Add initial support for Fanuc M-20iD/25#364
Conversation
timobkt
force-pushed
the
add_fanuc_m20id25
branch
from
6663ec6 to
b9e4e9d
Compare
cjue
force-pushed
the
add_fanuc_m20id25
branch
from
b9e4e9d to
054f5a3
Compare
cjue
force-pushed
the
add_fanuc_m20id25
branch
2 times, most recently
from
b37e545 to
b042364
Compare
|
Sorry for the many pushes to this PR, we should have immediately used separate feature branches for this PR and for our own development. This PR passed our internal review, the OPW values match the URDF and work with Moveit. |
gavanderhoorn
left a comment
gavanderhoorn
left a comment
There was a problem hiding this comment.
Thanks for the PR.
Technically, this should first go to fanuc_experimental, but I'm working on moving everything here anyway.
I've left a couple of in-line comments. Mostly around what appear to be copy-pastas from the M-20iB that appears to have been used as a template/starting point.
| <origin xyz="0 0 0.840" rpy="0 ${radians(90)} 0"/> | ||
| <parent link="${prefix}link_2"/> | ||
| <child link="${prefix}link_3"/> | ||
| <axis xyz="0 -1 0"/> |
There was a problem hiding this comment.
why the negative Y axis here?
(same / similar comment for the joints below)
There was a problem hiding this comment.
it appears that these negative axes were "inspired" by the fanuc_m20ib_support package for the iB/25
| <limit lower="${radians(-190)}" upper="${radians(268)}" effort="0" velocity="${radians(265)}" /> | ||
| </joint> | ||
| <joint name="${prefix}joint_4" type="revolute"> | ||
| <origin xyz="-0.215 0 0.890" rpy="0 0 0"/> |
There was a problem hiding this comment.
I'm guessing/assuming the negative offset here is because of the negative axis spec below?
We also try to avoid multiple transformations in a single joint (X and Z here).
gavanderhoorn
changed the title
|
@cjue wrote:
well I'm not claiming this version with the negative axis definitions is wrong necessarily. It would just depend on the motivation. |
|
I've changed the target branch to @cjue: if you have a chance, please rebase the PR on |
cjue
force-pushed
the
add_fanuc_m20id25
branch
from
226f9cc to
2d67e88
Compare
|
Hi, i noticed there hasn't been any activity on this PR for a while. Are there any updates on its status? Is it still planned to be reviewed or merged? Thanks! |
|
I'd still be interested, but it's up to @cjue (or perhaps @timobkt / @simonschmeisser). |
|
thanks for the reminder, I'll look into it in the next days |
|
Thanks @cjue If it helps, I have a working version of the URDF with the needed fixes. I would be happy to share it or open a separate PR—just let me know what works best. |
cjue
force-pushed
the
add_fanuc_m20id25
branch
from
2d67e88 to
421aecf
Compare
Where can we find your version of the iD/25 macro? |
* M-20iD/25: fix j3 limits, remove unused mesh * M-20iD/25: fix M-20iB mentions * Version 0.6.0: remove --inorder
cjue
force-pushed
the
add_fanuc_m20id25
branch
from
421aecf to
cf4e182
Compare
Sorry @cjue for the late response. You can find it here: https://github.com/akocabas/fanuc/blob/m20id-support/fanuc_m20id_support/urdf/m20id25_macro.xacro Let me know if you need any help |
|
Hello, do you have the URDF file for the FANUC M-20iD/35? |
@captain00746 yes, in our fork: https://github.com/isys-vision/fanuc/tree/add_m-20iD35/fanuc_m20id_support/urdf I will prepare a pull request for that one as well at some point. |
|
Dear Christian,
Hope this email finds you well! I’m writing to follow up on your comment in the ros-industrial/fanuc PR #364 regarding the FANUC M-20iD/35 URDF file.
I’m currently working on integrating the M-20iD/35 robot model into our ROS-based project, and I urgently need the m20id35_macro.xacro file in pure URDF format. Would you be kind enough to help convert the .xacro file (from your fork: https://github.com/isys-vision/fanuc/tree/add_m-20iD35/fanuc_m20id_support/urdf) to a standard URDF file?
I have already downloaded the original m20id35_macro.xacro file, but if you could assist with this format conversion, it would greatly improve the accuracy of the file and save us a significant amount of development time.
Thank you very much for your time and support! I greatly appreciate your contribution to the ROS-Industrial community and your help with this request.
Looking forward to your reply.
Best regards,
1072697487
***@***.***
|
5 participants
No description provided.