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ros-industrial / robotiq

Robotiq packages (http://wiki.ros.org/robotiq)
BSD 2-Clause "Simplified" License
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Mesh colour #142

Closed christian-rauch closed 5 years ago

christian-rauch commented 5 years ago

This PR adds colour (black) to the articulated meshes. Fixes #141

Edit: I just saw that I had other commits in my devel branch. There are two commits to fix the installation and running of the simulation launch file.

christian-rauch commented 5 years ago

If someone else is interested in using this right now, I am happy to change to colour to something lighter.

It would be great if we could have proper "official" colour, or, even better, material properties from Robotiq. Robotiq provides a STEP file for the 3-Finger Adaptive Robot Gripper on their homepage: https://assets.robotiq.com/production/support_documents/document/ROBOTIQ_AGS-001-XXXX_20171116.STEP but I was not able to convert it to a dae mesh file and keep the texture information. Textured dae mesh files (extracted from the STEP or provided by Robotiq) would be much better than the uniformly coloured meshes we have now.

christian-rauch commented 5 years ago

@jproberge Is there any news on an "official" colour/material definition from Robotiq? If this is not happening in the short term, I am happy if you change the colour to something slightly lighter.

Maybe the issue is also with the material definition and not the colour per se. In Blender, the palm mesh shows more shading than in Gazebo: rq_palm_blender

jproberge commented 5 years ago

hi @christian-rauch ,

Thanks for your follow-up! I will have the information this week and I'll post back as soon as possible. Also, I agree that it depends on the visualisation environment. At the end, it's just aesthetic, so I don't want to delay this PR too much, and I'll post back here this week as soon as I get the information.

Thanks again!

jproberge

jproberge commented 5 years ago

@christian-rauch,

I'm accepting this PR, since I've reviewed / tested it and found that it works flawlessly and is an improvement. Also, Robotiq told me that there were no precise color definition. In fact they ask their supplier to provide black anodized parts, but then these parts are also subject to a tumbler surface finish process, which might also alter the colour a little. Thus no precise colour definition. Thanks!