From a0c33f723260fdc716d7fddf6c81d1f8b2b31a64 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?I=C3=B1igo=20Moreno?= Date: Fri, 31 Mar 2023 14:38:39 +0200 Subject: [PATCH 1/5] Initial commit of kr180, copy of kr300 changing visual only --- kuka_experimental/package.xml | 3 +- kuka_kr180_support/0000188772_EN.pdf | Bin 0 -> 505982 bytes kuka_kr180_support/CMakeLists.txt | 14 ++ .../joint_names_kr180r3500_ultra_k.yaml | 1 + .../launch/load_kr180r3500_ultra_k.launch | 3 + .../launch/test_kr180r3500_ultra_k.launch | 8 + .../collision/base_link.stl | Bin 0 -> 49884 bytes .../kr180r3500_ultra_k/collision/link_1.stl | Bin 0 -> 49884 bytes .../kr180r3500_ultra_k/collision/link_2.stl | Bin 0 -> 50084 bytes .../kr180r3500_ultra_k/collision/link_3.stl | Bin 0 -> 49884 bytes .../kr180r3500_ultra_k/collision/link_4.stl | Bin 0 -> 50084 bytes .../kr180r3500_ultra_k/collision/link_5.stl | Bin 0 -> 50084 bytes .../kr180r3500_ultra_k/collision/link_6.stl | Bin 0 -> 50084 bytes .../meshes/kr180r3500_ultra_k/script.mlx | 42 ++++ .../kr180r3500_ultra_k/update_collision.sh | 8 + .../kr180r3500_ultra_k/visual/base_link.dae | 141 +++++++++++ .../kr180r3500_ultra_k/visual/link_1.dae | 147 ++++++++++++ .../kr180r3500_ultra_k/visual/link_2.dae | 115 +++++++++ .../kr180r3500_ultra_k/visual/link_3.dae | 147 ++++++++++++ .../kr180r3500_ultra_k/visual/link_4.dae | 89 +++++++ .../kr180r3500_ultra_k/visual/link_5.dae | 89 +++++++ .../kr180r3500_ultra_k/visual/link_6.dae | 89 +++++++ kuka_kr180_support/package.xml | 47 ++++ kuka_kr180_support/test/roslaunch_test.xml | 9 + .../urdf/kr180r3500_ultra_k.xacro | 5 + .../urdf/kr180r3500_ultra_k_macro.xacro | 218 ++++++++++++++++++ 26 files changed, 1174 insertions(+), 1 deletion(-) create mode 100644 kuka_kr180_support/0000188772_EN.pdf create mode 100644 kuka_kr180_support/CMakeLists.txt create mode 100644 kuka_kr180_support/config/joint_names_kr180r3500_ultra_k.yaml create mode 100644 kuka_kr180_support/launch/load_kr180r3500_ultra_k.launch create mode 100644 kuka_kr180_support/launch/test_kr180r3500_ultra_k.launch create mode 100644 kuka_kr180_support/meshes/kr180r3500_ultra_k/collision/base_link.stl create mode 100644 kuka_kr180_support/meshes/kr180r3500_ultra_k/collision/link_1.stl create mode 100644 kuka_kr180_support/meshes/kr180r3500_ultra_k/collision/link_2.stl create mode 100644 kuka_kr180_support/meshes/kr180r3500_ultra_k/collision/link_3.stl create mode 100644 kuka_kr180_support/meshes/kr180r3500_ultra_k/collision/link_4.stl create mode 100644 kuka_kr180_support/meshes/kr180r3500_ultra_k/collision/link_5.stl create mode 100644 kuka_kr180_support/meshes/kr180r3500_ultra_k/collision/link_6.stl create mode 100644 kuka_kr180_support/meshes/kr180r3500_ultra_k/script.mlx create mode 100755 kuka_kr180_support/meshes/kr180r3500_ultra_k/update_collision.sh create mode 100644 kuka_kr180_support/meshes/kr180r3500_ultra_k/visual/base_link.dae create mode 100644 kuka_kr180_support/meshes/kr180r3500_ultra_k/visual/link_1.dae create mode 100644 kuka_kr180_support/meshes/kr180r3500_ultra_k/visual/link_2.dae create mode 100644 kuka_kr180_support/meshes/kr180r3500_ultra_k/visual/link_3.dae create mode 100644 kuka_kr180_support/meshes/kr180r3500_ultra_k/visual/link_4.dae create mode 100644 kuka_kr180_support/meshes/kr180r3500_ultra_k/visual/link_5.dae create mode 100644 kuka_kr180_support/meshes/kr180r3500_ultra_k/visual/link_6.dae create mode 100644 kuka_kr180_support/package.xml create mode 100644 kuka_kr180_support/test/roslaunch_test.xml create mode 100644 kuka_kr180_support/urdf/kr180r3500_ultra_k.xacro create mode 100644 kuka_kr180_support/urdf/kr180r3500_ultra_k_macro.xacro diff --git a/kuka_experimental/package.xml b/kuka_experimental/package.xml index c9c20c0ce..269ca9b7b 100644 --- a/kuka_experimental/package.xml +++ b/kuka_experimental/package.xml @@ -18,6 +18,7 @@ kuka_kr150_support kuka_kr16_support kuka_kr210_support + 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+1,42 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/kuka_kr180_support/meshes/kr180r3500_ultra_k/update_collision.sh b/kuka_kr180_support/meshes/kr180r3500_ultra_k/update_collision.sh new file mode 100755 index 000000000..d31898c68 --- /dev/null +++ b/kuka_kr180_support/meshes/kr180r3500_ultra_k/update_collision.sh @@ -0,0 +1,8 @@ +#!