From 197d2f8da805c9849a821e8b627748811b3242a1 Mon Sep 17 00:00:00 2001 From: Jakub Marsik Date: Thu, 19 Sep 2019 17:53:28 +0200 Subject: [PATCH] Basic support for Yaskawa Motoman GP180-120 6DOF arm (#277) Squashed commits: * added basic support for Yaskawa Motoman GP180-120 6DOF arm; meshes are derived from official Yaskawa 3D model files; collision meshes are convex hulls; URDF does not contain correct effort limit values yet * correction of tool0 coordinate system orientation to be the same as Yaskawa controller flange coordinate system * Use Jade+ xacro on Indigo. * renamed directory for package * changed package name to motoman_gp180_support in all places (GP180 is robot series, 120 is variant of this series); moved meshes to subdirectory for GP180-120 variant; renamed meshes to lowercase * removed DEG2RAD and used Python expressions in xacro instead * further renamed meshes to have same names as links in URDF * scaled and rotated meshes, with origin points translated to correct location; scaling, rotating and translating origin point in URDF no longer needed; added tools directory with script and README file describing automation of the processing of the source meshes (derived from Yaskawa 3D model STEP file) * moved mesh processing scripts to subdirectory for robot manipulator variant, updated README for them * shifted meshes origin points and joints origin translations so that the joints are "in line" with only one axis translation between two neighboring joints (exception is link_3_u for upper arm, there is 2-axis translation) * better collision meshes; scripts for MeshLab and README about automatic collision meshes generation from visual meshes * Correction on urdf and model orientation and direction of motion. The URDF was changed to rotate the whole model so that the X-axis point forward and kinematic model adjusted to match the standard Yaskawa model and dimensions. The mesh were then adjusted to realign properly with the new kinematic model. The direction of motion for each axis was also corrected to match the real robot motion. Finally, the visual meshes were reduce by 50% to reduce the display processing. * modified automated processing of meshes to be usable with URDF changes made by Eric Marcil in last commit; added simplification step of visual meshes to 50% faces * updated effort limits to Max Acc/Dec Torque [Nm] values from spreadsheet provided by Eric Marcil * added motoman_gp180_support to list of dependencies of the metapackage * Remove superfluous comments from xacro macro. * Split J4->J5 transform into two. This avoids translations in two dimensions for 'joint_4_r'. * Place tool0 on flange. So move final translation (from J5->J6) and make J6->tool0 transform identity. * Add a ROS-I maintainer. * Fix tool readme list formatting. * Hide directory keepmes. * Reduce meshes some more. An additional approx 2MB reduction. --- motoman/package.xml | 1 + motoman_gp180_support/CMakeLists.txt | 15 ++ .../config/joint_names_gp180_120.yaml | 1 + .../launch/load_gp180_120.launch | 3 + ...robot_interface_streaming_gp180_120.launch | 19 ++ .../robot_state_visualize_gp180_120.launch | 25 +++ .../launch/test_gp180_120.launch | 10 ++ .../meshes/gp180_120/collision/base_link.stl | Bin 0 -> 32684 bytes .../meshes/gp180_120/collision/link_1_s.stl | Bin 0 -> 46284 bytes .../meshes/gp180_120/collision/link_2_l.stl | Bin 0 -> 43884 bytes .../meshes/gp180_120/collision/link_3_u.stl | Bin 0 -> 24384 bytes .../meshes/gp180_120/collision/link_4_r.stl | Bin 0 -> 