Homework 5
Due Tuesday 3/22

Part 1: Complete the Robot Training Session. The mentor will log your completion. 

Part 2: Construct a robot model using URDF

Pre-requisites:

URDF Tutorials part 1, 2 and 3:
http://wiki.ros.org/urdf/Tutorials

Requirements:

The robot you construct must have at least 6 non-fixed joints. At least two types of non-fixed joints must be included. The three types of non-fixed joints are prismatic, revolute, and continuous. 

What to turn in:

your URDF robot file along with 5 screenshots showing your robot  in different configurations (i.e., different values for its joints). To display the model in rviz with a gui to set the joint values, run:
roslaunch urdf_tutorial display.launch model:=<relative path to URDF file> gui:=True

Place the urdf model in a folder called “urdf” in one of your ros package. From the terminal, navigate to your package folder using cd commands. Then, run:
roslaunch urdf_tutorial display.launch model:=urdf/<urdf file> gui:=True

where <urdf file> is the filename of the URDF model. You should name your file “my_robot_<eid>.urdf” so that each submission is unique. 

In your README file, include a brief description of the robot you built


Extra Credit:

Include a 3D model in your URDF file similarly to how the gripper model was included for the R2D2 robot that you build in the URDF tutorial. However, use a different model other than gripper used in the tutorial (i.e., you’ll have to look at a robot description package and locate a 3D model you’d like to use). For example, to visualize the PR2 model, use the following commands

roscd pr2_description
roslaunch urdf_tutorial xacrodisplay.launch model:=robots/pr2.urdf.xacro gui:=true

In the README file, state that you completed the extra credit, if completed.