/rosmodelgen

Tools to generate model files used for ROS.

Primary LanguagePythonMIT LicenseMIT

rosmodelgen

License: MIT repo size

Tools to generate model files used for ROS.

Dependency

  • Python3
    • numpy>=1.21.6
    • open3d>=0.16.0

Installation

git clone https://github.com/takuya-ki/rosmodelgen.git --depth 1
cd rosmodelgen; mkdir -p meshes/visual meshes/collision
pip install -r requirements.txt

Usage

Generate a collision model in meshes/collistion with an original model in meshes/visual

python3 src/gen_collision.py

Flip normals

  1. Open a stl file with MeshLab
  2. Click [Normals, Curvantures and Orientation]-[Invert Faces Orientation] from Filters menu
  3. Check Force Flip and Click Apply

Reduce faces

  1. Open a stl file with MeshLab
  2. Click [Remeshing, Simplification and Reconstruction]-[Simplification: Quadric Edge Collapse Decimation] from Filters menu
  3. Change current Target number of faces to 5000 ~ 10000

Author / Contributor

Takuya Kiyokawa

License

This software is released under the MIT License, see LICENSE.