/bin/bash +find visual -type f \( -iname "*.dae" -o -iname "*.stl" \) -print0 | while read -rd $'\0' MESH +do + OUTFILE=$(echo "${MESH}" | cut -d'/' -f2- | cut -d'.' -f1) + CMD="meshlabserver -i ${MESH} -o collision/${OUTFILE}.stl -s script.mlx" + echo "${CMD}" + eval "${CMD}" +done \ No newline at end of file diff --git a/kuka_kr180_support/meshes/kr180r3500_ultra_k/visual/base_link.dae b/kuka_kr180_support/meshes/kr180r3500_ultra_k/visual/base_link.dae new file mode 100644 index 000000000..1b454b009 --- /dev/null +++ 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2017 2091 4303 2557 2374 2562 2375 2560 4294 2576 2015 2089 2014 2070 4300 2504 4301 2556 2380 2554 4294 2576 2014 2070 2013 2069 4294 2576 4293 2586 4296 2575 4295 2573 2009 2076 2008 2075 4297 2587 4293 2586 4292 2588 4296 2575 2023 2096 2022 2098 4297 2587 4292 2588 4291 2589 4297 2587 4296 2575 4293 2586 2385 2548 4300 2504 2384 2506 4303 2557 4297 2587 4291 2589 4299 2542 4298 2590 4302 2591 2346 2462 2391 2457 2390 2463 2390 2463 2344 2465 2345 2592 2390 2463 2345 2592 2346 2462 4300 2504 2382 2552 2383 2505 4300 2504 4298 2590 4301 2556 175 2593 4302 2591 4300 2504 4300 2504 2386 2547 2387 2594 4300 2504 2387 2594 175 2593 4301 2556 2377 2585 2378 2574 4301 2556 4298 2590 4297 2587 4302 2591 175 2593 145 1968 4302 2591 4298 2590 4300 2504 4303 2557 4291 2589 4290 2558 4303 2557 4301 2556 4297 2587 4304 2512 4302 2591 145 1968 4304 2512 4299 2542 4302 2591 2030 2104 2029 2101 4299 2542 4299 2542 148 2046 2030 2104 4305 2509 2307 2549 2308 2551 4305 2509 4289 2514 2304 2544 4306 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19645 16440 19645 16474 19645 16480 19646 16446 19646 16445 19646 16476 204 16441 204 16475 204 16481 19647 16447 19647 16446 19647 16478 204 16443 204 16477 204 16483 19648 16449 19648 16448 19648 16479 204 16444 204 16478 204 16481 204 16446 204 16480 204 16482 204 16447 204 16481 204 16483 204 16448 204 16482 204 16484 204 16449 204 16483 204 16485 204 16450 204 16484 204 16486 204 16451 204 16485 204 16487 204 16452 204 16486 204 16417 19649 16471 19650 16227 19651 16416 19652 16472 19653 16417 19649 16415 19654 16473 19655 16416 19652 16414 19656 16474 19657 16415 19654 16413 19658 16475 17649 16414 19656 16412 19659 16476 19660 16413 19658 16411 19661 16477 19662 16412 19659 16410 15523 16478 19663 16411 19661 16409 15525 16479 19664 16410 15523 16408 15527 16480 19665 16409 15525 16407 19666 16481 19667 16408 15527 16406 19668 16482 19669 16407 19666 16405 19670 16483 19006 16406 19668 16404 5479 16484 19008 16405 19670 16403 19671 16485 19672 16404 5479 16402 19673 16486 19674 16403 19671 16401 15539 16487 19675 16402 19673 16400 19676 16229 19677 16401 15539 16399 19678 16453 19679 16400 19676 16398 19680 16454 19681 16399 19678 16397 19682 16455 19683 16398 19680 16396 19684 16456 19685 16397 19682 16395 19686 16457 19687 16396 19684 16394 19688 16458 19689 16395 19686 16393 19690 16459 19691 16394 19688 16392 19692 16460 19693 16393 19690 16391 19694 16461 19695 16392 19692 16390 19696 16462 19697 16391 19694 16389 19698 16463 19699 16390 19696 16388 19700 16464 19701 16389 19698 16387 19702 16465 19703 16388 19700 16386 19704 16466 19705 16387 19702 16385 19706 16467 19707 16386 19704 16384 19708 16468 19709 16385 19706 16383 19710 16469 19711 16384 19708 16227 19651 16470 19712 16383 19710 16470 19712 16227 19651 16230 19713 16469 19711 16383 19710 16470 19712 16468 19709 16384 19708 16469 19711 16467 19707 16385 19706 16468 19709 16466 19705 16386 19704 16467 19707 16465 19703 16387 19702 16466 19705 16464 19701 16388 19700 16465 19703 16463 19699 16389 19698 16464 19701 16462 19697 16390 19696 16463 19699 16461 19695 16391 19694 16462 19697 16460 19693 16392 19692 16461 19695 16459 19691 16393 19690 16460 19693 16458 19689 16394 19688 16459 19691 16457 19687 16395 19686 16458 19689 16456 19685 16396 19684 16457 19687 16455 19683 16397 19682 16456 19685 16454 19681 16398 19680 16455 19683 16453 19679 16399 19678 16454 19681 16229 19677 16400 19676 16453 19679 16487 19675 16401 15539 16229 19677 16486 19674 16402 19673 16487 19675 16485 19672 16403 19671 16486 19674 16484 19008 16404 5479 16485 19672 16483 19006 16405 19670 16484 19008 16482 19669 16406 19668 16483 19006 16481 19667 16407 19666 16482 19669 16480 19665 16408 15527 16481 19667 16479 19664 16409 15525 16480 19665 16478 19663 16410 15523 16479 19664 16477 19662 16411 19661 16478 19663 16476 19660 16412 19659 16477 19662 16475 17649 16413 19658 16476 19660 16474 19657 16414 19656 16475 17649 16473 19655 16415 19654 16474 19657 16472 19653 16416 19652 16473 19655 16471 19650 16417 19649 16472 19653 16230 19713 16227 19651 16471 19650 16367 306 16225 306 16226 306 16366 306 16225 306 16367 306 16311 306 16217 306 16218 306 16310 306 16217 306 16311 306 16268 19714 16231 19715 16214 19716 16488 19717 16268 19714 16489 19718 16490 19719 16270 19720 16232 19721 16213 19722 16232 19721 16270 19720 16490 19719 16269 19723 16270 19720 16489 19718 16269 19723 16490 19719 16489 19718 16268 19714 16269 19723 16488 19717 16231 19715 16268 19714 16212 255 16232 255 16213 255 16233 255 16232 255 16212 255 16251 19724 16233 303 16212 18185 16491 8025 16251 19724 16492 19725 16493 19726 16253 19727 16494 8071 16495 8069 16255 19728 16496 19729 16497 19730 16257 4969 16498 8065 16499 8064 16259 4973 16500 6417 16501 19731 16261 4977 16502 19732 16503 19733 16263 5134 16504 