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.travis @ 3651899 update to jsk_travis 0.4.40 Nov 12, 2018
collada_tools Fix for being deprecated tag: cfmDamping -> implicitSpringDamper Nov 23, 2018
eus_assimp
euscollada 0.4.3 Dec 5, 2018
euslisp_model_conversion_tester
eusurdf
jsk_model_tools 0.4.3 Dec 5, 2018
.gitignore Ignore *.pyc Jan 28, 2015
.gitmodules fix .travis.yml to use .travis (of jsk-ros-pkg/jsk_travis) Apr 30, 2014
.travis.rosinstall Rename .rosintall -> .travis.rosinstall (follow upstream change)↲ Sep 11, 2015
.travis.yml
README.md change example of collada2eus in README.md Nov 23, 2018

README.md

jsk_model_tools Build Status

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Model Convert

Convert from CAD manually

(cf. PR of function to automatically convert: https://github.com/euslisp/jskeus/pull/248)

  • Convert1. export stl mesh with SolidEdge

=> my_model.stl is generated.

  • Convert2. generate urdf generate urdf with following contents. (assume that my_model.stl is located at /home/leus/my_model.stl)
<robot name="my_model_name">
  <link name="root">
    <inertial>
     <origin xyz="0 0 0.5" rpy="0 0 0"/>
     <mass value="1"/>
     <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
    </inertial>
    <visual>
     <origin xyz="0 0 0" rpy="0 0 0" />
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </visual>
    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </collision>
  </link>
</robot>

=> save to my_model.urdf

  • Convert3. convert to collada
rosrun collada_urdf_jsk_patch urdf_to_collada my_model.urdf my_model.dae

=> my_model.dae is generated.

  • Convert4. convert to eus
rosrun euscollada collada2eus my_model.dae my_model.l # fixed model version
rosrun euscollada collada2eus my_model.dae my_model.yaml my_model.l

=> my_model.l is generated.
my_model.yaml is used to set joints and endcoords settings. Please refer to example file of PR2.
Without the yaml file, the model can not move or get/send :angle-vector.

  • Visualize1. visualize urdf with Rviz
roslaunch urdf_tutorial display.launch model:=/home/leus/my_model.urdf
  • Visualize2. spawn urdf to gazebo
roslaunch gazebo_ros empty_world.launch
rosrun gazebo_ros spawn_model -file my_model.urdf -urdf -model my_model
  • Visualize3. visualize eus with irtviewer
roseus my_model.l
(objects (list (my_model)))
  • Visualize4. visualize stl with irtviewer
(load "package://eus_assimp/euslisp/eus-assimp.l" )
(setq glv (load-mesh-file "my_model.stl" :scale 1000.0))
(objects (list glv))
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