{"id":84,"date":"2024-04-04T08:01:29","date_gmt":"2024-04-04T05:01:29","guid":{"rendered":"https:\/\/sisu.ut.ee\/rosak\/manipulaatorroboti-urdf-kirjeldus\/"},"modified":"2024-04-04T08:03:55","modified_gmt":"2024-04-04T05:03:55","slug":"manipulaatorroboti-urdf-kirjeldus","status":"publish","type":"page","link":"https:\/\/sisu.ut.ee\/rosak\/manipulaatorroboti-urdf-kirjeldus\/","title":{"rendered":"9. Manipulaatorroboti URDF kirjeldus"},"content":{"rendered":"<blockquote>\n<p>\n\t\t<strong><span id=\"docs-internal-guid-6a86c222-7fff-1a9a-2af1-15cc3eb1b8b5\">Praeguseks oleme juba teinud URDFis neljarattalise roboti mudeli. Samuti oleme tutvunud kinemaatika p\u00f5hit\u00f5dedega ja erinevate liigendit\u00fc\u00fcpidega. N\u00fc\u00fcd on aeg panna kokku neis peat\u00fckkides omandatud oskused ja teadmised ning teha ise valmis nn manipulaatorroboti URDF mudel.<\/span><\/strong>\n\t<\/p>\n<p>\n\t\t<span><em>Samm-sammulise juhendi n\u00e4gemiseks klikka harjutuse vahepealkirjadele.<\/em><\/span>\n\t<\/p>\n<\/blockquote>\n<p>\n\t<span id=\"docs-internal-guid-30a7a5b8-7fff-a645-1528-c26d44f5c7e4\">J\u00e4rgnevalt loome URDFi kasutades sellise roboti kirjelduse:<\/span>\n<\/p>\n<p>\n\t<img loading=\"lazy\" decoding=\"async\" width=\"1200\" height=\"675\" class=\"alignnone wp-image-190\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/1_end_goal.gif\" title=\"1_end_goal.gif\" alt=\".\">\n<\/p>\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69d4a4d7e1976-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69d4a4d7e1976-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69d4a4d7e1976-collapse\"><strong>1. Ettevalmistused<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69d4a4d7e1976-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69d4a4d7e1976-heading\">\n            <div class=\"accordion-body\">Alustuseks paigaldadame ROSi kimbu <span style=\"font-family:Courier New,Courier,monospace\">aironbot_description<\/span>, mis sisaldab 3D-mudeleid roboti l\u00fclidest. Mudeli failid asuvad kaustas <span style=\"font-family:Courier New,Courier,monospace\">aironbot_description\/meshes<\/span>\n\n<p>\n\t<span id=\"docs-internal-guid-f1ed9bf8-7fff-ac4d-4714-69573544db54\">Kimbu paigaldamiseks <strong>liigu terminalis kausta<\/strong> <span style=\"font-family:Courier New,Courier,monospace\">~\/catkin_ws\/src<\/span> ja klooni sinna <strong>kimbu l\u00e4htekood<\/strong>:<\/span>\n<\/p>\n<pre>git clone https:\/\/github.com\/unitartu-edu\/aironbot_description.git<\/pre>\n<p>\n\tSeej\u00e4rel <strong>kompileeri<\/strong> ja <strong>laadi<\/strong> uuesti catkini t\u00f6\u00f6ruum.\n<\/p>\n<p>\n\t<img loading=\"lazy\" decoding=\"async\" width=\"1200\" height=\"750\" class=\"alignnone wp-image-191\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/2_setup.gif\" title=\"2_setup.gif\" alt=\"2_setup.gif\">\n<\/p>\n<p>\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69d4a4d7e198a-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69d4a4d7e198a-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69d4a4d7e198a-collapse\"><strong>2. Lihtsa manipulaatori visualiseerimine<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69d4a4d7e198a-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69d4a4d7e198a-heading\">\n            <div class=\"accordion-body\">Kimbus <span style=\"font-family:Courier New,Courier,monospace\">aironbot_description<\/span> on juba olemas \u00fche v\u00e4ga lihtsa manipulaatori URDF kirjeldus. Visualiseerime selle roboti mudeli:\n\n<p>\n\t<strong>a.<\/strong> Liigu terminalis kausta <span style=\"font-family:Courier New,Courier,monospace\">catkin_ws\/src\/aironbot_description\/urdf\/<\/span>\n<\/p>\n<p>\n\t<strong>b.<\/strong> <span id=\"docs-internal-guid-76fdc31e-7fff-e5f3-b32e-0996fac4034b\">K\u00e4ivita RViz j\u00e4rgneva k\u00e4suga:<\/span>\n<\/p>\n<pre><span id=\"docs-internal-guid-107f94cc-7fff-0d39-9549-ea92ccd707a5\">roslaunch urdf_tutorial display.launch model:=aironbot.urdf<\/span><\/pre>\n<p>\n\t<span id=\"docs-internal-guid-a8b246bf-7fff-2b66-f190-a6cce024d7a4\">Pane t\u00e4hele, et see on sama k\u00e4sk, millega olema ka varem mudeleid visualiseerinud. Ainus erinevus seisneb k\u00e4ivitatava mudeli failinimes.