What tools and pipeline was used to create the PR2 mesh and texture files in its description?

asked 2015-12-01 18:40:19 -0500

crunchex gravatar image

As the PR2 is sort of the gold standard for ROS and related tools like MoveIt!, I'm looking for details on how its mesh and texture files were generated in terms of the tools and/or conversion pipeline used. I'd like to use this as a basis for creating the ideal files for my own robot - small size for collision checking, geometric and texture detail, etc.

For example, there are STL files, collada files, and .tiff files. What tools were they originally generated from (e.g. SolidWorks, 3DS Max, MeshLab, etc.) and what were the original file formats? Were they processed through some other tools? Were the textures generated separately and then referenced somehow in the Collada files? Any details or a pointer to an existing writeup would be super helpful.

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You can create robot mesh with texture and collision using urdf ( http://wiki.ros.org/urdf ) and xacro ( http://wiki.ros.org/xacro ). There might be a bridge for converting them to stl file if you need to.

Kapcirt gravatar image Kapcirt  ( 2018-11-23 04:31:56 -0500 )edit

@Kapcirt: I've changed your answer into a comment, as it was not an answer to the question posted by @crunchex. The pr2_description package already contains urdf and xacro, the question was how did those get there and which tools were used to create them and the meshes they use.

gvdhoorn gravatar image gvdhoorn  ( 2018-11-23 05:23:02 -0500 )edit