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jsk_model_tools repository

eus_assimp euscollada euslisp_model_conversion_tester eusurdf jsk_model_tools urdf_mesh_converter

ROS Distro
lunar

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_model_tools.git
VCS Type git
VCS Version master
Last Updated 2025-05-10
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
eus_assimp 0.4.5
euscollada 0.4.5
euslisp_model_conversion_tester UNKNOWN
eusurdf 0.4.5
jsk_model_tools 0.4.5
urdf_mesh_converter 0.4.5

README

jsk_model_tools Build Status

Package Melodic (Bionic) Noetic (Focal) Noetic (Buster)
jsk_model_tools (arm64) Build Status Build Status Build Status
jsk_model_tools (armhf) Build Status Build Status —
jsk_model_tools (i386) — — —
jsk_model_tools (amd64) Build Status Build Status Build Status

Model Convert

Convert from CAD manually

(cf. PR of function to automatically convert: https://github.com/euslisp/jskeus/pull/248)

  • Convert1. export stl mesh with SolidEdge

=> my_model.stl is generated.

  • Convert2. generate urdf generate urdf with following contents. （assume that my_model.stl is located at /home/leus/my_model.stl）
<robot name="my_model_name">
  <link name="root">
    <inertial>
     <origin xyz="0 0 0.5" rpy="0 0 0"/>
     <mass value="1"/>
     <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
    </inertial>
    <visual>
     <origin xyz="0 0 0" rpy="0 0 0" />
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </visual>
    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </collision>
  </link>
</robot>

=> save to my_model.urdf

  • Convert3. convert to collada
rosrun collada_urdf_jsk_patch urdf_to_collada my_model.urdf my_model.dae

=> my_model.dae is generated.

  • Convert4. convert to eus
rosrun euscollada collada2eus my_model.dae my_model.l # fixed model version
rosrun euscollada collada2eus my_model.dae my_model.yaml my_model.l

=> my_model.l is generated.
my_model.yaml is used to set joints and endcoords settings. Please refer to example file of PR2.
Without the yaml file, the model can not move or get/send :angle-vector.

  • Visualize1. visualize urdf with Rviz
roslaunch urdf_tutorial display.launch model:=/home/leus/my_model.urdf
  • Visualize2. spawn urdf to gazebo
roslaunch gazebo_ros empty_world.launch
rosrun gazebo_ros spawn_model -file my_model.urdf -urdf -model my_model
  • Visualize3. visualize eus with irtviewer
roseus my_model.l
(objects (list (my_model)))
  • Visualize4. visualize stl with irtviewer
(load "package://eus_assimp/euslisp/eus-assimp.l" )
(setq glv (load-mesh-file "my_model.stl" :scale 1000.0))
(objects (list glv))

CONTRIBUTING

No version for distro jazzy showing lunar. Known supported distros are highlighted in the buttons above.
Repo symbol

jsk_model_tools repository

eus_assimp euscollada euslisp_model_conversion_tester eusurdf jsk_model_tools urdf_mesh_converter

ROS Distro
lunar

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_model_tools.git
VCS Type git
VCS Version master
Last Updated 2025-05-10
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
eus_assimp 0.4.5
euscollada 0.4.5
euslisp_model_conversion_tester UNKNOWN
eusurdf 0.4.5
jsk_model_tools 0.4.5
urdf_mesh_converter 0.4.5

README

jsk_model_tools Build Status

Package Melodic (Bionic) Noetic (Focal) Noetic (Buster)
jsk_model_tools (arm64) Build Status Build Status Build Status
jsk_model_tools (armhf) Build Status Build Status —
jsk_model_tools (i386) — — —
jsk_model_tools (amd64) Build Status Build Status Build Status

Model Convert

Convert from CAD manually

(cf. PR of function to automatically convert: https://github.com/euslisp/jskeus/pull/248)

  • Convert1. export stl mesh with SolidEdge

=> my_model.stl is generated.

  • Convert2. generate urdf generate urdf with following contents. （assume that my_model.stl is located at /home/leus/my_model.stl）
<robot name="my_model_name">
  <link name="root">
    <inertial>
     <origin xyz="0 0 0.5" rpy="0 0 0"/>
     <mass value="1"/>
     <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
    </inertial>
    <visual>
     <origin xyz="0 0 0" rpy="0 0 0" />
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </visual>
    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </collision>
  </link>
</robot>

=> save to my_model.urdf

  • Convert3. convert to collada
rosrun collada_urdf_jsk_patch urdf_to_collada my_model.urdf my_model.dae

=> my_model.dae is generated.

  • Convert4. convert to eus
rosrun euscollada collada2eus my_model.dae my_model.l # fixed model version
rosrun euscollada collada2eus my_model.dae my_model.yaml my_model.l

=> my_model.l is generated.
my_model.yaml is used to set joints and endcoords settings. Please refer to example file of PR2.
Without the yaml file, the model can not move or get/send :angle-vector.