16884 bytes .../meshes/gp180_120/collision/link_5_b.stl | Bin 0 -> 77184 bytes .../meshes/gp180_120/collision/link_6_t.stl | Bin 0 -> 23384 bytes .../meshes/gp180_120/visual/base_link.stl | Bin 0 -> 661484 bytes .../meshes/gp180_120/visual/link_1_s.stl | Bin 0 -> 1048434 bytes .../meshes/gp180_120/visual/link_2_l.stl | Bin 0 -> 502434 bytes .../meshes/gp180_120/visual/link_3_u.stl | Bin 0 -> 870034 bytes .../meshes/gp180_120/visual/link_4_r.stl | Bin 0 -> 593084 bytes .../meshes/gp180_120/visual/link_5_b.stl | Bin 0 -> 358384 bytes .../meshes/gp180_120/visual/link_6_t.stl | Bin 0 -> 200284 bytes motoman_gp180_support/package.xml | 54 ++++++ motoman_gp180_support/test/launch_test.xml | 51 ++++++ .../tools/process_meshes/.gitignore | 1 + .../tools/process_meshes/README.md | 52 ++++++ .../process_meshes/gp180_120/input/.keepme | 0 .../gp180_120/output_collision/.keepme | 0 .../gp180_120/output_visual/.keepme | 0 .../gp180_120/process1a-stlcmd.sh | 9 + .../gp180_120/process1b-simplify.sh | 34 ++++ .../process_meshes/gp180_120/process2.sh | 39 +++++ .../process_meshes/gp180_120/tmp/.keepme | 0 .../meshlab_00_simplify_50p.mlx | 20 +++ .../process_meshes/meshlab_01_convexhull.mlx | 30 ++++ .../meshlab_02_invert_faces.mlx | 9 + .../meshlab_03_no_offset_1000t.mlx | 20 +++ .../meshlab_03_no_offset_300t.mlx | 20 +++ .../meshlab_03_offset_1000t.mlx | 35 ++++ .../process_meshes/meshlab_03_offset_300t.mlx | 35 ++++ motoman_gp180_support/urdf/gp180_120.xacro | 5 + .../urdf/gp180_120_macro.xacro | 164 ++++++++++++++++++ 41 files changed, 652 insertions(+) create mode 100644 motoman_gp180_support/CMakeLists.txt create mode 100644 motoman_gp180_support/config/joint_names_gp180_120.yaml create mode 100644 motoman_gp180_support/launch/load_gp180_120.launch create mode 100644 motoman_gp180_support/launch/robot_interface_streaming_gp180_120.launch create mode 100644 motoman_gp180_support/launch/robot_state_visualize_gp180_120.launch create mode 100644 motoman_gp180_support/launch/test_gp180_120.launch create mode 100644 motoman_gp180_support/meshes/gp180_120/collision/base_link.stl create mode 100644 motoman_gp180_support/meshes/gp180_120/collision/link_1_s.stl create mode 100644 motoman_gp180_support/meshes/gp180_120/collision/link_2_l.stl create mode 100644 motoman_gp180_support/meshes/gp180_120/collision/link_3_u.stl create mode 100644 motoman_gp180_support/meshes/gp180_120/collision/link_4_r.stl create mode 100644 motoman_gp180_support/meshes/gp180_120/collision/link_5_b.stl create mode 100644 motoman_gp180_support/meshes/gp180_120/collision/link_6_t.stl create mode 100644 motoman_gp180_support/meshes/gp180_120/visual/base_link.stl create mode 100644 motoman_gp180_support/meshes/gp180_120/visual/link_1_s.stl create mode 100644 motoman_gp180_support/meshes/gp180_120/visual/link_2_l.stl create mode 100644 motoman_gp180_support/meshes/gp180_120/visual/link_3_u.stl create mode 100644 motoman_gp180_support/meshes/gp180_120/visual/link_4_r.stl create mode 100644 motoman_gp180_support/meshes/gp180_120/visual/link_5_b.stl create mode 100644 motoman_gp180_support/meshes/gp180_120/visual/link_6_t.stl create mode 100644 motoman_gp180_support/package.xml create mode 100644 motoman_gp180_support/test/launch_test.xml create mode 100644 motoman_gp180_support/tools/process_meshes/.gitignore create mode 100644 motoman_gp180_support/tools/process_meshes/README.md create mode 100644 motoman_gp180_support/tools/process_meshes/gp180_120/input/.keepme create mode 100644 