<\/span>\n<\/p>\n<p>\n\t<span><strong>c.<\/strong> <\/span><span id=\"docs-internal-guid-d7d3b459-7fff-6f46-bfc0-3b7c055f425f\">Avaneb kaks akent. Suuremas aknas n\u00e4eme roboti kolmem\u00f5\u00f5tmelist visualiseeringut. V\u00e4iksemas aknas n\u00e4eme liugurit, mis liigutab roboti \u00fchte liigendit.<\/span>\n<\/p>\n<p>\n\t<span><strong>d.<\/strong> <\/span><span id=\"docs-internal-guid-1ff52212-7fff-9983-d5b9-8ba61356c0dd\">Proovi erinevaid liuguri v\u00e4\u00e4rtusi ja j\u00e4lgi, mis m\u00f5ju see roboti mudelile avaldab.<\/span>\n<\/p>\n<p>\n\t<img loading=\"lazy\" decoding=\"async\" width=\"1200\" height=\"675\" class=\"alignnone wp-image-192\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/3_manip_two_links.gif\" title=\"3_manip_two_links.gif\" alt=\".\">\n<\/p>\n<p>\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69d4a4d7e198f-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69d4a4d7e198f-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69d4a4d7e198f-collapse\"><strong>3. Mudeliga tutvumine<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69d4a4d7e198f-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69d4a4d7e198f-heading\">\n            <div class=\"accordion-body\">N\u00e4htud manipulaatori mudel on kirjeldatud URDF failis, mis asub <span style=\"font-family:Courier New,Courier,monospace\">aironbot_description\/urdf<\/span> kataloogis. Ava see fail ja vaata, kuidas on see robot kinemaatiliselt kirjeldatud.\n\n<p>\n\t<span id=\"docs-internal-guid-fe9ff04a-7fff-5a9d-e303-092542208825\">Suurem osa failist kirjeldab roboti p\u00f5hja (<\/span><span style=\"font-family:Courier New,Courier,monospace\">base_link<\/span><span>), esimest l\u00fcli (<\/span><span style=\"font-family:Courier New,Courier,monospace\">link_1<\/span><span>) ja liigendit nende kahe l\u00fcli vahel.<\/span>\n<\/p>\n<p>\n\t<span id=\"docs-internal-guid-6102e66a-7fff-b464-0fdd-dc8cfd733cff\">J\u00e4rgnevalt on toodud roboti p\u00f5hja ja esimest l\u00fcli kirjeldavad joonised. K\u00f5ik m\u00f5\u00f5tmed joonistel on meetrites.<\/span>\n<\/p>\n<p>\n\t<span id=\"docs-internal-guid-401679f9-7fff-e025-cc1a-f934b91e7baa\">Roboti p\u00f5hja geomeetria ja m\u00f5\u00f5tmed:<\/span><br><img loading=\"lazy\" decoding=\"async\" width=\"1825\" height=\"650\" class=\"alignnone wp-image-193\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/4_base_link.png\" title=\"4_base_link.png\" alt=\".\" srcset=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/4_base_link.png 1825w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/4_base_link-300x107.png 300w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/4_base_link-1024x365.png 1024w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/4_base_link-768x274.png 768w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/4_base_link-1536x547.png 1536w\" sizes=\"auto, (max-width: 1825px) 100vw, 1825px\">\n<\/p>\n<p>\n\t<span id=\"docs-internal-guid-e50f5d78-7fff-91b4-be77-9db7ddb6eeab\">Roboti esimese l\u00fcli geomeetria ja m\u00f5\u00f5tmed:<\/span><br><img loading=\"lazy\" decoding=\"async\" width=\"1327\" height=\"710\" class=\"alignnone wp-image-194\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/5_manipulator_link.png\" title=\"5_manipulator_link.png\" alt=\".\" srcset=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/5_manipulator_link.png 1327w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/5_manipulator_link-300x161.png 300w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/5_manipulator_link-1024x548.png 1024w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/5_manipulator_link-768x411.png 768w\" sizes=\"auto, (max-width: 1327px) 100vw, 1327px\">\n<\/p>\n<p>\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69d4a4d7e1993-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69d4a4d7e1993-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69d4a4d7e1993-collapse\"><strong>4. Mudeli t\u00e4iendamine<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69d4a4d7e1993-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69d4a4d7e1993-heading\">\n            <div class=\"accordion-body\">Muuda n\u00fc\u00fcd URDF faili selliselt, et robotil oleks veel \u00fcks l\u00fcli (paneme sellele nimeks <span style=\"font-family:Courier New,Courier,monospace\">link_2<\/span>). See l\u00fcli on t\u00e4pselt sama geomeetriaga nagu <span style=\"font-family:Courier New,Courier,monospace\">link_1<\/span>.