  • Visualize1. visualize urdf with Rviz
roslaunch urdf_tutorial display.launch model:=/home/leus/my_model.urdf
  • Visualize2. spawn urdf to gazebo
roslaunch gazebo_ros empty_world.launch
rosrun gazebo_ros spawn_model -file my_model.urdf -urdf -model my_model
  • Visualize3. visualize eus with irtviewer
roseus my_model.l
(objects (list (my_model)))
  • Visualize4. visualize stl with irtviewer
(load "package://eus_assimp/euslisp/eus-assimp.l" )
(setq glv (load-mesh-file "my_model.stl" :scale 1000.0))
(objects (list glv))

CONTRIBUTING

No version for distro kilted showing lunar. Known supported distros are highlighted in the buttons above.
Repo symbol

jsk_model_tools repository

eus_assimp euscollada euslisp_model_conversion_tester eusurdf jsk_model_tools urdf_mesh_converter

ROS Distro
lunar

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_model_tools.git
VCS Type git
VCS Version master
Last Updated 2025-05-10
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
eus_assimp 0.4.5
euscollada 0.4.5
euslisp_model_conversion_tester UNKNOWN
eusurdf 0.4.5
jsk_model_tools 0.4.5
urdf_mesh_converter 0.4.5

README

jsk_model_tools Build Status

Package Melodic (Bionic) Noetic (Focal) Noetic (Buster)
jsk_model_tools (arm64) Build Status Build Status Build Status
jsk_model_tools (armhf) Build Status Build Status —
jsk_model_tools (i386) — — —
jsk_model_tools (amd64) Build Status Build Status Build Status

Model Convert

Convert from CAD manually

(cf. PR of function to automatically convert: https://github.com/euslisp/jskeus/pull/248)

  • Convert1. export stl mesh with SolidEdge

=> my_model.stl is generated.

  • Convert2. generate urdf generate urdf with following contents. （assume that my_model.stl is located at /home/leus/my_model.stl）
<robot name="my_model_name">
  <link name="root">
    <inertial>
     <origin xyz="0 0 0.5" rpy="0 0 0"/>
     <mass value="1"/>
     <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
    </inertial>
    <visual>
     <origin xyz="0 0 0" rpy="0 0 0" />
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </visual>
    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </collision>
  </link>
</robot>

=> save to my_model.urdf

  • Convert3. convert to collada
rosrun collada_urdf_jsk_patch urdf_to_collada my_model.urdf my_model.dae

=> my_model.dae is generated.

  • Convert4. convert to eus
rosrun euscollada collada2eus my_model.dae my_model.l # fixed model version
rosrun euscollada collada2eus my_model.dae my_model.yaml my_model.l

=> my_model.l is generated.
my_model.yaml is used to set joints and endcoords settings. Please refer to example file of PR2.
Without the yaml file, the model can not move or get/send :angle-vector.

  • Visualize1. visualize urdf with Rviz
roslaunch urdf_tutorial display.launch model:=/home/leus/my_model.urdf
  • Visualize2. spawn urdf to gazebo
roslaunch gazebo_ros empty_world.launch
rosrun gazebo_ros spawn_model -file my_model.urdf -urdf -model my_model
  • Visualize3. visualize eus with irtviewer
roseus my_model.l
(objects (list (my_model)))
  • Visualize4. visualize stl with irtviewer
(load "package://eus_assimp/euslisp/eus-assimp.l" )
(setq glv (load-mesh-file "my_model.stl" :scale 1000.0))
(objects (list glv))

CONTRIBUTING

No version for distro rolling showing lunar. Known supported distros are highlighted in the buttons above.
Repo symbol

jsk_model_tools repository

eus_assimp euscollada euslisp_model_conversion_tester eusurdf jsk_model_tools urdf_mesh_converter

ROS Distro
lunar

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_model_tools.git
VCS Type git
VCS Version master
Last Updated 2025-05-10
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
eus_assimp 0.4.5
euscollada 0.4.5
euslisp_model_conversion_tester UNKNOWN
eusurdf 0.4.5
jsk_model_tools 0.4.5
urdf_mesh_converter 0.4.5

README

jsk_model_tools Build Status

Package Melodic (Bionic) Noetic (Focal) Noetic (Buster)
jsk_model_tools (arm64) Build Status Build Status Build Status
jsk_model_tools (armhf) Build Status Build Status —
jsk_model_tools (i386) — — —
jsk_model_tools (amd64) Build Status Build Status Build Status

Model Convert

Convert from CAD manually

(cf. PR of function to automatically convert: https://github.com/euslisp/jskeus/pull/248)

  • Convert1. export stl mesh with SolidEdge

=> my_model.stl is generated.

