I am failing to understand the exercise to build Gurdy URDF. The exercise asks us to create a Gurdy robot with all the information already given. I don’t see how it makes me think how to build the URDF because the meshes for the links have their own origin which is unknown and I simply hit and trial until I get the right values to place it. I am failing to understand how this would help me build a URDF.
The tree for URDF was given and if one tries to follow the tree without the meshes its not possible to understand why the joints are placed in the ways given.
URDF’s are supposed to be built with a proper plan and information. Of course we would have to make minor tweaks which is most one should do.
I would assume the basic geometry given for collisions to have same origin as the child link joint and give values accordingly. But when I import the meshes its way off than expected.
The only thing that is making me think on would be the python script which I don’t believe the course is designed for .
I honestly felt like I spent too much time on the gurdy urdf without direction until I figured out the correct values and it wasted my time.
Can anyone help understand the unit?