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Update GP7 support package (OPW params, missing links, collision mesh update) #500

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merged 8 commits into from
Feb 13, 2025
Merged

Update GP7 support package (OPW params, missing links, collision mesh update) #500

merged 8 commits into from
Feb 13, 2025

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cjue
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@cjue cjue commented May 24, 2022

  • add opw file
  • fix link2 collision mesh
  • add flange link
  • update reference documentation
  • minor fix for velocity limits
  • rename and refactor test

@cjue
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cjue commented May 24, 2022

Sidenote: somehow all of the technical drawings and tables I could find for the GP7 are missing the height offset from base_link to link_1_s. According to the current URDF it's identical to the values for GP4 and GP8, which sounds reasonable.

https://www.yaskawa.eu.com/Global%20Assets/Downloads/Brochures_Catalogues/Robotics/MOTOMAN_Robots/GP-Series/Flyer_Robot_GP7_E_10.2021.pdf

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@cjue I'm surprise that the dimension is missing from the drawing. I can confirm that the distance is 330mm. If you ever need to look-up that distance for other robots, the MotoSim manual has them all listed in the chapter 15.9:
MotoSimEG-VRC manual

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cjue commented May 25, 2022

Thank you for that hint

@EricMarcil EricMarcil mentioned this pull request Jun 28, 2023
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@gavanderhoorn
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@cjue: I submitted isys-vision#7 to add 6202cef. Please review and merge.

@gavanderhoorn gavanderhoorn changed the title Add gp7 opw Add GP7 OPW parameters Feb 8, 2025
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gavanderhoorn requested changes Feb 8, 2025
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Marking as requested changes.

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cjue commented Feb 11, 2025

@cjue: I submitted isys-vision#7 to add 6202cef. Please review and merge.

done

@gavanderhoorn gavanderhoorn changed the title Add GP7 OPW parameters Update GP7 support package (OPW params, missing links, collision mesh update) Feb 13, 2025
@gavanderhoorn gavanderhoorn merged commit a1164fc into ros-industrial:kinetic-devel Feb 13, 2025
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Thanks @cjue 👍

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@gavanderhoorn gavanderhoorn gavanderhoorn approved these changes

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@cjue @EricMarcil @gavanderhoorn