  • Convert2. generate urdf generate urdf with following contents. （assume that my_model.stl is located at /home/leus/my_model.stl）
<robot name="my_model_name">
  <link name="root">
    <inertial>
     <origin xyz="0 0 0.5" rpy="0 0 0"/>
     <mass value="1"/>
     <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
    </inertial>
    <visual>
     <origin xyz="0 0 0" rpy="0 0 0" />
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </visual>
    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </collision>
  </link>
</robot>

=> save to my_model.urdf

  • Convert3. convert to collada
rosrun collada_urdf_jsk_patch urdf_to_collada my_model.urdf my_model.dae

=> my_model.dae is generated.

  • Convert4. convert to eus
rosrun euscollada collada2eus my_model.dae my_model.l # fixed model version
rosrun euscollada collada2eus my_model.dae my_model.yaml my_model.l

=> my_model.l is generated.
my_model.yaml is used to set joints and endcoords settings. Please refer to example file of PR2.
Without the yaml file, the model can not move or get/send :angle-vector.

  • Visualize1. visualize urdf with Rviz
roslaunch urdf_tutorial display.launch model:=/home/leus/my_model.urdf
  • Visualize2. spawn urdf to gazebo
roslaunch gazebo_ros empty_world.launch
rosrun gazebo_ros spawn_model -file my_model.urdf -urdf -model my_model
  • Visualize3. visualize eus with irtviewer
roseus my_model.l
(objects (list (my_model)))
  • Visualize4. visualize stl with irtviewer
(load "package://eus_assimp/euslisp/eus-assimp.l" )
(setq glv (load-mesh-file "my_model.stl" :scale 1000.0))
(objects (list glv))

CONTRIBUTING

No version for distro ardent showing lunar. Known supported distros are highlighted in the buttons above.
Repo symbol

jsk_model_tools repository

eus_assimp euscollada euslisp_model_conversion_tester eusurdf jsk_model_tools urdf_mesh_converter

ROS Distro
lunar

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_model_tools.git
VCS Type git
VCS Version master
Last Updated 2025-05-10
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
eus_assimp 0.4.5
euscollada 0.4.5
euslisp_model_conversion_tester UNKNOWN
eusurdf 0.4.5
jsk_model_tools 0.4.5
urdf_mesh_converter 0.4.5

README

jsk_model_tools Build Status

Package Melodic (Bionic) Noetic (Focal) Noetic (Buster)
jsk_model_tools (arm64) Build Status Build Status Build Status
jsk_model_tools (armhf) Build Status Build Status —
jsk_model_tools (i386) — — —
jsk_model_tools (amd64) Build Status Build Status Build Status

Model Convert

Convert from CAD manually

(cf. PR of function to automatically convert: https://github.com/euslisp/jskeus/pull/248)

  • Convert1. export stl mesh with SolidEdge

=> my_model.stl is generated.

  • Convert2. generate urdf generate urdf with following contents. （assume that my_model.stl is located at /home/leus/my_model.stl）
<robot name="my_model_name">
  <link name="root">
    <inertial>
     <origin xyz="0 0 0.5" rpy="0 0 0"/>
     <mass value="1"/>
     <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
    </inertial>
    <visual>
     <origin xyz="0 0 0" rpy="0 0 0" />
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </visual>
    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </collision>
  </link>
</robot>

=> save to my_model.urdf

  • Convert3. convert to collada
rosrun collada_urdf_jsk_patch urdf_to_collada my_model.urdf my_model.dae

=> my_model.dae is generated.

  • Convert4. convert to eus
rosrun euscollada collada2eus my_model.dae my_model.l # fixed model version
rosrun euscollada collada2eus my_model.dae my_model.yaml my_model.l

=> my_model.l is generated.
my_model.yaml is used to set joints and endcoords settings. Please refer to example file of PR2.
Without the yaml file, the model can not move or get/send :angle-vector.

  • Visualize1. visualize urdf with Rviz
roslaunch urdf_tutorial display.launch model:=/home/leus/my_model.urdf
  • Visualize2. spawn urdf to gazebo
roslaunch gazebo_ros empty_world.launch
rosrun gazebo_ros spawn_model -file my_model.urdf -urdf -model my_model
  • Visualize3. visualize eus with irtviewer
roseus my_model.l
(objects (list (my_model)))
  • Visualize4. visualize stl with irtviewer
(load "package://eus_assimp/euslisp/eus-assimp.l" )
(setq glv (load-mesh-file "my_model.stl" :scale 1000.0))
(objects (list glv))

CONTRIBUTING

No version for distro bouncy showing lunar. Known supported distros are highlighted in the buttons above.
Repo symbol

jsk_model_tools repository

eus_assimp euscollada euslisp_model_conversion_tester eusurdf jsk_model_tools urdf_mesh_converter

ROS Distro
lunar

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_model_tools.git
VCS Type git
VCS Version master
Last Updated 2025-05-10
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
eus_assimp 0.4.5
euscollada 0.4.5
euslisp_model_conversion_tester UNKNOWN
eusurdf 0.4.5
jsk_model_tools 0.4.5
urdf_mesh_converter 0.4.5

README

jsk_model_tools Build Status

Package Melodic (Bionic) Noetic (Focal) Noetic (Buster)
jsk_model_tools (arm64) Build Status Build Status Build Status
jsk_model_tools (armhf) Build Status Build Status —
jsk_model_tools (i386) — — —
jsk_model_tools (amd64) Build Status Build Status Build Status

Model Convert

Convert from CAD manually

(cf. PR of function to automatically convert: https://github.com/euslisp/jskeus/pull/248)

  • Convert1. export stl mesh with SolidEdge

=> my_model.stl is generated.

