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kr6_agilus mesh fixes #76

Merged
merged 3 commits into from
Jun 12, 2017
Merged

kr6_agilus mesh fixes #76

merged 3 commits into from
Jun 12, 2017

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BrettHemes
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@BrettHemes BrettHemes commented Feb 1, 2017 •
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  • Updated visual stl's in kr6r700sixx to .dae format (for consistency)

  • Improved the collision geometries of links 2 and 4 for both kr6r700 and kr6r900

@BrettHemes
kr6r700sixx: replace visual link 2 and 4 stl's with dae's for consist…
f03b544 
…ency
@BrettHemes
kr6r700sixx: Link 2,4 collision mesh improvements
bdec2fb 
Switch to using approximiate convex decomposition to alleviate issue of
self collisions between joints 2/4 and 4/6.

Used method of Andre Gaschler, Quirin Fischer, and Alois Knoll. The
bounding mesh algorithm. Technical Report TUM-I1522, Technische
Universität München, Germany, June 2015.

Code available at https://github.com/gaschler/bounding-mesh

ran with --voxels 2000000
@BrettHemes
kr6r900sixx: Link 2,4 collision mesh improvements
a7d8e07 
Switch to using approximiate convex decomposition to alleviate issue of
self collisions between joints 2/4 and 4/6.

Used method of Andre Gaschler, Quirin Fischer, and Alois Knoll. The
bounding mesh algorithm. Technical Report TUM-I1522, Technische
Universität München, Germany, June 2015.

Code available at https://github.com/gaschler/bounding-mesh

ran with --voxels 2000000
@gavanderhoorn
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Thanks for the PR @BrettHemes. My apologies for taking so long to merge it 🙁

@gavanderhoorn gavanderhoorn merged commit 1ddeb35 into ros-industrial:indigo-devel Jun 12, 2017
@gavanderhoorn gavanderhoorn mentioned this pull request Jun 12, 2017
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@gavanderhoorn gavanderhoorn mentioned this pull request Jul 26, 2017
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@BrettHemes BrettHemes deleted the kr6_agilus_fixes_gaschler branch July 12, 2018 14:43
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@gavanderhoorn gavanderhoorn gavanderhoorn approved these changes

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@BrettHemes @gavanderhoorn