19734 16505 19735 16265 4878 16506 19736 16507 6429 16267 19737 16234 152 16500 6417 16259 4973 16260 6419 16501 19731 16260 6419 16261 4977 16502 19732 16261 4977 16262 4873 16503 19733 16262 4873 16263 5134 16504 19734 16263 5134 16264 19738 16505 19735 16264 19738 16265 4878 16506 19736 16265 4878 16266 19739 16211 19195 16234 152 16267 19737 16507 6429 16266 19739 16267 19737 16506 19736 16266 19739 16507 6429 16499 8064 16258 19740 16259 4973 16504 19734 16264 19738 16505 19735 16498 8065 16257 4969 16258 19740 16502 19732 16262 4873 16503 19733 16497 19730 16256 19741 16257 4969 16500 6417 16260 6419 16501 19731 16496 19729 16255 19728 16256 19741 16498 8065 16258 19740 16499 8064 16495 8069 16254 19742 16255 19728 16496 19729 16256 19741 16497 19730 16494 8071 16253 19727 16254 19742 16494 8071 16254 19742 16495 8069 16493 19726 16252 4959 16253 19727 16492 19725 16252 4959 16493 19726 16492 19725 16251 19724 16252 4959 16491 8025 16233 303 16251 19724 16210 153 16235 153 16234 153 16210 153 16234 153 16211 153 16248 19743 16235 19744 16210 19745 16508 19746 16248 19743 16509 19747 16510 19748 16250 19749 16236 19750 16209 19751 16236 19750 16250 19749 16510 19748 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16620 2 16591 2 16621 2 16618 2 16594 2 16593 2 16619 2 16592 2 16620 2 16617 2 16595 2 16594 2 16618 2 16593 2 16619 2 16616 19914 16596 19914 16595 19914 16617 2 16594 2 16618 2 16615 2 16596 2 16616 2 16271 19915 16631 19737 16215 48 16272 19916 16630 19917 16271 19915 16273 19918 16629 19919 16272 19916 16274 40 16628 4876 16273 19918 16275 5135 16627 4875 16274 40 16276 19920 16626 19921 16275 5135 16277 19922 16625 19923 16276 19920 16278 31 16624 6419 16277 19922 16279 32 16623 4973 16278 31 16280 100 16622 19740 16279 32 16281 19924 16621 19925 16280 100 16282 19926 16620 19927 16281 19924 16283 5125 16619 5124 16282 19926 16284 92 16618 5122 16283 5125 16285 19928 16617 19929 16284 92 16286 19930 16616 19931 16285 19928 16287 19932 16615 19724 16286 19930 16216 84 16241 4956 16287 19932 16615 19724 16287 19932 16241 4956 16616 19931 16286 19930 16615 19724 16617 19929 16285 19928 16616 19931 16618 5122 16284 92 16617 19929 16619 5124 16283 5125 16618 5122 16620 19927 16282 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3366 2823 3350 2824 3369 4932 3370 2830 3371 4930 3351 4930 3351 2832 3372 163 3285 4930 3351 2831 3373 2832 3372 4930 3351 2830 3371 2831 3373 4931 3361 90 1855 1959 1865 2843 3357 4930 3351 2787 3284 4930 3351 2841 3374 2840 3358 4930 3351 2843 3357 2842 3375 4930 3351 2842 3375 2841 3374 2839 3359 4932 3370 4930 3351 4932 3370 2837 3376 2836 3377 4932 3370 2838 3378 2837 3376 4932 3370 2839 3359 2838 3378 2836 3377 4931 3361 4932 3370 4931 3361 2835 3379 2834 3362 4931 3361 2836 3377 2835 3379 4928 3363 2829 3380 2830 3371 2829 3380 4928 3363 2828 3365 4932 3370 4928 3363 2830 3371 4929 3366 1959 1865 1958 1866 4931 3361 1959 1865 4929 3366 4928 3363 4931 3361 4929 3366 4928 3363 4932 3370 4931 3361 4933 3381 2775 3287 2774 3283 2860 3382 1954 1864 2859 3383 2861 3384 1954 1864 2860 3382 2862 3385 1954 1864 2861 3384 88 1792 1954 1864 2862 3385 4941 3386 4934 3387 4936 3388 4934 3387 2837 3376 2838 3378 2833 3360 1951 1854 89 1856 4935 3389 1951 1854 2833 3360 4935 3389 2833 3360 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+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/kuka_kr180_support/package.xml b/kuka_kr180_support/package.xml new file mode 100644 index 000000000..b15693573 --- /dev/null +++ b/kuka_kr180_support/package.xml @@ -0,0 +1,47 @@ + + + kuka_kr180_support + 0.1.0 + +

+ ROS-Industrial support for the KUKA KR 180 (and variants). +

+

+ This package contains configuration data, 3D models and launch files + for KUKA KR 180 manipulators. This currently includes the r3500_ultra_k only. +

+

Specifications:

+
    +
  • KR 180 r3500_ultra_k - Default
    • +
+

Joint limits and maximum joint velocities are based on the information found in the online datasheet. 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. +

+

+ NB: this package currently uses non-valid inertia parameters.