  • Convert2. generate urdf generate urdf with following contents. （assume that my_model.stl is located at /home/leus/my_model.stl）
<robot name="my_model_name">
  <link name="root">
    <inertial>
     <origin xyz="0 0 0.5" rpy="0 0 0"/>
     <mass value="1"/>
     <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
    </inertial>
    <visual>
     <origin xyz="0 0 0" rpy="0 0 0" />
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </visual>
    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </collision>
  </link>
</robot>

=> save to my_model.urdf

  • Convert3. convert to collada
rosrun collada_urdf_jsk_patch urdf_to_collada my_model.urdf my_model.dae

=> my_model.dae is generated.

  • Convert4. convert to eus
rosrun euscollada collada2eus my_model.dae my_model.l # fixed model version
rosrun euscollada collada2eus my_model.dae my_model.yaml my_model.l

=> my_model.l is generated.
my_model.yaml is used to set joints and endcoords settings. Please refer to example file of PR2.
Without the yaml file, the model can not move or get/send :angle-vector.

  • Visualize1. visualize urdf with Rviz
roslaunch urdf_tutorial display.launch model:=/home/leus/my_model.urdf
  • Visualize2. spawn urdf to gazebo
roslaunch gazebo_ros empty_world.launch
rosrun gazebo_ros spawn_model -file my_model.urdf -urdf -model my_model
  • Visualize3. visualize eus with irtviewer
roseus my_model.l
(objects (list (my_model)))
  • Visualize4. visualize stl with irtviewer
(load "package://eus_assimp/euslisp/eus-assimp.l" )
(setq glv (load-mesh-file "my_model.stl" :scale 1000.0))
(objects (list glv))

CONTRIBUTING

No version for distro crystal showing lunar. Known supported distros are highlighted in the buttons above.
Repo symbol

jsk_model_tools repository

eus_assimp euscollada euslisp_model_conversion_tester eusurdf jsk_model_tools urdf_mesh_converter

ROS Distro
lunar

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_model_tools.git
VCS Type git
VCS Version master
Last Updated 2025-05-10
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
eus_assimp 0.4.5
euscollada 0.4.5
euslisp_model_conversion_tester UNKNOWN
eusurdf 0.4.5
jsk_model_tools 0.4.5
urdf_mesh_converter 0.4.5

README

jsk_model_tools Build Status

Package Melodic (Bionic) Noetic (Focal) Noetic (Buster)
jsk_model_tools (arm64) Build Status Build Status Build Status
jsk_model_tools (armhf) Build Status Build Status —
jsk_model_tools (i386) — — —
jsk_model_tools (amd64) Build Status Build Status Build Status

Model Convert

Convert from CAD manually

(cf. PR of function to automatically convert: https://github.com/euslisp/jskeus/pull/248)

  • Convert1. export stl mesh with SolidEdge

=> my_model.stl is generated.

  • Convert2. generate urdf generate urdf with following contents. （assume that my_model.stl is located at /home/leus/my_model.stl）
<robot name="my_model_name">
  <link name="root">
    <inertial>
     <origin xyz="0 0 0.5" rpy="0 0 0"/>
     <mass value="1"/>
     <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
    </inertial>
    <visual>
     <origin xyz="0 0 0" rpy="0 0 0" />
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </visual>
    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </collision>
  </link>
</robot>

=> save to my_model.urdf

  • Convert3. convert to collada
rosrun collada_urdf_jsk_patch urdf_to_collada my_model.urdf my_model.dae

=> my_model.dae is generated.

  • Convert4. convert to eus
rosrun euscollada collada2eus my_model.dae my_model.l # fixed model version
rosrun euscollada collada2eus my_model.dae my_model.yaml my_model.l

=> my_model.l is generated.
my_model.yaml is used to set joints and endcoords settings. Please refer to example file of PR2.
Without the yaml file, the model can not move or get/send :angle-vector.