motoman_gp180_support/tools/process_meshes/gp180_120/output_collision/.keepme create mode 100644 motoman_gp180_support/tools/process_meshes/gp180_120/output_visual/.keepme create mode 100755 motoman_gp180_support/tools/process_meshes/gp180_120/process1a-stlcmd.sh create mode 100755 motoman_gp180_support/tools/process_meshes/gp180_120/process1b-simplify.sh create mode 100755 motoman_gp180_support/tools/process_meshes/gp180_120/process2.sh create mode 100644 motoman_gp180_support/tools/process_meshes/gp180_120/tmp/.keepme create mode 100644 motoman_gp180_support/tools/process_meshes/meshlab_00_simplify_50p.mlx create mode 100644 motoman_gp180_support/tools/process_meshes/meshlab_01_convexhull.mlx create mode 100644 motoman_gp180_support/tools/process_meshes/meshlab_02_invert_faces.mlx create mode 100644 motoman_gp180_support/tools/process_meshes/meshlab_03_no_offset_1000t.mlx create mode 100644 motoman_gp180_support/tools/process_meshes/meshlab_03_no_offset_300t.mlx create mode 100644 motoman_gp180_support/tools/process_meshes/meshlab_03_offset_1000t.mlx create mode 100644 motoman_gp180_support/tools/process_meshes/meshlab_03_offset_300t.mlx create mode 100644 motoman_gp180_support/urdf/gp180_120.xacro create mode 100644 motoman_gp180_support/urdf/gp180_120_macro.xacro diff --git a/motoman/package.xml b/motoman/package.xml index 29acbcb3..45bc50ef 100644 --- a/motoman/package.xml +++ b/motoman/package.xml @@ -20,6 +20,7 @@ motoman_gp12_support motoman_gp7_support motoman_gp8_support + motoman_gp180_support motoman_mh12_support motoman_mh50_support motoman_mh5_support diff --git a/motoman_gp180_support/CMakeLists.txt b/motoman_gp180_support/CMakeLists.txt new file mode 100644 index 00000000..e75b08ed --- /dev/null +++ b/motoman_gp180_support/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 2.8.3) + +project(motoman_gp180_support) + +find_package(catkin REQUIRED) + +catkin_package() + +if (CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + roslaunch_add_file_check(test/launch_test.xml) +endif() + +install(DIRECTORY config launch meshes urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/motoman_gp180_support/config/joint_names_gp180_120.yaml b/motoman_gp180_support/config/joint_names_gp180_120.yaml new file mode 100644 index 00000000..c23d10d4 --- /dev/null +++ b/motoman_gp180_support/config/joint_names_gp180_120.yaml @@ -0,0 +1 @@ +controller_joint_names: ['joint_1_s', 'joint_2_l', 'joint_3_u', 'joint_4_r', 'joint_5_b', 'joint_6_t'] diff --git a/motoman_gp180_support/launch/load_gp180_120.launch b/motoman_gp180_support/launch/load_gp180_120.launch new file mode 100644 index 00000000..00ee1903 --- /dev/null +++ b/motoman_gp180_support/launch/load_gp180_120.launch @@ -0,0 +1,3 @@ + + + diff --git a/motoman_gp180_support/launch/robot_interface_streaming_gp180_120.launch b/motoman_gp180_support/launch/robot_interface_streaming_gp180_120.launch new file mode 100644 index 00000000..9c70e0d4 --- /dev/null +++ b/motoman_gp180_support/launch/robot_interface_streaming_gp180_120.launch @@ -0,0 +1,19 @@ + + + + + + + + + + + + + diff --git a/motoman_gp180_support/launch/robot_state_visualize_gp180_120.launch b/motoman_gp180_support/launch/robot_state_visualize_gp180_120.launch new file mode 100644 index 00000000..6846b316 --- /dev/null +++ b/motoman_gp180_support/launch/robot_state_visualize_gp180_120.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + diff --git a/motoman_gp180_support/launch/test_gp180_120.launch b/motoman_gp180_support/launch/test_gp180_120.launch new file mode 100644 index 00000000..aea13a53 --- /dev/null +++ b/motoman_gp180_support/launch/test_gp180_120.launch @@ -0,0 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Q+G}z~5L!