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ros-industrial / abb_experimental

Experimental packages for ABB manipulators within ROS-Industrial (http://wiki.ros.org/abb_experimental)
Apache License 2.0
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add IRB1600 10/1.45, add opw config for IRB1600 10/1.45, 8/1.45 and 6/1.2 #137

Open cjue opened 2 years ago

cjue commented 2 years ago

Update reference document in package.xml

Add mesh for the 1.45 variant of link2, with scale 0.001 and transform -.150, -0.4865, -115

Rename files fo irb1600 6/1.2 for clarity.

gavanderhoorn commented 2 years ago

Add mesh for the 1.45 variant of link2, with scale 0.001 and transform -.150, -0.4865, -115

have you since updated the PR? I don't see this scaling.

(if it was there, I would've asked you to scale the .stl itself though)

Rename files fo irb1600 6/1.2 for clarity.

only the roslaunch_test .xml, correct?

gavanderhoorn commented 2 years ago

Friendly ping @cjue ?

cjue commented 2 years ago

I just noticed that #136 has introduced the irb1600 8/1.45 in the meantime.

Interesting tidbit: the IRB1600 10/1.45 is a re-release / "upgrade" of the IRB1600 8/1.45 that's identical except for payload and velocity limits.

Revision U: "IRB 1600-8 upgraded to 10 kg"

Source: https://search.abb.com/library/Download.aspx?DocumentID=3HAC023604-001&LanguageCode=en&

I updated both 1.45 urdfs to use the same link_2 meshes.

cjue commented 2 years ago

Add mesh for the 1.45 variant of link2, with scale 0.001 and transform -.150, -0.4865, -115

have you since updated the PR? I don't see this scaling.

(if it was there, I would've asked you to scale the .stl itself though)

I meant to say this was how I got from the STEP file to the mesh. It's also wrong, as I found out.

When comparing my link_2 mesh with the 8/1.45 version I noticed that I had set the origin incorrectly, placing link_2 inside the neighboring joints. This PR now uses the correct mesh for both the 8/1.45 and the 10/1.45.

Rename files fo irb1600 6/1.2 for clarity.

only the roslaunch_test .xml, correct?

Yes, the other files already had the model name in there.

cjue commented 2 years ago

Just a note: This PR does not touch the J23_coupled settings, but #139 will affect all IRB1600 models.

cjue commented 2 years ago

closing and reopening to nudge checks

cjue commented 2 years ago

Friendly ping @cjue ?

ping addressed @gavanderhoorn