\n\n<p>\n\t<span id=\"docs-internal-guid-bf131ce7-7fff-c877-ecc9-dbd9f71559c0\">Loo liigend, mis seob 2. l\u00fcli p\u00f6\u00f6rdliigendiga 1. l\u00fcli tipu k\u00fclge.<\/span>\n<\/p>\n<p>\n\t<span id=\"docs-internal-guid-0f704eb3-7fff-3574-0a1c-a51c0895bf3e\">Peale muudatuste tegemist visualiseeri robot, et veenduda, et k\u00f5ik sai \u00f5igesti. Hetkel v\u00f5iks tulemus olla selline:<\/span><br><img loading=\"lazy\" decoding=\"async\" width=\"1920\" height=\"1080\" class=\"alignnone wp-image-195\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/6_two_links.png\" title=\"6_two_links.png\" alt=\".\" srcset=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/6_two_links.png 1920w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/6_two_links-300x169.png 300w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/6_two_links-1024x576.png 1024w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/6_two_links-768x432.png 768w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/6_two_links-1536x864.png 1536w\" sizes=\"auto, (max-width: 1920px) 100vw, 1920px\">\n<\/p>\n<blockquote class=\"os-kollane\">\n<h4>\n\t\tKui l\u00e4ks valesti<br>\n\t<\/h4>\n<p>\n\t\tTagasi algseisu saamiseks otsi l\u00e4htekoodi aironboti GitHubi repositooriumist: <a data-url=\"https:\/\/github.com\/unitartu-edu\/aironbot_description\" href=\"https:\/\/github.com\/unitartu-edu\/aironbot_description\" target=\"_blank\" title=\"\" rel=\"noopener\">https:\/\/github.com\/unitartu-edu\/aironbot_description<\/a>\n\t<\/p>\n<\/blockquote>\n<p>\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69d4a4d7e1997-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69d4a4d7e1997-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69d4a4d7e1997-collapse\"><strong>5. Rohkemate l\u00fclide lisamine<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69d4a4d7e1997-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69d4a4d7e1997-heading\">\n            <div class=\"accordion-body\">Meie manipulaator ei ulatu veel eriti kaugele. Lisa sellele veel kaks l\u00fcli: <span style=\"font-family:Courier New,Courier,monospace\">link_3<\/span> ja <span style=\"font-family:Courier New,Courier,monospace\">link_4<\/span>, mis on sama geomeetriaga nagu juba olemasolevad l\u00fclid.\n\n<p>\n\t<span id=\"docs-internal-guid-96fa7610-7fff-48dd-fb60-5cfcead655e8\">Tulemus peaks olema sarnane j\u00e4rgneva pildiga.<\/span>\n<\/p>\n<p>\n\t<img loading=\"lazy\" decoding=\"async\" width=\"1920\" height=\"1080\" class=\"alignnone wp-image-196\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/7_four_links.png\" title=\"7_four_links.png\" alt=\".\" srcset=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/7_four_links.png 1920w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/7_four_links-300x169.png 300w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/7_four_links-1024x576.png 1024w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/7_four_links-768x432.png 768w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/7_four_links-1536x864.png 1536w\" sizes=\"auto, (max-width: 1920px) 100vw, 1920px\">\n<\/p>\n<p>\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69d4a4d7e199b-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69d4a4d7e199b-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69d4a4d7e199b-collapse\"><strong>6. Haaratsi lisamine<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69d4a4d7e199b-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69d4a4d7e199b-heading\">\n            <div class=\"accordion-body\">Meie manipulaator ulatub juba \u00fcsna kaugele, aga praegu ei saa see veel asjadest kinni v\u00f5tta. Enamasti paikneb manipulaatorrobotite otsas m\u00f5ni t\u00f6\u00f6riist, nt haarats.