Topic/falcon #244
Topic/falcon #244
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Thanks for integrating these robots!
The requested changes are
- You've pushed changes in the
cmakesubmodule. Could you revert those changes? - You combined the Bravo7 meshes in the same folder as the Falcon one. Could you create separate folders with URDF and SRDF for the Falcon and Bravo7 robots? Additionally, I would include the Falcon + Bravo7 URDF and SRDF inside the Falcon folder.
- Following point 2, please include loaders for the Falcon and Bravo7 robots.
Additionally, I have included other minor details in the comments above.
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Another important comment, we need to include a Readme with details about the license and source of your files. See this example: https://github.com/Gepetto/example-robot-data/tree/master/robots/a1_description |
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The meshes are 20MiB, could you try to reduce those a bit ? Meshlab and Blender are usually good solutions for this issue. |
Hi, yes, I have decimated all 3D files and reduced their size considerably. The ones that are still a bit big in size, are because more decimation was starting to corrupt the file. |
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Thanks for integrating this new set of marine robots, @CarlosSuarezZapico!
As you can see in my comments above, I request to change the naming for easy use of these robots. Additionally, I include updates inside the URDF and SRDF and a question regarding collisions. On top of these, I wonder why not include Bluevota+Bravo7+Gripper and Falcon+Bravo7+Gripper.
robots/bluevolta_description/srdf/bluevolta_bravo7_sphere_endeffector.srdf
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robots/bluevolta_description/urdf/bluevolta_bravo7_sphere_endeffector.urdf
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robots/falcon_description/srdf/falcon_bravo7_sphere_endeffector.srdf
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robots/falcon_description/urdf/falcon_bravo7_sphere_endeffector.urdf
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CarlosSuarezZapico
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Thanks @CarlosSuarezZapico, but, commit edaee9c should not have been merged: the 20M are now in git history :/ I will squash your commits and force-push to the devel branch. |
## [4.2.0] - 2024-12-08
### Added
- Add PR2 robots ([210](Gepetto/example-robot-data#210))
- Add GO2 robots ([239](Gepetto/example-robot-data#239))
- Add Falcon Bravo7 Bluevolta robots ([244](Gepetto/example-robot-data#244))
- Add alex robots ([247](Gepetto/example-robot-data#247))
- Add compatibility with jrl-cmakemodules workspace ([225](Gepetto/example-robot-data#225))
Hello, this pull request is to provide the model of an underwater mobile manipulator in the scheme of example-robot-data.
Falcon + Bravo7 is an underwater mobile manipulator where the base (Falcon) has 5 thrusters that provide 5 actuated DOF (x, y, z, and yaw), and Bravo7 is a 6-joint manipulator. This arm can have a gripper in its end-effector, but in this URDF we have substitute it with a solid sphere-shaped end-effector that is meant to make contact interactions with an external asset.