  • Visualize1. visualize urdf with Rviz
roslaunch urdf_tutorial display.launch model:=/home/leus/my_model.urdf
  • Visualize2. spawn urdf to gazebo
roslaunch gazebo_ros empty_world.launch
rosrun gazebo_ros spawn_model -file my_model.urdf -urdf -model my_model
  • Visualize3. visualize eus with irtviewer
roseus my_model.l
(objects (list (my_model)))
  • Visualize4. visualize stl with irtviewer
(load "package://eus_assimp/euslisp/eus-assimp.l" )
(setq glv (load-mesh-file "my_model.stl" :scale 1000.0))
(objects (list glv))

CONTRIBUTING

No version for distro eloquent showing lunar. Known supported distros are highlighted in the buttons above.
Repo symbol

jsk_model_tools repository

eus_assimp euscollada euslisp_model_conversion_tester eusurdf jsk_model_tools urdf_mesh_converter

ROS Distro
lunar

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_model_tools.git
VCS Type git
VCS Version master
Last Updated 2025-05-10
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
eus_assimp 0.4.5
euscollada 0.4.5
euslisp_model_conversion_tester UNKNOWN
eusurdf 0.4.5
jsk_model_tools 0.4.5
urdf_mesh_converter 0.4.5

README

jsk_model_tools Build Status

Package Melodic (Bionic) Noetic (Focal) Noetic (Buster)
jsk_model_tools (arm64) Build Status Build Status Build Status
jsk_model_tools (armhf) Build Status Build Status —
jsk_model_tools (i386) — — —
jsk_model_tools (amd64) Build Status Build Status Build Status

Model Convert

Convert from CAD manually

(cf. PR of function to automatically convert: https://github.com/euslisp/jskeus/pull/248)

  • Convert1. export stl mesh with SolidEdge

=> my_model.stl is generated.

  • Convert2. generate urdf generate urdf with following contents. （assume that my_model.stl is located at /home/leus/my_model.stl）
<robot name="my_model_name">
  <link name="root">
    <inertial>
     <origin xyz="0 0 0.5" rpy="0 0 0"/>
     <mass value="1"/>
     <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
    </inertial>
    <visual>
     <origin xyz="0 0 0" rpy="0 0 0" />
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </visual>
    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </collision>
  </link>
</robot>

=> save to my_model.urdf

  • Convert3. convert to collada
rosrun collada_urdf_jsk_patch urdf_to_collada my_model.urdf my_model.dae

=> my_model.dae is generated.

  • Convert4. convert to eus
rosrun euscollada collada2eus my_model.dae my_model.l # fixed model version
rosrun euscollada collada2eus my_model.dae my_model.yaml my_model.l

=> my_model.l is generated.
my_model.yaml is used to set joints and endcoords settings. Please refer to example file of PR2.
Without the yaml file, the model can not move or get/send :angle-vector.

  • Visualize1. visualize urdf with Rviz
roslaunch urdf_tutorial display.launch model:=/home/leus/my_model.urdf
  • Visualize2. spawn urdf to gazebo
roslaunch gazebo_ros empty_world.launch
rosrun gazebo_ros spawn_model -file my_model.urdf -urdf -model my_model
  • Visualize3. visualize eus with irtviewer
roseus my_model.l
(objects (list (my_model)))
  • Visualize4. visualize stl with irtviewer
(load "package://eus_assimp/euslisp/eus-assimp.l" )
(setq glv (load-mesh-file "my_model.stl" :scale 1000.0))
(objects (list glv))

CONTRIBUTING

No version for distro dashing showing lunar. Known supported distros are highlighted in the buttons above.
Repo symbol

jsk_model_tools repository

eus_assimp euscollada euslisp_model_conversion_tester eusurdf jsk_model_tools urdf_mesh_converter

ROS Distro
lunar

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_model_tools.git
VCS Type git
VCS Version master
Last Updated 2025-05-10
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
eus_assimp 0.4.5
euscollada 0.4.5
euslisp_model_conversion_tester UNKNOWN
eusurdf 0.4.5
jsk_model_tools 0.4.5
urdf_mesh_converter 0.4.5

README

jsk_model_tools Build Status

Package Melodic (Bionic) Noetic (Focal) Noetic (Buster)
jsk_model_tools (arm64) Build Status Build Status Build Status
jsk_model_tools (armhf) Build Status Build Status —
jsk_model_tools (i386) — — —
jsk_model_tools (amd64) Build Status Build Status Build Status

Model Convert

Convert from CAD manually

(cf. PR of function to automatically convert: https://github.com/euslisp/jskeus/pull/248)

  • Convert1. export stl mesh with SolidEdge

=> my_model.stl is generated.

  • Convert2. generate urdf generate urdf with following contents. （assume that my_model.stl is located at /home/leus/my_model.stl）
<robot name="my_model_name">
  <link name="root">
    <inertial>
     <origin xyz="0 0 0.5" rpy="0 0 0"/>
     <mass value="1"/>
     <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
    </inertial>
    <visual>
     <origin xyz="0 0 0" rpy="0 0 0" />
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </visual>
    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </collision>
  </link>
</robot>

=> save to my_model.urdf

  • Convert3. convert to collada
rosrun collada_urdf_jsk_patch urdf_to_collada my_model.urdf my_model.dae

=> my_model.dae is generated.