-POysM;E@Rb_|xeR)AT-c3Ie&y`zP+v4YkbM9Rr8Z;6g8B&zqM*S( zZ&|;}d(Mu%9tys++dM&fbX?f%^Zq-?puB^0TZv{61r7FpGjslXWjS{qL@f4a*c=&P zclPE-cf5+pOX!JbP_JwTQDE~f7)IT?Py1)3HHZS^b3GfxoE1GfE^Izcqw&;$=vzz8 zAPNk&F>|k;Z#luwOEiNhFmCl{XXJ1@m(17zxWw|W)KC&fY*fWR-fT5*^Xa}{47H=hyr8& zpliIE1~8z6Lwj^w*mHjDrfT8_Tz%Bf6B$dRVBfl{y{gnR3W*v-fpJ-n)M$-KWLjXW ze;xGbxUft9+wvUsgPK7U7*$56oTI8yGl&9X%nhy2Q8}p@M1k>G+pg!R&eRN|z~FPj zUCN2RZ`>EW#j79G45FaHRw;X~EL-a1ri@(+r}Z!QN$A`H~@Tlzex(x95%? z9T)cPJKK5ngZc72bp4=a5CskPM|q1Z^@Ag)4KEnx?H!~?$945)2fX^hRZ>4VTGbC~ zMrRKN4faRNDwg`eE>b^O-`fL8kB$qQ{n4^^%hyPbv}hPC_V!t722s#p-*m^4nA!Ov zZ^l7f-3Q4on?aO5!^E`=t-&h?BUz8_!RhL4A3ZuQY(AUBv(gNrT(;k?;&TSgV7mf? z?YL|WqQGG9G7Mcms5OWJW1&CS;;eN2AU!%RY>pB}qmrs0)C{7)h>mdaSFRaEfx!{g aXzWq-gPK7U7<{sc_lh1J7dG3NW&J-%q<_u; literal 0 HcmV?d00001 diff --git a/motoman_gp180_support/package.xml b/motoman_gp180_support/package.xml new file mode 100644 index 00000000..994c9e96 --- /dev/null +++ b/motoman_gp180_support/package.xml @@ -0,0 +1,54 @@ + + + + motoman_gp180_support + 0.1.0 + +

ROS-Industrial support for the Motoman GP180 (and variants).

+

+ This package contains configuration data, 3D models and launch files + for Motoman GP180 series of manipulators. +

+

+ Specifications +

+
    +
  • GP180-120 - Default
  • +
+

+ Joint limits and maximum joint velocities are based on the information + found in the online documentation files for the robot (GP180-120_2D.zip + and GP180-120_3D.zip from + https://www.cz.yaskawa.eu.com/en/products/robotics/motoman-robots/productdetail/product/gp180-120/) + All urdfs are based on the default motion and joint velocity limits, + unless noted otherwise. +

+

+ Before using any of the configuration files and / or meshes included + in this package, be sure to check they are correct for the particular + robot model and configuration you intend to use them with. +

+ + Jakub Marsik + Jakub Marsik (KM Robotics) + G.A. vd. Hoorn (TU Delft Robotics Institute) + BSD + + http://wiki.ros.org/motoman_gp180_support + https://github.com/ros-industrial/motoman/issues + https://github.com/ros-industrial/motoman + + catkin + + roslaunch + + joint_state_publisher + motoman_driver + robot_state_publisher + rviz + xacro + + + + + diff --git a/motoman_gp180_support/test/launch_test.xml b/motoman_gp180_support/test/launch_test.xml new file mode 100644 index 00000000..7ecec62b --- /dev/null +++ b/motoman_gp180_support/test/launch_test.xml @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/motoman_gp180_support/tools/process_meshes/.gitignore b/motoman_gp180_support/tools/process_meshes/.gitignore new file mode 100644 index 00000000..1567411f --- /dev/null +++ b/motoman_gp180_support/tools/process_meshes/.gitignore @@ -0,0 +1 @@ +*.stl diff --git a/motoman_gp180_support/tools/process_meshes/README.md b/motoman_gp180_support/tools/process_meshes/README.md new file mode 100644 index 00000000..45e4eff5 --- /dev/null +++ b/motoman_gp180_support/tools/process_meshes/README.md @@ -0,0 +1,52 @@ +# Mesh conversion + +## Visual meshes + +You can use the tool `stl_cmd` (install from https://github.com/AllwineDesigns/stl_cmd) to process +original meshes saved from Yaskawa 3D model files (STEP file) as individual STL files named after +corresponding STEP file parts. You can prepare those individual STL files by opening the STEP file +in Fusion 360 and saving