I got a little confused on how to properly import an existing geometry of my manipulator.
I have got a complete description of a given manipulator:
- mass and inertia information for each body node
- stiffness and damping properties of the joints
- .obj files for visualization
I need to model the joints as ball joints, so importing an URDF file does not work to my understanding, since URDF only supports revolute joints up to now.
What is the easiest way to create a full model of my manipulator?
From my point of view, I see two possible ways:
manually parsing through my manipulator description and creating joints and body nodes in C++.
Open question for me here is: How to create simple body node and I load the existing .obj file manually to these body nodes? I couln’t figure that out from the tutorials. This approach also seems to be very labor-intensive…
creating an .skel file for my manipulator. As your documentation indicates, skel files support ball joints and seem to be implemented pretty much straight forward. Unfortunately, I have no clue how to include .obj files either, the examples only use boxes etc. for geometry descriptions…
Thank you very much in advance and best regards
I figured it out: I imported the URDF model to import the kinematics and geometry and replaced the revolute joints with ball joints.