  • Convert4. convert to eus
rosrun euscollada collada2eus my_model.dae my_model.l # fixed model version
rosrun euscollada collada2eus my_model.dae my_model.yaml my_model.l

=> my_model.l is generated.
my_model.yaml is used to set joints and endcoords settings. Please refer to example file of PR2.
Without the yaml file, the model can not move or get/send :angle-vector.

  • Visualize1. visualize urdf with Rviz
roslaunch urdf_tutorial display.launch model:=/home/leus/my_model.urdf
  • Visualize2. spawn urdf to gazebo
roslaunch gazebo_ros empty_world.launch
rosrun gazebo_ros spawn_model -file my_model.urdf -urdf -model my_model
  • Visualize3. visualize eus with irtviewer
roseus my_model.l
(objects (list (my_model)))
  • Visualize4. visualize stl with irtviewer
(load "package://eus_assimp/euslisp/eus-assimp.l" )
(setq glv (load-mesh-file "my_model.stl" :scale 1000.0))
(objects (list glv))

CONTRIBUTING

No version for distro galactic showing lunar. Known supported distros are highlighted in the buttons above.
Repo symbol

jsk_model_tools repository

eus_assimp euscollada euslisp_model_conversion_tester eusurdf jsk_model_tools urdf_mesh_converter

ROS Distro
lunar

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_model_tools.git
VCS Type git
VCS Version master
Last Updated 2025-05-10
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
eus_assimp 0.4.5
euscollada 0.4.5
euslisp_model_conversion_tester UNKNOWN
eusurdf 0.4.5
jsk_model_tools 0.4.5
urdf_mesh_converter 0.4.5

README

jsk_model_tools Build Status

Package Melodic (Bionic) Noetic (Focal) Noetic (Buster)
jsk_model_tools (arm64) Build Status Build Status Build Status
jsk_model_tools (armhf) Build Status Build Status —
jsk_model_tools (i386) — — —
jsk_model_tools (amd64) Build Status Build Status Build Status

Model Convert

Convert from CAD manually

(cf. PR of function to automatically convert: https://github.com/euslisp/jskeus/pull/248)

  • Convert1. export stl mesh with SolidEdge

=> my_model.stl is generated.

  • Convert2. generate urdf generate urdf with following contents. （assume that my_model.stl is located at /home/leus/my_model.stl）
<robot name="my_model_name">
  <link name="root">
    <inertial>
     <origin xyz="0 0 0.5" rpy="0 0 0"/>
     <mass value="1"/>
     <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
    </inertial>
    <visual>
     <origin xyz="0 0 0" rpy="0 0 0" />
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </visual>
    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </collision>
  </link>
</robot>

=> save to my_model.urdf

  • Convert3. convert to collada
rosrun collada_urdf_jsk_patch urdf_to_collada my_model.urdf my_model.dae

=> my_model.dae is generated.

  • Convert4. convert to eus
rosrun euscollada collada2eus my_model.dae my_model.l # fixed model version
rosrun euscollada collada2eus my_model.dae my_model.yaml my_model.l

=> my_model.l is generated.
my_model.yaml is used to set joints and endcoords settings. Please refer to example file of PR2.
Without the yaml file, the model can not move or get/send :angle-vector.

  • Visualize1. visualize urdf with Rviz
roslaunch urdf_tutorial display.launch model:=/home/leus/my_model.urdf
  • Visualize2. spawn urdf to gazebo
roslaunch gazebo_ros empty_world.launch
rosrun gazebo_ros spawn_model -file my_model.urdf -urdf -model my_model
  • Visualize3. visualize eus with irtviewer
roseus my_model.l
(objects (list (my_model)))
  • Visualize4. visualize stl with irtviewer
(load "package://eus_assimp/euslisp/eus-assimp.l" )
(setq glv (load-mesh-file "my_model.stl" :scale 1000.0))
(objects (list glv))

CONTRIBUTING

No version for distro foxy showing lunar. Known supported distros are highlighted in the buttons above.
Repo symbol

jsk_model_tools repository

eus_assimp euscollada euslisp_model_conversion_tester eusurdf jsk_model_tools urdf_mesh_converter

ROS Distro
lunar

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_model_tools.git
VCS Type git
VCS Version master
Last Updated 2025-05-10
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
eus_assimp 0.4.5
euscollada 0.4.5
euslisp_model_conversion_tester UNKNOWN
eusurdf 0.4.5
jsk_model_tools 0.4.5
urdf_mesh_converter 0.4.5

README

jsk_model_tools Build Status

Package Melodic (Bionic) Noetic (Focal) Noetic (Buster)
jsk_model_tools (arm64) Build Status Build Status Build Status
jsk_model_tools (armhf) Build Status Build Status —
jsk_model_tools (i386) — — —
jsk_model_tools (amd64) Build Status Build Status Build Status

Model Convert

Convert from CAD manually

(cf. PR of function to automatically convert: https://github.com/euslisp/jskeus/pull/248)

  • Convert1. export stl mesh with SolidEdge

=> my_model.stl is generated.