\n\n<p>\n\t<span id=\"docs-internal-guid-0296dd9a-7fff-33d8-7663-c0fd6ef6ca62\">Lisame oma mudelile haaratsi. See on samuti f\u00fc\u00fcsiline l\u00fcli nagu k\u00f5ik eelnevad, aga see on teistsuguse geomeetriaga. Haaratsi geomeetria on kirjeldatud <span style=\"font-family:Courier New,Courier,monospace\">gripper.stl<\/span> failis, mis asub <span style=\"font-family:Courier New,Courier,monospace\">aironbot_description\/meshes<\/span> kataloogis.<\/span>\n<\/p>\n<p>\n\t<span id=\"docs-internal-guid-5e22086a-7fff-8803-dc31-915908df46b5\">Haaratsi lisamisel pane t\u00e4hele, et seda l\u00fcli on vaja p\u00f6\u00f6rata, et see sobituks 4. l\u00fcli tipuga. Kasuta haaratsi p\u00f6\u00f6ramiseks <span style=\"font-family:Courier New,Courier,monospace\">rpy<\/span> (<\/span><em><span>roll, pitch, yaw<\/span><\/em><span>) v\u00e4\u00e4rtusi.<\/span>\n<\/p>\n<p>\n\t<span id=\"docs-internal-guid-6c40b185-7fff-1ad9-9c96-6d9f7e549688\">Haarats n\u00e4eb v\u00e4lja selline:<\/span><br><img loading=\"lazy\" decoding=\"async\" width=\"913\" height=\"726\" class=\"alignnone wp-image-197\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/8_gripper.png\" title=\"8_gripper.png\" alt=\".\" srcset=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/8_gripper.png 913w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/8_gripper-300x239.png 300w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/8_gripper-768x611.png 768w\" sizes=\"auto, (max-width: 913px) 100vw, 913px\">\n<\/p>\n<p>\n\t<span id=\"docs-internal-guid-ea06440a-7fff-9eb8-4140-54ff8185f56e\">Peale haaratsi lisamist peaks tulemus sarnanema j\u00e4rgnevaga:<\/span>\n<\/p>\n<p>\n\t<img loading=\"lazy\" decoding=\"async\" width=\"1920\" height=\"1080\" class=\"alignnone wp-image-198\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/9_robot_with_gripper.png\" title=\"9_robot_with_gripper.png\" alt=\".\" srcset=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/9_robot_with_gripper.png 1920w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/9_robot_with_gripper-300x169.png 300w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/9_robot_with_gripper-1024x576.png 1024w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/9_robot_with_gripper-768x432.png 768w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/9_robot_with_gripper-1536x864.png 1536w\" sizes=\"auto, (max-width: 1920px) 100vw, 1920px\">\n<\/p>\n<p>\n\t<img loading=\"lazy\" decoding=\"async\" width=\"1920\" height=\"1080\" class=\"alignnone wp-image-199\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/10_robot_with_gripper.png\" title=\"10_robot_with_gripper.png\" alt=\".\" srcset=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/10_robot_with_gripper.png 1920w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/10_robot_with_gripper-300x169.png 300w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/10_robot_with_gripper-1024x576.png 1024w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/10_robot_with_gripper-768x432.png 768w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/10_robot_with_gripper-1536x864.png 1536w\" sizes=\"auto, (max-width: 1920px) 100vw, 1920px\">\n<\/p>\n<p>\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69d4a4d7e199f-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69d4a4d7e199f-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69d4a4d7e199f-collapse\"><strong>7. Virtuaalse l\u00fcli lisamine<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69d4a4d7e199f-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69d4a4d7e199f-heading\">\n            <div class=\"accordion-body\">Mudeli l\u00f5petuseks lisame URDF faili veel \u00fche l\u00fcli. Erinevalt eelmistest l\u00fclidest on see l\u00fcli virtuaalne, mitte f\u00fc\u00fcsiline. See l\u00fcli on vajalik, kui tahame n\u00e4idata manipulaatori tiput\u00f6\u00f6riista asukohta, n\u00e4iteks m\u00f5nes rakenduses. Sel juhul annab virtuaalne l\u00fcli meile referentspunkti.\n\n<p>\n\t<span id=\"docs-internal-guid-4f8c6436-7fff-d442-bcdd-583ed9e535ec\">Virtuaalse l\u00fcli loomine k\u00e4ib samamoodi nagu f\u00fc\u00fcsilise l\u00fcli loomine. Erinevus seisneb selles, et URDF failis tuleks selle l\u00fcli jaoks j\u00e4tta \u00e4ra m\u00e4rgendiga <\/span><span style=\"font-family:Courier New,Courier,monospace\">visual<\/span><span> \u00fcmbritsetud sisu.