+ + Shaun Edwards + Iñigo Moreno + BSD + + http://wiki.ros.org/kuka_kr180_support + https://github.com/ros-industrial/kuka_experimental/issues + https://github.com/ros-industrial/kuka_experimental + + catkin + + roslaunch + + industrial_robot_client + joint_state_publisher + robot_state_publisher + rviz + xacro + + + + + \ No newline at end of file diff --git a/kuka_kr180_support/test/roslaunch_test.xml b/kuka_kr180_support/test/roslaunch_test.xml new file mode 100644 index 000000000..ee7c9e8ad --- /dev/null +++ b/kuka_kr180_support/test/roslaunch_test.xml @@ -0,0 +1,9 @@ + + + + + + + + + \ No newline at end of file diff --git a/kuka_kr180_support/urdf/kr180r3500_ultra_k.xacro b/kuka_kr180_support/urdf/kr180r3500_ultra_k.xacro new file mode 100644 index 000000000..476b7406a --- /dev/null +++ b/kuka_kr180_support/urdf/kr180r3500_ultra_k.xacro @@ -0,0 +1,5 @@ + + + + + \ No newline at end of file diff --git a/kuka_kr180_support/urdf/kr180r3500_ultra_k_macro.xacro b/kuka_kr180_support/urdf/kr180r3500_ultra_k_macro.xacro new file mode 100644 index 000000000..6da56ca75 --- /dev/null +++ b/kuka_kr180_support/urdf/kr180r3500_ultra_k_macro.xacro @@ -0,0 +1,218 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file From 05552eafd98ea3a414ace3e0a665e82f2c61757e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?I=C3=B1igo=20Moreno?= Date: Fri, 31 Mar 2023 15:02:42 +0200 Subject: [PATCH 2/5] Update xacro to match datasheet --- .../kr180r3500_ultra_k/visual/link_1.dae | 18 +++++++------- .../kr180r3500_ultra_k/visual/link_2.dae | 14 +++++------ .../kr180r3500_ultra_k/visual/link_3.dae | 18 +++++++------- .../kr180r3500_ultra_k/visual/link_4.dae | 6 ++--- .../kr180r3500_ultra_k/visual/link_5.dae | 12 +++++----- .../kr180r3500_ultra_k/visual/link_6.dae | 12 +++++----- .../urdf/kr180r3500_ultra_k_macro.xacro | 24 +++++++++---------- 7 files changed, 52 insertions(+), 52 deletions(-) diff --git a/kuka_kr180_support/meshes/kr180r3500_ultra_k/visual/link_1.dae b/kuka_kr180_support/meshes/kr180r3500_ultra_k/visual/link_1.dae index acb4ff28e..e9f655f07 100644 --- a/kuka_kr180_support/meshes/kr180r3500_ultra_k/visual/link_1.dae +++ b/kuka_kr180_support/meshes/kr180r3500_ultra_k/visual/link_1.dae @@ -5,8 +5,8 @@ Blender User Blender 2.82.7 - 2023-03-31T14:30:52 - 2023-03-31T14:30:52 + 2023-03-31T14:43:03 + 2023-03-31T14:43:03 Z_UP @@ -79,7 +79,7 @@ - -0.296 -0.22 0.625 -0.296 -0.22 0.565 0.7 0.00999999 0.59 0.7 0.01999998 0.59 0.65 0.00999999 0.59 0.85 0.00999999 0.59 0.685 0.04099994 0.690524 0.685 0.01999998 0.690524 0.649476 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1053 4004 990 4003 841 4026 1051 4004 990 4030 1055 4004 990 4026 1051 4026 1051 3999 985 4030 1055 4031 1056 4030 1055 3999 985 4004 990 4030 1055 4029 1054 4032 1057 4029 1054 4030 1055 4030 1055 4031 1056 4032 1057 4033 1058 4032 1057 4031 1056 3999 985 3998 915 4031 1056 4034 1059 4031 1056 3998 915 4031 1056 4034 1059 4033 1058 4035 1060 4033 1058 4034 1059 3998 915 3997 878 4034 1059 3996 917 4034 1059 3997 878 4034 1059 3996 917 4035 1060 3995 923 4035 1060 3996 917 4010 1045 4027 1052 4011 1046 4012 1048 4011 1046 4027 1052 4027 1052 4028 1053 4012 1048 4036 1061 4012 1048 4028 1053 4028 1053 4029 1054 4036 1061 4037 1062 4036 1061 4029 1054 4012 1048 4036 1061 4013 1049 4038 1063 4013 1049 4036 1061 4036 1061 4037 1062 4038 1063 4039 1064 4038 1063 4037 1062 4029 1054 4032 1057 4037 1062 4040 1065 4037 1062 4032 1057 4032 1057 4033 1058 4040 1065 4041 1066 4040 1065 4033 1058 4037 1062 4040 1065 4039 1064 4042 1067 4039 1064 4040 1065 4040 1065 4041 1066 4042 1067 3991 981 4042 1067 4041 1066 4013 1049 4038 1063 4014 1029 3987 973 3986 1027 4038 1063 3986 1027 4014 1029 4038 1063 4038 1063 4039 1064 3987 973 3988 970 3987 973 4039 1064 4039 1064 4042 1067 3988 970 3989 977 3988 970 4042 1067 4042 1067 3991 981 3989 977 3990 974 3989 977 3991 981 4033 1058 4035 1060 4041 1066 4043 1068 4041 1066 4035 1060 4041 1066 4043 1068 3991 981 3992 980 3991 981 4043 1068 4035 1060 3995 923 4043 1068 3994 929 4043 1068 3995 923 4043 1068 3994 929 3992 980 3993 939 3992 980 3994 929 1301 1069 1295 1070 1294 1071 1302 1072 1294 1071 1293 1073 1302 1072 1293 1073 1292 1074 1303 1075 1292 1074 1291 1076 1304 1077 1290 1078 1289 1079 1305 1080 1289 1079 1288 1081 1306 1082 1287 1083 1286 1084 4046 1085 1281 1086 1280 1087 4045 1088 1276 1089 1275 1090 1274 1091 1273 1092 4044 1093 1311 1094 1270 1095 1269 1096 1312 1097 1269 1096 1268 1098 1312 1097 1267 1099 1266 1100 1315 1101 1264 1102 1263 1103 1316 1104 1262 1105 1261 1106 1318 1107 1259 1108 1258 1109 1320 1110 1257 1111 1256 1112 1321 1113 1255 1114 1254 1115 1322 1116 1254 1115 1253 1117 1323 1118 1253 1117 1252 1119 1324 1120 1252 1119 1251 1121 1324 1120 1251 1121 1250 1122 1300 1123 78 873 83 1124 1299 1125 78 873 1300 1123 1298 1126 78 873 1299 1125 1297 1127 78 873 1298 1126 1296 1128 78 873 1297 1127 79 874 78 873 1296 1128 1325 1129 1250 1122 1249 1130 1325 1129 1249 1130 83 1124 1320 1110 1256 1112 1255 1114 1325 1129 83 1124 78 873 1319 1131 1258 1109 1257 1111 1324 1120 1250 1122 1325 1129 1317 1132 1260 1133 1259 1108 1323 1118 1252 1119 1324 1120 1316 1104 1261 1106 1260 1133 1322 1116 1253 1117 1323 1118 1315 1101 1263 1103 1262 1105 1321 1113 1254 1115 1322 1116 1314 1134 1265 1135 1264 1102 1320 1110 1255 1114 1321 1113 1313 1136 1266 1100 1265 1135 1319 1131 1257 1111 1320 1110 1312 1097 1268 1098 1267 1099 1318 1107 1258 1109 1319 1131 1311 1094 1271 1137 1270 1095 1317 1132 1259 1108 1318 1107 4044 1093 1272 1138 1271 1137 1316 1104 1260 1133 1317 1132 1315 1101 1262 