  • Convert2. generate urdf generate urdf with following contents. （assume that my_model.stl is located at /home/leus/my_model.stl）
<robot name="my_model_name">
  <link name="root">
    <inertial>
     <origin xyz="0 0 0.5" rpy="0 0 0"/>
     <mass value="1"/>
     <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
    </inertial>
    <visual>
     <origin xyz="0 0 0" rpy="0 0 0" />
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </visual>
    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </collision>
  </link>
</robot>

=> save to my_model.urdf

  • Convert3. convert to collada
rosrun collada_urdf_jsk_patch urdf_to_collada my_model.urdf my_model.dae

=> my_model.dae is generated.

  • Convert4. convert to eus
rosrun euscollada collada2eus my_model.dae my_model.l # fixed model version
rosrun euscollada collada2eus my_model.dae my_model.yaml my_model.l

=> my_model.l is generated.
my_model.yaml is used to set joints and endcoords settings. Please refer to example file of PR2.
Without the yaml file, the model can not move or get/send :angle-vector.

  • Visualize1. visualize urdf with Rviz
roslaunch urdf_tutorial display.launch model:=/home/leus/my_model.urdf
  • Visualize2. spawn urdf to gazebo
roslaunch gazebo_ros empty_world.launch
rosrun gazebo_ros spawn_model -file my_model.urdf -urdf -model my_model
  • Visualize3. visualize eus with irtviewer
roseus my_model.l
(objects (list (my_model)))
  • Visualize4. visualize stl with irtviewer
(load "package://eus_assimp/euslisp/eus-assimp.l" )
(setq glv (load-mesh-file "my_model.stl" :scale 1000.0))
(objects (list glv))

CONTRIBUTING

No version for distro iron showing lunar. Known supported distros are highlighted in the buttons above.
Repo symbol

jsk_model_tools repository

eus_assimp euscollada euslisp_model_conversion_tester eusurdf jsk_model_tools urdf_mesh_converter

ROS Distro
lunar

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_model_tools.git
VCS Type git
VCS Version master
Last Updated 2025-05-10
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
eus_assimp 0.4.5
euscollada 0.4.5
euslisp_model_conversion_tester UNKNOWN
eusurdf 0.4.5
jsk_model_tools 0.4.5
urdf_mesh_converter 0.4.5

README

jsk_model_tools Build Status

Package Melodic (Bionic) Noetic (Focal) Noetic (Buster)
jsk_model_tools (arm64) Build Status Build Status Build Status
jsk_model_tools (armhf) Build Status Build Status —
jsk_model_tools (i386) — — —
jsk_model_tools (amd64) Build Status Build Status Build Status

Model Convert

Convert from CAD manually

(cf. PR of function to automatically convert: https://github.com/euslisp/jskeus/pull/248)

  • Convert1. export stl mesh with SolidEdge

=> my_model.stl is generated.

  • Convert2. generate urdf generate urdf with following contents. （assume that my_model.stl is located at /home/leus/my_model.stl）
<robot name="my_model_name">
  <link name="root">
    <inertial>
     <origin xyz="0 0 0.5" rpy="0 0 0"/>
     <mass value="1"/>
     <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
    </inertial>
    <visual>
     <origin xyz="0 0 0" rpy="0 0 0" />
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </visual>
    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </collision>
  </link>
</robot>

=> save to my_model.urdf

  • Convert3. convert to collada
rosrun collada_urdf_jsk_patch urdf_to_collada my_model.urdf my_model.dae

=> my_model.dae is generated.

  • Convert4. convert to eus
rosrun euscollada collada2eus my_model.dae my_model.l # fixed model version
rosrun euscollada collada2eus my_model.dae my_model.yaml my_model.l

=> my_model.l is generated.
my_model.yaml is used to set joints and endcoords settings. Please refer to example file of PR2.
Without the yaml file, the model can not move or get/send :angle-vector.

  • Visualize1. visualize urdf with Rviz
roslaunch urdf_tutorial display.launch model:=/home/leus/my_model.urdf
  • Visualize2. spawn urdf to gazebo
roslaunch gazebo_ros empty_world.launch
rosrun gazebo_ros spawn_model -file my_model.urdf -urdf -model my_model
  • Visualize3. visualize eus with irtviewer
roseus my_model.l
(objects (list (my_model)))
  • Visualize4. visualize stl with irtviewer
(load "package://eus_assimp/euslisp/eus-assimp.l" )
(setq glv (load-mesh-file "my_model.stl" :scale 1000.0))
(objects (list glv))

CONTRIBUTING

Repo symbol

jsk_model_tools repository

eus_assimp euscollada euslisp_model_conversion_tester eusurdf jsk_model_tools urdf_mesh_converter

ROS Distro
lunar

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_model_tools.git
VCS Type git
VCS Version master
Last Updated 2025-05-10
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
eus_assimp 0.4.5
euscollada 0.4.5
euslisp_model_conversion_tester UNKNOWN
eusurdf 0.4.5
jsk_model_tools 0.4.5
urdf_mesh_converter 0.4.5

README

jsk_model_tools Build Status

Package Melodic (Bionic) Noetic (Focal) Noetic (Buster)
jsk_model_tools (arm64) Build Status Build Status Build Status
jsk_model_tools (armhf) Build Status Build Status —
jsk_model_tools (i386) — — —
jsk_model_tools (amd64) Build Status Build Status Build Status

Model Convert

Convert from CAD manually

(cf. PR of function to automatically convert: https://github.com/euslisp/jskeus/pull/248)

  • Convert1. export stl mesh with SolidEdge

=> my_model.stl is generated.

