34 00:02:08,570 --> 00:02:10,220 So it is stick to origin. 35 00:02:10,400 --> 00:02:15,680 Or I can say an origin is with this is the link that I have created. 36 00:02:16,070 --> 00:02:18,890 This link is just a box of this, this. 37 00:02:18,890 --> 00:02:21,380 This dimension and the joint. 38 00:02:22,290 --> 00:02:25,500 This joint is named as this joint type is fixed. 39 00:02:25,890 --> 00:02:29,460 Parent is this, child is this and this is its relation. 40 00:02:29,910 --> 00:02:35,010 We are going to view it with the help of Ross extension that I already told you. 41 00:02:35,400 --> 00:02:41,460 You have to install this one, this one by Microsoft, and it helps you a lot. 42 00:02:41,700 --> 00:02:49,190 Let me show you how to control shift B to give the command palette and a preview to RDF. 43 00:02:49,200 --> 00:02:54,630 If it is not appearing here, you are going to type Ross and it is going to appear here. 44 00:02:54,630 --> 00:02:55,690 Preview RDF. 45 00:02:56,160 --> 00:02:59,550 Let's click it and you can see we have. 46 00:03:00,700 --> 00:03:04,210 A preview of what the IDF is telling us. 47 00:03:04,540 --> 00:03:14,140 If I increase anything from here, for example, if I make it 1.75 x Xs, this one is x, this one by 48 00:03:14,140 --> 00:03:15,220 and this one is Z. 49 00:03:16,420 --> 00:03:25,120 If I press if I press control s, it is going to apply the changes and you can see the board or the 50 00:03:25,120 --> 00:03:26,290 box expanded. 51 00:03:26,800 --> 00:03:34,560 If I intently make any mistake or unintentionally, you make a mistake in and press control s. 52 00:03:35,440 --> 00:03:37,240 There is going to be some sort of problem. 53 00:03:38,180 --> 00:03:40,070 It does not give you a desired result. 54 00:03:40,100 --> 00:03:47,390 If I make a syntax error here and control s, it is not going to update the place with the error has 55 00:03:47,390 --> 00:03:49,050 happened in your link. 56 00:03:49,070 --> 00:03:52,250 I know you RDF that link is not going to appear. 57 00:03:52,250 --> 00:03:56,900 Okay, so let me get back to the point where it was. 58 00:03:57,710 --> 00:04:03,940 We have this base link and now I'm going to show you how you can produce it for yourself very easily. 59 00:04:03,950 --> 00:04:06,530 The extension we installed is going to help us a lot here. 60 00:04:07,220 --> 00:04:08,570 Let's create a link. 61 00:04:09,380 --> 00:04:15,410 I am going to create the link full and it is going to write all of the code for me. 62 00:04:15,770 --> 00:04:22,580 The things that I have not discussed yet, the collision and initial attack, these two tags, if I 63 00:04:22,580 --> 00:04:25,310 bring them close to one another. 64 00:04:26,750 --> 00:04:33,050 These two tags are related to real world simulation and they do not affect this always or preview you 65 00:04:33,050 --> 00:04:33,460 or death. 66 00:04:33,740 --> 00:04:35,570 But we will look into it later. 67 00:04:35,990 --> 00:04:36,440 Okay. 68 00:04:36,890 --> 00:04:45,200 Now, this visual tag this visual tag obviously affects we are going to not create a box, so we are 69 00:04:45,200 --> 00:04:50,330 going to delete it and we are not going to create any distance between link and the joint. 70 00:04:50,330 --> 00:04:56,840 So material is also applied, which was not applied to the previous thing. 71 00:04:57,230 --> 00:05:01,640 I'm going to create what it is and cylinder. 72 00:05:02,740 --> 00:05:05,150 So slender, geometric, full. 73 00:05:05,200 --> 00:05:08,470 I'm going to create an edit to automatically write the code for me. 74 00:05:08,740 --> 00:05:15,460 I wanted the radius to be 0.5, which is very big and length to be 0.2. 75 00:05:15,490 --> 00:05:16,600 Let's press control. 76 00:05:16,610 --> 00:05:20,500 As it might appear it has not appeared. 77 00:05:20,770 --> 00:05:23,110 The reason is there is no joint footer. 78 00:05:23,560 --> 00:05:26,020 Let me create the giant giant full. 79 00:05:26,680 --> 00:05:29,380 The page name of the joint is going to be. 80 00:05:31,400 --> 00:05:32,060 We'll. 81 00:05:33,060 --> 00:05:33,570 Right. 82 00:05:35,160 --> 00:05:36,660 It is going to be a revolution. 83 00:05:36,690 --> 00:05:39,490 Yes, I am pressing cabinet moves to the next thing. 84 00:05:39,510 --> 00:05:41,880 Origins are going to be decided later. 85 00:05:41,880 --> 00:05:43,230 Behrendt is going to be. 86 00:05:43,860 --> 00:05:45,690 What was the name of the link bees? 87 00:05:47,510 --> 00:05:52,100 This is going to be the parent child is going to be the name of these languages. 