1105 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1356 1185 1353 1184 1352 1186 1356 1185 1352 1186 1351 1187 1356 1188 1351 1188 89 1188 1372 1181 1353 1184 1356 1185 1372 1181 1356 1185 1357 1189 1370 1190 1359 1191 1360 1192 1370 1190 1360 1192 1361 1193 1364 1194 1369 1195 1363 1196 1365 1197 1369 1195 1364 1194 1366 1198 92 1199 1365 1197 1367 1200 92 1199 1366 1198 1368 1201 92 1199 1367 1200 91 1202 92 1199 1368 1201 1369 1195 1361 1193 1362 1203 1369 1195 1362 1203 1363 1196 1371 1204 1358 1205 1359 1191 1369 1195 1365 1197 92 1199 1371 1204 1357 1189 1358 1205 1370 1190 1361 1193 1369 1195 1371 1204 1359 1191 1370 1190 1372 1181 90 1206 1355 1182 1372 1181 1357 1189 1371 1204 1474 1207 92 1199 4084 1208 92 1199 91 1202 4084 1208 91 1202 1373 1209 4084 1208 4084 1208 1373 1209 1374 1210 1374 1210 1375 1211 4084 1208 1375 1211 1376 1212 4084 1208 1376 1212 1377 1213 4084 1208 4084 1208 1380 1214 1381 1215 4049 1216 1384 1217 1385 1218 1326 1153 1385 1218 1386 1219 1326 1153 1386 1219 1387 1220 1326 1153 1387 1220 1388 1221 1326 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4102 1365 4056 1299 4102 1365 4108 1371 4103 1366 4109 1372 4103 1366 4108 1371 4056 1299 4055 1304 4108 1371 4110 1373 4108 1371 4055 1304 4108 1371 4110 1373 4109 1372 4111 1374 4109 1372 4110 1373 4055 1304 4054 1308 4110 1373 4112 1375 4110 1373 4054 1308 4110 1373 4112 1375 4111 1374 4113 1376 4111 1374 4112 1375 4054 1308 4053 1312 4112 1375 4114 1377 4112 1375 4053 1312 4112 1375 4114 1377 4113 1376 4115 1378 4113 1376 4114 1377 4103 1366 4109 1372 4107 1370 4116 1379 4107 1370 4109 1372 4107 1370 4116 1379 4077 1238 4078 1236 4077 1238 4116 1379 4109 1372 4111 1374 4116 1379 4117 1380 4116 1379 4111 1374 4116 1379 4117 1380 4078 1236 4079 1234 4078 1236 4117 1380 4111 1374 4113 1376 4117 1380 4118 1381 4117 1380 4113 1376 4117 1380 4118 1381 4079 1234 4080 1231 4079 1234 4118 1381 4113 1376 4115 1378 4118 1381 4119 1382 4118 1381 4115 1378 4118 1381 4119 1382 4080 1231 4081 1229 4080 1231 4119 1382 4053 1312 4052 1315 4114 1377 4114 1377 4052 1315 4120 1383 4115 1378 4114 1377 4120 1383 4052 1315 4051 1318 4120 1383 4050 1345 4120 1383 4051 1318 4115 1378 4120 1383 4119 1382 4119 1382 4120 1383 4082 1227 4081 1229 4119 1382 4082 1227 4120 1383 4050 1345 4082 1227 4083 1225 4082 1227 4050 1345 4050 1345 4049 1216 4083 1225 4048 1222 4083 1225 4049 1216 4154 1384 1311 1094 1312 1097 4147 1385 78 873 4146 1386 4160 1387 1301 1069 1302 1072 1304 1077 4159 1388 1303 1075 1305 1080 1306 1082 4158 1389 1309 1147 4156 1390 1308 1144 1310 1146 1311 1094 4155 1391 4153 1392 1312 1097 1313 1136 4151 1393 1316 1104 1317 1132 1320 1110 1321 1113 4149 1394 4147 1385 1324 1120 1325 1129 4147 1385 1325 1129 78 873 1143 869 4146 1386 1144 871 849 560 1137 879 848 563 846 578 1136 916 845 372 844 374 1135 889 843 353 60 559 1137 879 849 560 4172 1395 1485 1396 1486 1397 4172 1395 1484 1398 1485 1396 1110 1010 1492 1399 74 1011 1503 1400 4172 1395 4171 1401 1525 1402 1482 1403 95 1404 4173 1405 1481 1406 1482 1403 1525 1402 95 1404 1524 1407 848 563 1136 916 847 575 828 542 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2017 2091 4303 2557 2374 2562 2375 2560 4294 2576 2015 2089 2014 2070 4300 2504 4301 2556 2380 2554 4294 2576 2014 2070 2013 2069 4294 2576 4293 2586 4296 2575 4295 2573 2009 2076 2008 2075 4297 2587 4293 2586 4292 2588 4296 2575 2023 2096 2022 2098 4297 2587 4292 2588 4291 2589 4297 2587 4296 2575 4293 2586 2385 2548 4300 2504 2384 2506 4303 2557 4297 2587 4291 2589 4299 2542 4298 2590 4302 2591 2346 2462 2391 2457 2390 2463 2390 2463 2344 2465 2345 2592 2390 2463 2345 2592 2346 2462 4300 2504 2382 2552 2383 2505 4300 2504 4298 2590 4301 2556 175 2593 4302 2591 4300 2504 4300 2504 2386 2547 2387 2594 4300 2504 2387 2594 175 2593 4301 2556 2377 2585 2378 2574 4301 2556 4298 2590 4297 2587 4302 2591 175 2593 145 1968 4302 2591 4298 2590 4300 2504 4303 2557 4291 2589 4290 2558 4303 2557 4301 2556 4297 2587 4304 2512 4302 2591 145 1968 4304 2512 4299 2542 4302 2591 2030 2104 2029 2101 4299 2542 4299 2542 148 2046 2030 2104 4305 2509 2307 2549 2308 2551 4305 2509 4289 2514 2304 2544 4306 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1053 4004 990 4003 841 4026 1051 4004 990 4030 1055 4004 990 4026 1051 4026 1051 3999 985 4030 1055 4031 1056 4030 1055 3999 985 4004 990 4030 1055 4029 1054 4032 1057 4029 1054 4030 1055 4030 1055 4031 1056 4032 1057 4033 1058 4032 1057 4031 1056 3999 985 3998 915 4031 1056 4034 1059 4031 1056 3998 915 4031 1056 4034 1059 4033 1058 4035 1060 4033 1058 4034 1059 3998 915 3997 878 4034 1059 3996 917 4034 1059 3997 878 4034 1059 3996 917 4035 1060 3995 923 4035 1060 3996 917 4010 1045 4027 1052 4011 1046 4012 1048 4011 1046 4027 1052 4027 1052 4028 1053 4012 1048 4036 1061 4012 1048 4028 1053 4028 1053 4029 1054 4036 1061 4037 1062 4036 1061 4029 1054 