each component as an STL (right click on the component and choose Save as STL). + +Save those files in the subdirectory `input` of the directory named after specific robot manipulator +variant: + +* BASE_AXIS.stl +* S_AXIS.stl +* L_AXIS.stl +* U_AXIS.stl +* R_AXIS.stl +* B_AXIS.stl +* T_AXIS.stl + +And run `./process1a-stlcmd.sh` script. It will do following things with all meshes: + +* scale the mesh so that the units are "meters" +* rotate the mesh so that the Z+ axis points up and X+ axis points in the correct direction +* translate the origin point so that it's in the point of connection of the link to the previous link +* save the file with proper file name used in the URDF to `output` subdirectory + +Then run `./process1b-simplify.sh` script to simplify visual meshes to 50% of faces. It uses MeshLab, see +comments about it below in section about collision meshes. + +After processing just copy files from `output_visual` subdirectory to the subdirectory named after specific +robot manipulator variant of the `meshes` directory of this package. Use correct subdirectory `visual`. + +## Collision meshes + +You can use MeshLab to process visual meshes (created in previous step) to collision meshes automatically. +Unfortunately it's not as simple as processing visual meshes mentioned above. There are more versions of +MeshLab and they use different names and in some cases parameters for some of the filters used to do this +conversion. Newer versions of MeshLab are not so easy to get on Ubuntu. You can try to use MeshLab PPA on +https://launchpad.net/~zarquon42/+archive/ubuntu/meshlab. + +Even with the right version of MeshLab some of the filters coredump when used from command line (through +meshlabserver) :( + +Originally I was planning to do a convex hull, some simplification, inversion of faces orientation (sometimes +needed, depends probably on the location of the origin point, if it's on the inside of the mesh body or not) +and then do an offset to get slightly "bigger" mesh for collision checking. The filter used to perform the +offset (Uniform Mesh Resampling) always coredumps when used from command line. Therefore I made the collision +meshes without the offset for now. + +You can run `./process2.sh` to process all visual meshes (from previous step) into collision meshes, then copy +them to correct `collision` subdirectory of this package. diff --git a/motoman_gp180_support/tools/process_meshes/gp180_120/input/.keepme b/motoman_gp180_support/tools/process_meshes/gp180_120/input/.keepme new file mode 100644 index 00000000..e69de29b diff --git a/motoman_gp180_support/tools/process_meshes/gp180_120/output_collision/.keepme b/motoman_gp180_support/tools/process_meshes/gp180_120/output_collision/.keepme new file mode 100644 index 00000000..e69de29b diff --git a/motoman_gp180_support/tools/process_meshes/gp180_120/output_visual/.keepme b/motoman_gp180_support/tools/process_meshes/gp180_120/output_visual/.keepme new file mode 100644 index 00000000..e69de29b diff --git a/motoman_gp180_support/tools/process_meshes/gp180_120/process1a-stlcmd.sh b/motoman_gp180_support/tools/process_meshes/gp180_120/process1a-stlcmd.sh new file mode 100755 index 00000000..331688a3 --- /dev/null +++ b/motoman_gp180_support/tools/process_meshes/gp180_120/process1a-stlcmd.sh @@ -0,0 +1,9 @@ +#/bin/bash + +stl_transform -rx 90 -rz 180 -s 0.001 input/BASE_AXIS.stl output_visual/base_link.stl +stl_transform -rx 90 -rz 180 -s 0.001 -tz -0.65 input/S_AXIS.stl output_visual/link_1_s.stl +stl_transform -rx 90 -rz 180 -s 0.001 -tx -0.325 -tz -0.65 input/L_AXIS.stl output_visual/link_2_l.stl +stl_transform -rx 90 -rz 180 -s 0.001 -tx -0.325 -tz -1.8 input/U_AXIS.stl output_visual/link_3_u.stl +stl_transform -rx 90 -rz 180 -s 0.001 -tx -0.325 -tz -2.1 input/R_AXIS.stl output_visual/link_4_r.stl +stl_transform -rx 90 -rz 180 -s 0.001 -tx -1.915 -tz -2.1 input/B_AXIS.stl output_visual/link_5_b.stl +stl_transform -rx 90 -rz 180 -s 0.001 -tx -2.140 -tz -2.1 input/T_AXIS.stl output_visual/link_6_t.stl diff --git a/motoman_gp180_support/tools/process_meshes/gp180_120/process1b-simplify.sh b/motoman_gp180_support/tools/process_meshes/gp180_120/process1b-simplify.sh new file mode 100755 index 00000000..6f770bda --- /dev/null +++ b/motoman_gp180_support/tools/process_meshes/gp180_120/process1b-simplify.sh @@ -0,0 +1,34 @@ +#/bin/bash + +meshlabserver -i output_visual/base_link.stl -o tmp/0.stl -s ../meshlab_00_simplify_50p.mlx +cp -f tmp/0.stl output_visual/base_link.stl + +read + +meshlabserver -i output_visual/link_1_s.stl -o tmp/0.stl -s ../meshlab_00_simplify_50p.mlx +cp -f tmp/0.stl output_visual/link_1_s.stl + +read + +meshlabserver -i output_visual/link_2_l.stl -o tmp/0.stl -s ../meshlab_00_simplify_50p.mlx +cp -f tmp/0.stl output_visual/link_2_l.stl + +read + +meshlabserver -i output_visual/link_3_u.stl -o tmp/0.stl -s ../meshlab_00_simplify_50p.mlx +cp -f tmp/0.stl output_visual/link_3_u.stl + +read + +meshlabserver -i output_visual/link_4_r.stl -o tmp/0.stl -s ../meshlab_00_simplify_50p.mlx +cp -f tmp/0.stl output_visual/link_4_r.stl + +read + +meshlabserver -i output_visual/link_5_b.stl -o tmp/0.stl -s ../meshlab_00_simplify_50p.mlx +cp -f tmp/0.stl output_visual/link_5_b.stl + +read + +meshlabserver -i output_visual/link_6_t.stl -o tmp/0.stl -s ../meshlab_00_simplify_50p.mlx +cp -f tmp/0.stl output_visual/link_6_t.stl diff --git a/motoman_gp180_support/tools/process_meshes/gp180_120/process2.sh b/motoman_gp180_support/tools/process_meshes/gp180_120/process2.sh new file mode 100755 index 00000000..14998532 --- /dev/null +++ b/motoman_gp180_support/tools/process_meshes/gp180_120/process2.sh @@ -0,0 +1,39 @@ +#/bin/bash + +meshlabserver -i output_visual/base_link.stl -o tmp/0.stl -s ../meshlab_01_convexhull.mlx +meshlabserver -i tmp/0.stl -o tmp/1.stl -s ../meshlab_02_invert_faces.mlx +meshlabserver -i tmp/1.stl -o output_collision/base_link.stl -s ../meshlab_03_no_offset_1000t.mlx + +read + +meshlabserver -i output_visual/link_1_s.stl -o tmp/0.stl -s ../meshlab_01_convexhull.mlx +meshlabserver -i tmp/0.stl -o output_collision/link_1_s.stl -s ../meshlab_03_no_offset_1000t.mlx + +read + +meshlabserver -i output_visual/link_2_l.stl -o tmp/0.stl -s ../meshlab_01_convexhull.mlx +meshlabserver -i tmp/0.stl -o output_collision/link_2_l.stl -s ../meshlab_03_no_offset_300t.mlx + +read + +meshlabserver -i output_visual/link_3_u.stl -o tmp/0.stl -s ../meshlab_01_convexhull.mlx +meshlabserver -i tmp/0.stl -o tmp/1.stl -s ../meshlab_02_invert_faces.mlx +meshlabserver -i tmp/1.stl -o output_collision/link_3_u.stl -s ../meshlab_03_no_offset_300t.mlx + +read + +meshlabserver -i output_visual/link_4_r.stl -o tmp/0.stl -s ../meshlab_01_convexhull.mlx +meshlabserver -i tmp/0.stl -o tmp/1.stl -s ../meshlab_02_invert_faces.mlx +meshlabserver -i tmp/1.stl -o output_collision/link_4_r.stl -s ../meshlab_03_no_offset_300t.mlx + +read + +meshlabserver -i output_visual/link_5_b.stl -o tmp/0.stl -s ../meshlab_01_convexhull.mlx +meshlabserver -i tmp/0.stl -o tmp/1.stl -s ../meshlab_02_invert_faces.mlx +meshlabserver -i tmp/1.stl -o output_collision/link_5_b.stl -s ../meshlab_03_no_offset_300t.mlx + +read + +meshlabserver -i output_visual/link_6_t.stl -o tmp/0.stl -s ../meshlab_01_convexhull.mlx +meshlabserver -i tmp/0.stl -o tmp/1.stl -s ../meshlab_02_invert_faces.mlx +meshlabserver -i tmp/1.stl -o output_collision/link_6_t.stl -s ../meshlab_03_no_offset_300t.mlx diff --git a/motoman_gp180_support/tools/process_meshes/gp180_120/tmp/.keepme b/motoman_gp180_support/tools/process_meshes/gp180_120/tmp/.keepme new file mode 100644 index 00000000..e69de29b diff --git a/motoman_gp180_support/tools/process_meshes/meshlab_00_simplify_50p.mlx b/motoman_gp180_support/tools/process_meshes/meshlab_00_simplify_50p.mlx new file mode 100644 index 00000000..9a7fb789 --- /dev/null +++ b/motoman_gp180_support/tools/process_meshes/meshlab_00_simplify_50p.mlx @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/motoman_gp180_support/tools/process_meshes/meshlab_01_convexhull.mlx b/motoman_gp180_support/tools/process_meshes/meshlab_01_convexhull.mlx new file mode 100644 index 00000000..2a686efe --- /dev/null +++ b/motoman_gp180_support/tools/process_meshes/meshlab_01_convexhull.mlx @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + diff --git a/motoman_gp180_support/tools/process_meshes/meshlab_02_invert_faces.mlx b/motoman_gp180_support/tools/process_meshes/meshlab_02_invert_faces.mlx new file mode 100644 index 00000000..37de3517 --- /dev/null +++ b/motoman_gp180_support/tools/process_meshes/meshlab_02_invert_faces.mlx @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/motoman_gp180_support/tools/process_meshes/meshlab_03_no_offset_1000t.mlx b/motoman_gp180_support/tools/process_meshes/meshlab_03_no_offset_1000t.mlx new file mode 100644 index 00000000..d0d9aafd --- /dev/null +++ b/motoman_gp180_support/tools/process_meshes/meshlab_03_no_offset_1000t.mlx @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/motoman_gp180_support/tools/process_meshes/meshlab_03_no_offset_300t.mlx b/motoman_gp180_support/tools/process_meshes/meshlab_03_no_offset_300t.mlx new file mode 100644 index 00000000..009c97e3 --- /dev/null +++ b/motoman_gp180_support/tools/process_meshes/meshlab_03_no_offset_300t.mlx @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/motoman_gp180_support/tools/process_meshes/meshlab_03_offset_1000t.mlx b/motoman_gp180_support/tools/process_meshes/meshlab_03_offset_1000t.mlx new file mode 100644 index 00000000..66a34745 --- /dev/null +++ b/motoman_gp180_support/tools/process_meshes/meshlab_03_offset_1000t.mlx @@ -0,0 +1,35 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/motoman_gp180_support/tools/process_meshes/meshlab_03_offset_300t.mlx b/motoman_gp180_support/tools/process_meshes/meshlab_03_offset_300t.mlx new file mode 100644 index 00000000..b9960adf --- /dev/null +++ b/motoman_gp180_support/tools/process_meshes/meshlab_03_offset_300t.mlx @@ -0,0 +1,35 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/motoman_gp180_support/urdf/gp180_120.xacro b/motoman_gp180_support/urdf/gp180_120.xacro new file mode 100644 index 00000000..df3da366 --- /dev/null +++ b/motoman_gp180_support/urdf/gp180_120.xacro @@ -0,0 +1,5 @@ + + + + + diff --git a/motoman_gp180_support/urdf/gp180_120_macro.xacro b/motoman_gp180_support/urdf/gp180_120_macro.xacro new file mode 100644 index 00000000..7d276671 --- /dev/null +++ b/motoman_gp180_support/urdf/gp180_120_macro.xacro @@ -0,0 +1,164 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +