UpperExtremity URDF Export from Blender

1. Rotate model (Euler coordinates of root link) -> y-axis points upoward
2. Export URDF
3. Indent XML in Gvim :'<,'>!xmllint --format -
4. Manually edit URDF and rotate ground_joint by 1.570796327 (roll).

RehabConcept

Configuring robot model in Blender

• Steps to assign new segment to visual:
  1. Select visual geometry
  2. Move cursor to selected
  3. IF present, remove Child Of object constraint.
  4. Select child visual than shift + select parent visual and than shift + ctrl + P
  5. Make parent without inverse
  6. Select child visual, shift + S and move to cursor (offset)
  7. Add child segment and copy paste Transform coordinates to Euler (in meters)
  8. Euler coordinates axes not matching Blender axes
  • x Blender -> x Euler
  • -y Blender -> z Euler
  • z Blender -> y Euler
  8. After setting coordinates press Z to wireframe and check if segment is located precisely inside cursor.

URDF Export from Blender

1. Rotate model (Euler coordinates of BaseLink) -> y-axis points upoward
2. Export URDF (Absolute Filepaths)
3. Indent XML in Gvim :'<,'>!xmllint --format -
4. Manually edit URDF and rotate BaseLink_joint by 1.570796327 (roll).

Hand9DOF

• Implemented as 24 DOFs hand model with dependent_joints inside hand9dof_dependent_joints.yaml reducing model to 9 DOFs
• Launch iside Rviz using hand9dof_rviz.launch
• Steps for exporting from rehab_hand.blend using HBP:
  1. Export Hand9DOF robot to sdf format
  2. Change normals inside script and run python hand_set_normals.py model.sdf
  3. Set variable to find exported visuals export MESH_WORKSPACE_PATH=/path/to/rehab/models/RehabilitationDeviceHand/Hand9DOF/meshes/visual/
  4. Convert to urdf rosrun pysdf sdf2urdf.py model-normals.sdf model-normals.urdf --no-prefix
  5. Copy urdf cp model-normals.urdf /path/to/rehab/urdf/Hand9DOF/hand9dof.urdf