4012 1048 4036 1061 4013 1049 4038 1063 4013 1049 4036 1061 4036 1061 4037 1062 4038 1063 4039 1064 4038 1063 4037 1062 4029 1054 4032 1057 4037 1062 4040 1065 4037 1062 4032 1057 4032 1057 4033 1058 4040 1065 4041 1066 4040 1065 4033 1058 4037 1062 4040 1065 4039 1064 4042 1067 4039 1064 4040 1065 4040 1065 4041 1066 4042 1067 3991 981 4042 1067 4041 1066 4013 1049 4038 1063 4014 1029 3987 973 3986 1027 4038 1063 3986 1027 4014 1029 4038 1063 4038 1063 4039 1064 3987 973 3988 970 3987 973 4039 1064 4039 1064 4042 1067 3988 970 3989 977 3988 970 4042 1067 4042 1067 3991 981 3989 977 3990 974 3989 977 3991 981 4033 1058 4035 1060 4041 1066 4043 1068 4041 1066 4035 1060 4041 1066 4043 1068 3991 981 3992 980 3991 981 4043 1068 4035 1060 3995 923 4043 1068 3994 929 4043 1068 3995 923 4043 1068 3994 929 3992 980 3993 939 3992 980 3994 929 1301 1069 1295 1070 1294 1071 1302 1072 1294 1071 1293 1073 1302 1072 1293 1073 1292 1074 1303 1075 1292 1074 1291 1076 1304 1077 1290 1078 1289 1079 1305 1080 1289 1079 1288 1081 1306 1082 1287 1083 1286 1084 4046 1085 1281 1086 1280 1087 4045 1088 1276 1089 1275 1090 1274 1091 1273 1092 4044 1093 1311 1094 1270 1095 1269 1096 1312 1097 1269 1096 1268 1098 1312 1097 1267 1099 1266 1100 1315 1101 1264 1102 1263 1103 1316 1104 1262 1105 1261 1106 1318 1107 1259 1108 1258 1109 1320 1110 1257 1111 1256 1112 1321 1113 1255 1114 1254 1115 1322 1116 1254 1115 1253 1117 1323 1118 1253 1117 1252 1119 1324 1120 1252 1119 1251 1121 1324 1120 1251 1121 1250 1122 1300 1123 78 873 83 1124 1299 1125 78 873 1300 1123 1298 1126 78 873 1299 1125 1297 1127 78 873 1298 1126 1296 1128 78 873 1297 1127 79 874 78 873 1296 1128 1325 1129 1250 1122 1249 1130 1325 1129 1249 1130 83 1124 1320 1110 1256 1112 1255 1114 1325 1129 83 1124 78 873 1319 1131 1258 1109 1257 1111 1324 1120 1250 1122 1325 1129 1317 1132 1260 1133 1259 1108 1323 1118 1252 1119 1324 1120 1316 1104 1261 1106 1260 1133 1322 1116 1253 1117 1323 1118 1315 1101 1263 1103 1262 1105 1321 1113 1254 1115 1322 1116 1314 1134 1265 1135 1264 1102 1320 1110 1255 1114 1321 1113 1313 1136 1266 1100 1265 1135 1319 1131 1257 1111 1320 1110 1312 1097 1268 1098 1267 1099 1318 1107 1258 1109 1319 1131 1311 1094 1271 1137 1270 1095 1317 1132 1259 1108 1318 1107 4044 1093 1272 1138 1271 1137 1316 1104 1260 1133 1317 1132 1315 1101 1262 1105 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1356 1185 1353 1184 1352 1186 1356 1185 1352 1186 1351 1187 1356 1188 1351 1188 89 1188 1372 1181 1353 1184 1356 1185 1372 1181 1356 1185 1357 1189 1370 1190 1359 1191 1360 1192 1370 1190 1360 1192 1361 1193 1364 1194 1369 1195 1363 1196 1365 1197 1369 1195 1364 1194 1366 1198 92 1199 1365 1197 1367 1200 92 1199 1366 1198 1368 1201 92 1199 1367 1200 91 1202 92 1199 1368 1201 1369 1195 1361 1193 1362 1203 1369 1195 1362 1203 1363 1196 1371 1204 1358 1205 1359 1191 1369 1195 1365 1197 92 1199 1371 1204 1357 1189 1358 1205 1370 1190 1361 1193 1369 1195 1371 1204 1359 1191 1370 1190 1372 1181 90 1206 1355 1182 1372 1181 1357 1189 1371 1204 1474 1207 92 1199 4084 1208 92 1199 91 1202 4084 1208 91 1202 1373 1209 4084 1208 4084 1208 1373 1209 1374 1210 1374 1210 1375 1211 4084 1208 1375 1211 1376 1212 4084 1208 1376 1212 1377 1213 4084 1208 4084 1208 1380 1214 1381 1215 4049 1216 1384 1217 1385 1218 1326 1153 1385 1218 1386 1219 1326 1153 1386 1219 1387 1220 1326 1153 1387 1220 1388 1221 1326 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4102 1365 4056 1299 4102 1365 4108 1371 4103 1366 4109 1372 4103 1366 4108 1371 4056 1299 4055 1304 4108 1371 4110 1373 4108 1371 4055 1304 4108 1371 4110 1373 4109 1372 4111 1374 4109 1372 4110 1373 4055 1304 4054 1308 4110 1373 4112 1375 4110 1373 4054 1308 4110 1373 4112 1375 4111 1374 4113 1376 4111 1374 4112 1375 4054 1308 4053 1312 4112 1375 4114 1377 4112 1375 4053 1312 4112 1375 4114 1377 4113 1376 4115 1378 4113 1376 4114 1377 4103 1366 4109 1372 4107 1370 4116 1379 4107 1370 4109 1372 4107 1370 4116 1379 4077 1238 4078 1236 4077 1238 4116 1379 4109 1372 4111 1374 4116 1379 4117 1380 4116 1379 4111 1374 4116 1379 4117 1380 4078 1236 4079 1234 4078 1236 4117 1380 4111 1374 4113 1376 4117 1380 4118 1381 4117 1380 4113 1376 4117 1380 4118 1381 4079 1234 4080 1231 4079 1234 4118 1381 4113 1376 4115 1378 4118 1381 4119 1382 4118 1381 4115 1378 4118 1381 4119 1382 4080 1231 4081 1229 4080 1231 4119 1382 4053 1312 4052 1315 4114 1377 4114 1377 4052 1315 4120 1383 4115 1378 4114 1377 4120 1383 4052 1315 4051 1318 4120 1383 4050 1345 4120 1383 4051 1318 4115 1378 4120 1383 4119 1382 4119 1382 4120 1383 4082 1227 4081 1229 4119 1382 4082 1227 4120 1383 4050 1345 4082 1227 4083 1225 4082 1227 4050 1345 4050 1345 4049 1216 4083 1225 4048 1222 4083 1225 4049 1216 4154 1384 1311 1094 1312 1097 4147 1385 78 873 4146 1386 4160 1387 1301 1069 1302 1072 1304 1077 4159 1388 1303 1075 1305 1080 1306 1082 4158 1389 