robot_capsule_generator

Tools to generate capsules from mesh files (using roboptim-capsule and trimesh2), and apply the capsule parameters to a urdf model.

USAGE:

• robot_capsule_urdf input.urdf -o output.urdf

e.g. robot_capsule_urdf /home/ros2_ws/src/huro/resources/description_files/urdf/g1/g1_23dof.urdf -o g1_23dof_capsule.urdf

Creates a urdf with cylinders for collisions.

• robot_capsule_urdf_to_rviz output.urdf -o output2.urdf

e.g. robot_capsule_urdf g1_23dof_capsule.urdf -o g1_23dof_capsule.rviz

Creates a urdf with cylinders and spheres for collisions, using output from the previous script.

Note:

robot_capsule_generator: an executable which generates a capsule given a mesh