英文:
How to make IIWA mobile?
问题
我们正在为一个机器人构建一个模拟，该机器人将穿越杂货店从货架上收集所需物品以进行在线交付。为了实现这一目标，我们需要使IIWA机器人能够在地面上移动，而不是被焊接在地面上。我们正在寻找一种方法，使机器人能够在二维平面（地面）上移动，以便在货架之间移动以收集物品。我们一直在关注Russ的MIT讲座视频和阅读他的笔记，但迄今为止我们还没有找到适合这项任务的合适资源。如果您能指导我们走向正确的方向，我们将不胜感激，谢谢。
目前，机器人是静止的，周围有一些货架。我们的目标是使机器人具备移动能力，以模拟一个真实的杂货店环境，并且我们需要一些帮助来让机器人在二维平面上移动。
基本上，我想问的是如何在Drake中为IIWA机器人实现一个移动底座的方法。
英文:
We are building a simulation for a robot that will traverse a grocery shop to collect necessary items from the shelves for online deliveries. To do this, we need to make the IIWA robot mobile rather than welded on the ground. We are looking for a way to make the robot move on a two-dimensional plane (the ground), so it can move between shelves to collect items. We have been following Russ' MIT lecture videos and reading his notes, however thus far we have been unable to find an appropriate resource for this task. We'd appreciate it if you could point us in the right direction, thank you.
Currently, the robot is stationary with a few shelves around it. We aim to make the robot mobile to simulate a realistic grocery shop environment, and we require some help getting the robot to move on a two-dimensional plane.
Essentially, what I'm asking is how to implement a mobile base for the IIWA robot in the simulation with Drake.
答案1
得分: 2
应该尽量简单，只需在你的机器人和世界之间添加一个PlanarJoint。如果你使用urdf，可能只需像下面这样简单：
<joint name="mobile_base" type="planar">
<parent link="world"/>
<child link="iiwa_link_0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<dynamics damping="0.1 0.1 0.1"/>
</joint>
（但请注意，一些iiwa的urdf模型可能插入了额外的base链接）。
英文:
It should be as simple as adding a PlanarJoint between your robot and the world. If you are using urdf, it could be as simple as e.g.
<joint name="mobile_base" type="planar">
<parent link="world"/>
<child link="iiwa_link_0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<dynamics damping="0.1 0.1 0.1"/>
</joint>
(but do note that some of the iiwa urdf models have an extra base link inserted).
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