1309 1147 4156 1390 1308 1144 1310 1146 1311 1094 4155 1391 4153 1392 1312 1097 1313 1136 4151 1393 1316 1104 1317 1132 1320 1110 1321 1113 4149 1394 4147 1385 1324 1120 1325 1129 4147 1385 1325 1129 78 873 1143 869 4146 1386 1144 871 849 560 1137 879 848 563 846 578 1136 916 845 372 844 374 1135 889 843 353 60 559 1137 879 849 560 4172 1395 1485 1396 1486 1397 4172 1395 1484 1398 1485 1396 1110 1010 1492 1399 74 1011 1503 1400 4172 1395 4171 1401 1525 1402 1482 1403 95 1404 4173 1405 1481 1406 1482 1403 1525 1402 95 1404 1524 1407 848 563 1136 916 847 575 828 542 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2017 2091 4303 2557 2374 2562 2375 2560 4294 2576 2015 2089 2014 2070 4300 2504 4301 2556 2380 2554 4294 2576 2014 2070 2013 2069 4294 2576 4293 2586 4296 2575 4295 2573 2009 2076 2008 2075 4297 2587 4293 2586 4292 2588 4296 2575 2023 2096 2022 2098 4297 2587 4292 2588 4291 2589 4297 2587 4296 2575 4293 2586 2385 2548 4300 2504 2384 2506 4303 2557 4297 2587 4291 2589 4299 2542 4298 2590 4302 2591 2346 2462 2391 2457 2390 2463 2390 2463 2344 2465 2345 2592 2390 2463 2345 2592 2346 2462 4300 2504 2382 2552 2383 2505 4300 2504 4298 2590 4301 2556 175 2593 4302 2591 4300 2504 4300 2504 2386 2547 2387 2594 4300 2504 2387 2594 175 2593 4301 2556 2377 2585 2378 2574 4301 2556 4298 2590 4297 2587 4302 2591 175 2593 145 1968 4302 2591 4298 2590 4300 2504 4303 2557 4291 2589 4290 2558 4303 2557 4301 2556 4297 2587 4304 2512 4302 2591 145 1968 4304 2512 4299 2542 4302 2591 2030 2104 2029 2101 4299 2542 4299 2542 148 2046 2030 2104 4305 2509 2307 2549 2308 2551 4305 2509 4289 2514 2304 2544 4306 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16241 4956 16216 84 16649 19947 16288 19946 16648 19950 16649 19947 16289 19945 16648 19950 16288 19946 16296 66 16640 6401 16641 5024 16291 76 16646 5142 16290 19943 16297 64 16639 19939 16640 6401 16293 19942 16644 19949 16292 5144 16298 19938 16638 19951 16639 19939 16295 68 16642 19948 16294 19940 16299 19937 16637 4893 16638 19951 16297 64 16640 6401 16296 66 16300 5152 16636 4892 16637 4893 16299 19937 16638 19951 16298 19938 16301 56 16635 19936 16636 4892 16301 56 16636 4892 16300 5152 16302 19935 16634 19952 16635 19936 16303 19934 16634 19952 16302 19935 16303 19934 16633 6412 16634 19952 16304 19933 16215 48 16633 6412 16651 19953 16242 19953 16650 19953 16652 2 16242 2 16651 2 16653 19954 16242 19954 16652 19954 16654 2 16242 2 16653 2 16655 19955 16242 19955 16654 19955 16656 2 16242 2 16655 2 16657 2 16242 2 16656 2 16658 2 16242 2 16657 2 16659 2 16242 2 16658 2 16660 2 16242 2 16659 2 16661 2 16242 2 16660 2 16662 19956 16242 19956 16661 19956 16663 2 16242 2 16662 2 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16669 19971 16599 6325 16670 19944 16668 19972 16598 19946 16669 19971 16667 4956 16597 84 16668 19972 16666 19973 16596 19932 16667 4956 16665 19931 16595 19930 16666 19973 16664 19974 16594 19975 16665 19931 16663 5122 16593 19976 16664 19974 16662 5124 16592 5125 16663 5122 16661 19977 16591 19978 16662 5124 16660 19979 16590 19980 16661 19977 16659 19981 16589 100 16660 19979 16658 4973 16588 32 16659 19981 16657 19982 16587 31 16658 4973 16656 19983 16586 19984 16657 19982 16655 19921 16585 19985 16656 19983 16654 5134 16584 5135 16655 19921 16653 4876 16583 4877 16654 5134 16652 19986 16582 19987 16653 4876 16651 19988 16581 19916 16652 19986 16650 19989 16580 19915 16651 19988 16242 4884 16240 48 16650 19989 16608 19990 16679 19951 16678 19939 16607 64 16678 19939 16677 19965 16580 19915 16650 19989 16240 48 16581 19916 16651 19988 16580 19915 16582 19987 16652 19986 16581 19916 16583 4877 16653 4876 16582 19987 16584 5135 16654 5134 16583 4877 16585 19985 16655 19921 16584 5135 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11994 10538 11993 10505 11934 10540 11991 10506 11935 10502 11958 10536 11995 10537 11994 10504 11956 10539 11992 10505 11934 10501 11959 10535 11996 10536 11995 10503 11957 10538 11993 10504 11956 10500 11960 10534 11997 10535 11996 10502 11958 10537 11994 10503 11957 10499 11961 10533 11998 10534 11997 10501 11959 10536 11995 10502 11958 10498 11962 10532 11999 10533 11998 10500 11960 10535 11996 10501 11959 10497 11963 10531 12000 10532 11999 10499 11961 10534 11997 10500 11960 10496 11964 10530 12001 10531 12000 10498 11962 10533 11998 10499 11961 10497 11963 10532 11999 10498 11962 10494 11967 10528 12002 10529 12003 10496 11964 10531 12000 10497 11963 10493 11966 10527 12004 10528 12002 10495 11965 10530 12001 10496 11964 10492 11968 10526 12005 10527 12004 10491 11969 9274 11973 10526 12005 10493 11966 10528 12002 10494 11967 10492 11968 10527 12004 10493 11966 10491 11969 9273 11938 9274 11973 10491 11969 10526 12005 10492 11968 10530 12001 10494 11967 10529 12003 10494 11967 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1451 1086 1451 1295 1451 1089 1451 1295 1451 1294 1451 1088 1451 1087 1451 1295 1451 1089 1451 1088 1451 1295 1451 1090 1451 1089 1451 1294 1451 1091 1451 1294 1451 48 1451 1091 1451 1090 1451 1294 1451

