Universal Robot description for format is an awesome tool.
If you don't know, let me tell you, it can be utilized in Mac lab, in resource, in beta and all
of the most popular simulators for robotics.
So now let's get started.
How to create one.
I am going to create another for you there to have a structured package for easy understanding and explanation
as well.
Let's create the folder to be named as your idea.
In this folder I am going to create a file that is going to be maze bot.
Or you are.
This.
Is going to be a little bit hard for you if you have not done your idea of programming and animals and
dex programming before getting started.
Let me give you an extension name to install it.
And that is you are.
It is going to be support.
Two of your ideas echoed by Scott installed this one by Miller Robotics.
What it does.
It helps you write your new idea.
That's what it does.
So in a huge idea, we have this structure.
And if you don't know what it is like, we explain you.
Foreign are ways for just basic creation of our robot for RV is not visible.
We just need a visual representation and a link and the joint for real world gazebo like simulation.
Real simulation.
Real world simulation.
We need some more things as well.
For example, collision properties, masses, inertia, so the physical forces can be simulated on them.
But for our viewers, we don't need anything of that.
Link name is base footprint.
And do I need it?
Yes, I need it because whenever we create a link, we need a parent for some reason and we can see
that this link has no property.
So it is stick to origin.
Or I can say an origin is with this is the link that I have created.
This link is just a box of this, this.
This dimension and the joint.
This joint is named as this joint type is fixed.
Parent is this, child is this and this is its relation.
We are going to view it with the help of Ross extension that I already told you.
You have to install this one, this one by Microsoft, and it helps you a lot.
Let me show you how to control shift B to give the command palette and a preview to RDF.
If it is not appearing here, you are going to type Ross and it is going to appear here.
Preview RDF.
Let's click it and you can see we have.
A preview of what the IDF is telling us.
If I increase anything from here, for example, if I make it 1.75 x Xs, this one is x, this one by
and this one is Z.
If I press if I press control s, it is going to apply the changes and you can see the board or the
box expanded.
If I intently make any mistake or unintentionally, you make a mistake in and press control s.
There is going to be some sort of problem.
It does not give you a desired result.
If I make a syntax error here and control s, it is not going to update the place with the error has
happened in your link.
I know you RDF that link is not going to appear.
Okay, so let me get back to the point where it was.
We have this base link and now I'm going to show you how you can produce it for yourself very easily.
The extension we installed is going to help us a lot here.
Let's create a link.
I am going to create the link full and it is going to write all of the code for me.
The things that I have not discussed yet, the collision and initial attack, these two tags, if I
bring them close to one another.
These two tags are related to real world simulation and they do not affect this always or preview you
or death.
But we will look into it later.
Okay.
Now, this visual tag this visual tag obviously affects we are going to not create a box, so we are
going to delete it and we are not going to create any distance between link and the joint.
So material is also applied, which was not applied to the previous thing.
I'm going to create what it is and cylinder.
So slender, geometric, full.
I'm going to create an edit to automatically write the code for me.
I wanted the radius to be 0.5, which is very big and length to be 0.2.
Let's press control.
As it might appear it has not appeared.
The reason is there is no joint footer.
Let me create the giant giant full.
The page name of the joint is going to be.
We'll.
Right.
It is going to be a revolution.
Yes, I am pressing cabinet moves to the next thing.
Origins are going to be decided later.
Behrendt is going to be.
What was the name of the link bees?
This is going to be the parent child is going to be the name of these languages.
We'll write.
I'm going to break paste it here.
X's should be the rotational X's.
This is what we're talking about.
I think the X is should be one and they are not currently going to affect the diagram.
They are going to be tested in your joint x test.
And upper and lower velocity limits.
Let's not talk about that either, because it is going to confuse you.
I'm going to press control s and it has not appeared again.
So why it is not yet appearing.
Let's take a look.
There is a texture.
We don't need it.
Right.
And there are two geometric tags or Q.
We don't need them either.
There are a lot of things that we don't need, so we just delete them.
This is a geometric control and it has produced a V, although the wheel is very, very, very big.
How the colour is applied to be red because our g, b and grid has been applied.
If I apply the green as well, what colour it is going to be mixed is green.
It is becoming yellow and I want it to be on the side of the base that we have created.
So to rotate this thing, we have to change the origin.
And give the rotation in respect to the joints, which is going to do 1.57, which is now the value
of five by 290 degrees would to be 90 degree along by axes.
And this was not the required thing.
We have to rotate it along x axis so you can see I am doing it on the go, looking at the ADF and making
changes.
That is what I wanted to just show you.
Let me show you a complete file and then we will discuss it.
So I have brought a file from my previous scores, the basic words in which I have represented everything
with the help of a ready to abort.
And I'm going to name it to be me.
But let's see.
Let's perform control.
See the results.
So you can see we have a good looking robot which is present to be a differential type robot, explained
everything about this robot and played a lot with this robot in a previous course.
The thing that I wanted to tell you is this we have the collision tag, we have the geometric tag,
and everything is of a purpose.
Geometric is representing the box.
This box coming to the mixed link.
The left is off radius, selling their colours that apply everything that I've showed you.
How.
You can write your own IDF using this IDF review.
Awesome thing which tells you all about your robot what you are creating in our case.
Things are going to be a little different.
They're not going to be the same because we are using and still meshes and we have to create the structure
of the robot using the meshes, not these geometries of cylinders and circles and boxes.
So things are different.
We have to take care of the meshes sizes as well.
So let's take a look how we're going to fix the mesh sizes.