Add gp7 opw - Githubissues

ros-industrial / motoman

ROS-Industrial Motoman support (http://wiki.ros.org/motoman)

146 stars 192 forks source link

Add gp7 opw #500

Open cjue opened 2 years ago

cjue commented 2 years ago

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

cjue commented 2 years ago

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

EricMarcil commented 2 years ago

@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

cjue commented 2 years ago

Thank you for that hint