 diff --git a/kuka_kr180_support/urdf/kr180r3500_ultra_k_macro.xacro b/kuka_kr180_support/urdf/kr180r3500_ultra_k_macro.xacro index 6da56ca75..7bcb35179 100644 --- a/kuka_kr180_support/urdf/kr180r3500_ultra_k_macro.xacro +++ b/kuka_kr180_support/urdf/kr180r3500_ultra_k_macro.xacro @@ -144,51 +144,51 @@ - + - + - + - + - + - + - + - + - + - + - + - + From 2f4963828aad9973718158adb20f04c1ecbe5f10 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?I=C3=B1igo=20Moreno?= Date: Fri, 31 Mar 2023 15:07:52 +0200 Subject: [PATCH 3/5] Update collision --- .../collision/base_link.stl | Bin 49884 -> 50084 bytes .../kr180r3500_ultra_k/collision/link_1.stl | Bin 49884 -> 50084 bytes .../kr180r3500_ultra_k/collision/link_2.stl | Bin 50084 -> 50084 bytes .../kr180r3500_ultra_k/collision/link_3.stl | Bin 49884 -> 49884 bytes .../kr180r3500_ultra_k/collision/link_4.stl | Bin 50084 -> 50084 bytes .../kr180r3500_ultra_k/collision/link_5.stl | Bin 50084 -> 50084 bytes .../kr180r3500_ultra_k/collision/link_6.stl | Bin 50084 -> 50084 bytes .../meshes/kr180r3500_ultra_k/script.mlx | 42 ------------------ .../kr180r3500_ultra_k/update_collision.sh | 8 ---- 9 files changed, 50 deletions(-) delete mode 100644 kuka_kr180_support/meshes/kr180r3500_ultra_k/script.mlx delete mode 100755 kuka_kr180_support/meshes/kr180r3500_ultra_k/update_collision.sh diff --git a/kuka_kr180_support/meshes/kr180r3500_ultra_k/collision/base_link.stl b/kuka_kr180_support/meshes/kr180r3500_ultra_k/collision/base_link.stl index b60167204d80b24aea584845a85ea8ffc60ad2a9..b7b1dba8920151bb1ba48ad6a57bf880b420b026 100644 GIT binary patch literal 50084 zcmb5XWmuKV_Xa$K0g8fxVje*R!Jrk`>@|vt0g7Uv2qp%g*o9!Xs33ML26iE}*=y|X z?iM^MDhLJ!?{NO_d;QkC+o@Zr!6@aL3kx z|NTeV|0w(S|Mx#{jTq~2ez5lRn(5+&d6DkMh;%$*XDIsi`<)Z?Dh(4H4MnrsyM4AD zN=NS&hGIs|i9U>#^q$~#yL7r(Qr}9En7^}mj!R=h5q^1w50z$Y-*5XC)_Y?`+uR@& zF1LNh$@jjQUXnw39QwjPFD$Q8uuQRvUhnN{d~@ z=rgWjAy6G+LpeTevh$y`|^;J-bt9JS#z@|>5v~|Ag2DFrJ-Y| zb7D-lXMJ|)_kLpC(w{)Rp>Odr9Mh%hHt4=4DJ 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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/kuka_kr180_support/meshes/kr180r3500_ultra_k/update_collision.sh b/kuka_kr180_support/meshes/kr180r3500_ultra_k/update_collision.sh deleted file mode 100755 index d31898c68..000000000 --- a/kuka_kr180_support/meshes/kr180r3500_ultra_k/update_collision.sh +++ /dev/null @@ -1,8 +0,0 @@ -#!/bin/bash -find visual -type f \( -iname "*.dae" -o -iname "*.stl" \) -print0 | while read -rd $'\0' MESH -do - OUTFILE=$(echo "${MESH}" | cut -d'/' -f2- | cut -d'.' -f1) - CMD="meshlabserver -i ${MESH} -o collision/${OUTFILE}.stl -s script.mlx" - echo "${CMD}" - eval "${CMD}" -done \ No newline at end of file From eb7059fbfbd4c048d9593e8907c925eb81861dfa Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?I=C3=B1igo=20Moreno?= Date: Mon, 3 Apr 2023 10:12:14 +0200 Subject: [PATCH 4/5] Remove optional attachment from base_link --- .../collision/base_link.stl | Bin 50084 -> 50084 bytes .../kr180r3500_ultra_k/visual/base_link.dae | 72 +++++++++--------- 2 files changed, 36 insertions(+), 36 deletions(-) diff --git a/kuka_kr180_support/meshes/kr180r3500_ultra_k/collision/base_link.stl b/kuka_kr180_support/meshes/kr180r3500_ultra_k/collision/base_link.stl index b7b1dba8920151bb1ba48ad6a57bf880b420b026..b7cccf558eb9f7f6daa314ddb3cfe57729fe062f 100644 GIT binary patch literal 50084 zcmb4sbyQbN^zTrT5=sjycHlMX@0mdq2~m+UP*e;Qle9oo1X08y6agCxuVNteJu?a@ z7ItHIVha|&;r`xRZ;$V<=UT4iz2CFX%-+x}JA+%v|g>q_60-KG7$k92z&i4y$P?IZT6jRw`nizDA_B!xh;WAT$ zc7Jk>F3hZUL1^ms)5^{f32gB11%gEO!_TEu^Cq>^y(CB@)XVL#V#vfrY-y`U61>W1 z;v~E+sNA()D-POwlO2gSA z)MtOCA}J+-_0pLrNWd|mG(rb&4sm(+VmeE>eu~0-)h1Zraavbt-5vdMI5t9?n_W_# zSe(EtzD$*49>>#}t*=teUTWn~KTvN7J*^+>^r!1|hW*b{cwZ<1?}X6Ys8(gEYp1eJ zDmMfPI729nkny7kr#@sB(;Qh&;e6qEohC2B;eW2s8@8t92qkFLE9@pDuzgb&%kUSd zD|jb_ex!v-kH#mkppBj6%lbL^^Q_DCgTv)AC;{(;kanN368R^d`L=3~;Z=Kj=HM?s zFVi!A^@>gjQ}IFbOSFyQA#QW?>Gx^MkSQ$ef}N}ux``IMT&B7Kw&kB2vZ=B26*_Y2 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 @@ -123,12 +123,12 @@ 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 - + - - - + + + From e180f187c87648011714f0e62cac281bd45bfb0c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?I=C3=B1igo=20Moreno?= Date: Mon, 3 Apr 2023 10:13:36 +0200 Subject: [PATCH 5/5] Remove noetic change --- kuka_kr180_support/launch/test_kr180r3500_ultra_k.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/kuka_kr180_support/launch/test_kr180r3500_ultra_k.launch b/kuka_kr180_support/launch/test_kr180r3500_ultra_k.launch index a3a17725a..047b5fbc3 100644 --- a/kuka_kr180_support/launch/test_kr180r3500_ultra_k.launch +++ b/kuka_kr180_support/launch/test_kr180r3500_ultra_k.launch @@ -1,6 +1,6 @@ - +