<\/span>\n<\/p>\n<p>\n\t<span id=\"docs-internal-guid-835a34ff-7fff-faa8-1cd3-194f68c326ba\">Olgu kogu l\u00fcli kirjeldus selline:<\/span>\n<\/p>\n<pre><span>&lt;link name=\"tool_0\"\/&gt;<\/span><\/pre>\n<p>\n\t<span id=\"docs-internal-guid-44e16e97-7fff-6b6f-4ff8-1f0ca5501007\">Seo virtuaalne t\u00f6\u00f6riist fikseeritud liigendi (<\/span><span><span style=\"font-family:Courier New,Courier,monospace\">fixed<\/span>) abil haaratsi haarade vahele.<\/span>\n<\/p>\n<p>\n\t<span id=\"docs-internal-guid-0c7a035b-7fff-cfa9-b0c2-58a8dc53700d\">Tulemus peaks v\u00e4lja n\u00e4gema selline:<\/span>\n<\/p>\n<p>\n\t<img loading=\"lazy\" decoding=\"async\" width=\"1920\" height=\"1080\" class=\"alignnone wp-image-200\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/11_gripper_with_tool.png\" title=\"11_gripper_with_tool.png\" alt=\".\" srcset=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/11_gripper_with_tool.png 1920w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/11_gripper_with_tool-300x169.png 300w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/11_gripper_with_tool-1024x576.png 1024w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/11_gripper_with_tool-768x432.png 768w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/11_gripper_with_tool-1536x864.png 1536w\" sizes=\"auto, (max-width: 1920px) 100vw, 1920px\">\n<\/p>\n<p>\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69d4a4d7e19a3-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69d4a4d7e19a3-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69d4a4d7e19a3-collapse\"><strong>8. L\u00f5pptulemus<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69d4a4d7e19a3-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69d4a4d7e19a3-heading\">\n            <div class=\"accordion-body\">Valmis robot n\u00e4eb v\u00e4lja ja liigub nii, nagu allolevas animatsioonis. Sellel peaks olema <span style=\"font-family:Courier New,Courier,monospace\">base_link<\/span>, <span style=\"font-family:Courier New,Courier,monospace\">link_1<\/span>, <span style=\"font-family:Courier New,Courier,monospace\">link_2<\/span>, <span style=\"font-family:Courier New,Courier,monospace\">link_3<\/span>, <span style=\"font-family:Courier New,Courier,monospace\">link_4<\/span>, <span style=\"font-family:Courier New,Courier,monospace\">haarats<\/span> f\u00fc\u00fcsilise l\u00fclina ja <span style=\"font-family:Courier New,Courier,monospace\">tool_0<\/span> virtuaalse l\u00fclina.\n\n<p>\n\t<img loading=\"lazy\" decoding=\"async\" width=\"1200\" height=\"675\" class=\"alignnone wp-image-201\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/12_end_result.gif\" title=\"12_end_result.gif\" alt=\".\">\n<\/p>\n<p>\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n","protected":false},"excerpt":{"rendered":"<p>Praeguseks oleme juba teinud URDFis neljarattalise roboti mudeli. Samuti oleme tutvunud kinemaatika p\u00f5hit\u00f5dedega ja erinevate liigendit\u00fc\u00fcpidega. N\u00fc\u00fcd on aeg panna kokku neis peat\u00fckkides omandatud oskused ja teadmised ning teha ise valmis nn manipulaatorroboti URDF mudel. Samm-sammulise juhendi n\u00e4gemiseks klikka harjutuse &#8230;<\/p>\n","protected":false},"author":98,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_acf_changed":false,"inline_featured_image":false,"footnotes":""},"class_list":["post-84","page","type-page","status-publish","hentry"],"acf":[],"_links":{"self":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/84","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/users\/98"}],"replies":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/comments?post=84"}],"version-history":[{"count":1,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/84\/revisions"}],"predecessor-version":[{"id":317,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/84\/revisions\/317"}],"wp:attachment":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/media?parent=84"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}