Add KR3 (original, 2005 version) support #159
Open
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
simonschmeisser
approved these changes
May 27, 2020
There was a problem hiding this comment.
this looks good to me, I'm sure you'll still find something @gavanderhoorn 😉
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This commit adds support for the original KR3 robot arm, which is also mechanically the same as Thermo-CRS F3 robot arm.
The measurements are based on the drawings available from KUKA. For 3D models, I started with the STEP files available from KUKA, converted them to STL with FreeCAD and then simplified in Blender for the collision models. Link 4 required some manual editing to avoid false collisions with link 2.
Note that this is my first foray into ROS, so I might have made some silly newbie mistake somewhere. But this model appears to work correctly for me in simulation, though I don't have the interface to the real robot up yet.