88 00:05:52,650 --> 00:05:53,930 We'll write. 89 00:05:54,940 --> 00:05:57,010 I'm going to break paste it here. 90 00:05:57,700 --> 00:06:00,310 X's should be the rotational X's. 91 00:06:00,310 --> 00:06:01,690 This is what we're talking about. 92 00:06:01,690 --> 00:06:06,430 I think the X is should be one and they are not currently going to affect the diagram. 93 00:06:06,910 --> 00:06:10,030 They are going to be tested in your joint x test. 94 00:06:10,990 --> 00:06:14,190 And upper and lower velocity limits. 95 00:06:14,200 --> 00:06:17,860 Let's not talk about that either, because it is going to confuse you. 96 00:06:18,010 --> 00:06:21,550 I'm going to press control s and it has not appeared again. 97 00:06:22,000 --> 00:06:23,710 So why it is not yet appearing. 98 00:06:23,890 --> 00:06:25,270 Let's take a look. 99 00:06:26,050 --> 00:06:27,430 There is a texture. 100 00:06:27,900 --> 00:06:28,540 We don't need it. 101 00:06:28,540 --> 00:06:28,960 Right. 102 00:06:29,320 --> 00:06:32,590 And there are two geometric tags or Q. 103 00:06:33,920 --> 00:06:35,420 We don't need them either. 104 00:06:36,260 --> 00:06:39,380 There are a lot of things that we don't need, so we just delete them. 105 00:06:40,280 --> 00:06:47,240 This is a geometric control and it has produced a V, although the wheel is very, very, very big. 106 00:06:47,570 --> 00:06:53,850 How the colour is applied to be red because our g, b and grid has been applied. 107 00:06:53,870 --> 00:06:58,400 If I apply the green as well, what colour it is going to be mixed is green. 108 00:06:58,790 --> 00:07:05,990 It is becoming yellow and I want it to be on the side of the base that we have created. 109 00:07:05,990 --> 00:07:10,340 So to rotate this thing, we have to change the origin. 110 00:07:11,230 --> 00:07:20,380 And give the rotation in respect to the joints, which is going to do 1.57, which is now the value 111 00:07:20,380 --> 00:07:25,150 of five by 290 degrees would to be 90 degree along by axes. 112 00:07:25,480 --> 00:07:27,880 And this was not the required thing. 113 00:07:28,720 --> 00:07:37,030 We have to rotate it along x axis so you can see I am doing it on the go, looking at the ADF and making 114 00:07:37,030 --> 00:07:37,570 changes. 115 00:07:37,750 --> 00:07:39,670 That is what I wanted to just show you. 116 00:07:39,910 --> 00:07:43,690 Let me show you a complete file and then we will discuss it. 117 00:07:44,320 --> 00:07:50,320 So I have brought a file from my previous scores, the basic words in which I have represented everything 118 00:07:50,320 --> 00:07:52,690 with the help of a ready to abort. 119 00:07:53,760 --> 00:07:55,540 And I'm going to name it to be me. 120 00:07:55,590 --> 00:07:56,400 But let's see. 121 00:07:56,700 --> 00:07:58,590 Let's perform control. 122 00:07:58,980 --> 00:07:59,820 See the results. 123 00:08:00,780 --> 00:08:07,740 So you can see we have a good looking robot which is present to be a differential type robot, explained 124 00:08:07,740 --> 00:08:11,460 everything about this robot and played a lot with this robot in a previous course. 125 00:08:11,470 --> 00:08:17,250 The thing that I wanted to tell you is this we have the collision tag, we have the geometric tag, 126 00:08:17,250 --> 00:08:19,020 and everything is of a purpose. 127 00:08:19,880 --> 00:08:21,620 Geometric is representing the box. 128 00:08:21,650 --> 00:08:23,840 This box coming to the mixed link. 129 00:08:24,200 --> 00:08:31,010 The left is off radius, selling their colours that apply everything that I've showed you. 130 00:08:31,010 --> 00:08:31,580 How. 131 00:08:32,610 --> 00:08:37,560 You can write your own IDF using this IDF review. 132 00:08:37,560 --> 00:08:44,940 Awesome thing which tells you all about your robot what you are creating in our case. 133 00:08:46,020 --> 00:08:47,940 Things are going to be a little different. 134 00:08:48,340 --> 00:08:56,490 They're not going to be the same because we are using and still meshes and we have to create the structure 135 00:08:56,490 --> 00:09:03,000 of the robot using the meshes, not these geometries of cylinders and circles and boxes. 136 00:09:03,300 --> 00:09:04,730 So things are different. 137 00:09:04,740 --> 00:09:08,040 We have to take care of the meshes sizes as well. 138 00:09:08,230 --> 00:09:11,550 So let's take a look how we're going to fix the mesh sizes.