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CAD model of the PR2?

asked 2013-05-22 04:36:38 -0500

sven-cremer gravatar image

updated 2014-11-22 17:05:44 -0500

ngrennan gravatar image

Does anyone have a crude CAD model of the PR2? I'm designing a living lab and have done a few mockups in Solidworks. I would like to add the PR2 to get a feel for the size of the room.

UPDATE: I converted the pr2.urdf.xacro to a urdf file:

rosrun xacro xacro.py 'rospack find pr2_description'/robots/pr2.urdf.xacro > pr2.urdf

Next I converted it to dae file using the collada tool:

rosrun collada_urdf urdf_to_collada pr2.urdf pr2.dae

Using MeshLab I was able to save the dae file as a dxf file which I was able to open in SolidWorks.

However, it seems like the pieces were not moved to the correct locations and are all placed at the origin. Here is a screenshot: imgur.com/4UlQwVa.

Any idea on how to fix this?

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answered 2013-05-23 03:15:38 -0500

The PR2 meshes are likely defined with their origins at the various link origins. When the URDF gets converted to a collada file, it's likely that the conversion tool does not account for kinematic positioning in the URDF, and instead just converts the individual mesh files. This would result in a cluster of meshes all centered at the origin.

I don't have any suggestions for an "easy" conversion, but here's what I would do:

  1. Extract each link/mesh as an individual part in Solidworks
    • either by splitting parts out from the conversion you're already using
    • or converting the individual meshes referenced by @dornhege
  2. Load up the PR2 in RViz, and position it in the pose you would like
  3. Use tf_echo to get the transform from the base link to each individual link you have exported
  4. Position the parts in Solidworks using the transforms from tf_echo

Like I said, this would likely be annoying and manual, but would probably work.

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Thanks, I will give it a try.

sven-cremer gravatar imagesven-cremer ( 2013-05-23 03:20:16 -0500 )edit

Did anyone ever solve this issue? I would also need a full CAD model of the PR2.

bbferko gravatar imagebbferko ( 2014-04-23 05:54:59 -0500 )edit

Sorry; the answer above is the current best solution; the CAD models of the PR2 have never been made public.

ahendrix gravatar imageahendrix ( 2014-04-23 06:55:22 -0500 )edit
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answered 2013-05-22 04:48:31 -0500

dornhege gravatar image

If you don't need anything exact: The pr2_description package contains the PR2 meshes used in rviz.

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Asked: 2013-05-22 04:36:38 -0500

Seen: 946 times

Last updated: May 23 '13