Franka Panda to V-Rep

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sjames
Posts: 16
Joined: 23 Nov 2016, 18:53

Franka Panda to V-Rep

Post by sjames » 07 Dec 2018, 17:34

Hi coppelia,

I hope you are well.

I am looking at bringing the popular Franka Panda to V-Rep and convert to .ttm (happy to share with you once I have done so others can use).
I just wanted to double check the correct procedure for this:

1. Take the xacros files from ros. Convert to urdf.
2. Load to vrep using the URDF plugin.
3. Go through each of the joints and activate control loop.
4. Attach script and integrate with OMPL (so others can have an example of using).
5. Save model as .ttm.

Am I missing anything?

Thanks.

coppelia
Site Admin
Posts: 6867
Joined: 14 Dec 2012, 00:25

Re: Franka Panda to V-Rep

Post by coppelia » 10 Dec 2018, 15:01

Hello,

practically the operation is more complicated if you want to obtain a clean and lightweight model.
Best is to start from scratch from the manufacturer's CAD data. Then starting by simplifying the mesh, etc.
This tutorial gives a rough overview of what is required.

Cheers

sjames
Posts: 16
Joined: 23 Nov 2016, 18:53

Re: Franka Panda to V-Rep

Post by sjames » 12 Dec 2018, 11:54

Thanks for the reply.

Out of interest, why is it preferred to do this from scratch, rather than using the urdf as a starting point?

coppelia
Site Admin
Posts: 6867
Joined: 14 Dec 2012, 00:25

Re: Franka Panda to V-Rep

Post by coppelia » 14 Dec 2018, 08:29

The reason to start from scratch is that a URDF file might contain overly complicated meshes (e.g. used also for other purposes than simple simulation) and this might dramatically slow down the simulation. And also because many things can usually be simplified in a simulation. Then also, you will exactly know which parameter/object to tweak if something is not running as expected.

Cheers

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