Integration of Kuka Agilus

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Thanks a lot! We are testing it in the next week, delivery times will slow down the hardware tests, but at least we can start with the simulations

Hm, for simulation with Gazebo we'd need to add inertial elements at least. I (obviously) don't have the real values, but SolidWorks can be used to get some estimates. I won't have access to SolidWorks for some time, so if you could take care of that I'd appreciate it.

We have SolidWorks running, so I'll talk to the hardware guys next week. Are there any tutorials on how to compute the inertial elements?

Btw, just to be clear: if you don't need a dynamic simulation, but only want to do a reachability analysis, or do some initial planning with MoveIt, you don't need inertial elements. The plain URDF would be enough.

Could you tell me where you got the urdf and meshes for the R900? We'd like to compare its grasps with the R700 (or the R1100).

The urdf I wrote myself, the meshes came from the KUKA site (the link you posted in your OP actually).

If you use the R900 macro as a template, it shouldn't be too hard to add the others to the package.

I'd very much appreciate it if in that case you'd be willing to open a PR against kuka_experimental, so I can add those to the kuka_kr6_support package.

@PickBot: can you say anything about the correctness of the model in the kuka_kr6_support package I uploaded to kuka_experimental? I'd like to merge it into the main development branch, but it would be nice to fix any significant issues with it before doing so.