Add gp200r support #452
Add gp200r support #452
Conversation
There was a problem hiding this comment.
Thanks for the PR 👍
I've left a few in-line comments.
Could you please also take a look at the size of the individual meshes (ie: .stls)? The visual directory alone is 6.5MB, with files such as link_3_u.STL by itself already approx 1.8MB.
We should try to optimise mesh size, as it prevents repository bloat.
I find Blender with the Decimate modifier a good way to reduce mesh size, while keeping mesh quality.
|
Thanks for all the feedback we will start on these changes and have this updated very soon! |
Avoid name clashes.
Avoid warnings on Noetic and up.
Blender was able to decimate these meshes without too noticeable differences in (perceived) visual fidelity.
|
I've added a few more commits -- mostly cosmetic. We'll wait for CI to turn green again and then merge. |
|
Note: we'll use a squash-merge here, as we don't need all the fixup commits to end up in the repository's history. |
|
Thanks again @drolleigh and @akashjinandra. |
|
Our pleasure. Glad we could contribute! |
|
@drolleigh: because I squash-merged, GH may not notify you your branch can be deleted. |
Created a support package for gp200r including a urdf that has been compared to gp200r pendant read-outs of a real robot in unique poses. The translation was accurate under 1.0 mm and rotation was accurate under 1.0 degree.