  • Convert2. generate urdf generate urdf with following contents. （assume that my_model.stl is located at /home/leus/my_model.stl）
<robot name="my_model_name">
  <link name="root">
    <inertial>
     <origin xyz="0 0 0.5" rpy="0 0 0"/>
     <mass value="1"/>
     <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
    </inertial>
    <visual>
     <origin xyz="0 0 0" rpy="0 0 0" />
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </visual>
    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </collision>
  </link>
</robot>

=> save to my_model.urdf

  • Convert3. convert to collada
rosrun collada_urdf_jsk_patch urdf_to_collada my_model.urdf my_model.dae

=> my_model.dae is generated.

  • Convert4. convert to eus
rosrun euscollada collada2eus my_model.dae my_model.l # fixed model version
rosrun euscollada collada2eus my_model.dae my_model.yaml my_model.l

=> my_model.l is generated.
my_model.yaml is used to set joints and endcoords settings. Please refer to example file of PR2.
Without the yaml file, the model can not move or get/send :angle-vector.

  • Visualize1. visualize urdf with Rviz
roslaunch urdf_tutorial display.launch model:=/home/leus/my_model.urdf
  • Visualize2. spawn urdf to gazebo
roslaunch gazebo_ros empty_world.launch
rosrun gazebo_ros spawn_model -file my_model.urdf -urdf -model my_model
  • Visualize3. visualize eus with irtviewer
roseus my_model.l
(objects (list (my_model)))
  • Visualize4. visualize stl with irtviewer
(load "package://eus_assimp/euslisp/eus-assimp.l" )
(setq glv (load-mesh-file "my_model.stl" :scale 1000.0))
(objects (list glv))

CONTRIBUTING

Repo symbol

jsk_model_tools repository

eus_assimp euscollada euslisp_model_conversion_tester eusurdf jsk_model_tools

ROS Distro
jade

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_model_tools.git
VCS Type git
VCS Version 0.3.5
Last Updated 2017-02-23
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
eus_assimp 0.3.5
euscollada 0.3.5
euslisp_model_conversion_tester UNKNOWN
eusurdf 0.3.5
jsk_model_tools 0.3.5

README

jsk_model_tools Build Status

Package Indigo (Saucy) Indigo (Trusty) Jade (Trusty) Jade (Vivid) Kinetic (Wily) Kinetic (Xenial)
jsk_model_tools (armhf) Build Status Build Status Build Status Build Status Build Status Build Status
jsk_model_tools (i386) Build Status Build Status Build Status Build Status Build Status Build Status
jsk_model_tools (amd64) Build Status Build Status Build Status Build Status Build Status Build Status

Model Convert

Convert from CAD manually

(cf. PR of function to automatically convert: https://github.com/euslisp/jskeus/pull/248)

  • Convert1. export stl mesh with SolidEdge

=> my_model.stl is generated.

  • Convert2. generate urdf generate urdf with following contents. （assume that my_model.stl is located at /home/leus/my_model.stl）
<robot name="my_model_name">
  <link name="root">
    <inertial>
     <origin xyz="0 0 0.5" rpy="0 0 0"/>
     <mass value="1"/>
     <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
    </inertial>
    <visual>
     <origin xyz="0 0 0" rpy="0 0 0" />
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </visual>
    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </collision>
  </link>
</robot>

=> save to my_model.urdf

  • Convert3. convert to collada
rosrun collada_urdf_jsk_patch urdf_to_collada my_model.urdf my_model.dae

=> my_model.dae is generated.

  • Convert4. convert to eus
rosrun euscollada collada2eus my_model.dae my_model.l

=> my_model.l is generated.

  • Visualize1. visualize urdf with Rviz
roslaunch urdf_tutorial display.launch model:=/home/leus/my_model.urdf
  • Visualize2. spawn urdf to gazebo
roslaunch gazebo_ros empty_world.launch
rosrun gazebo_ros spawn_model -file my_model.urdf -urdf -model my_model
  • Visualize3. visualize eus with irtviewer
roseus my_model.l
(objects (list (my_model)))
  • Visualize4. visualize stl with irtviewer
(load "package://eus_assimp/euslisp/eus-assimp.l" )
(setq glv (load-mesh-file "my_model.stl" :scale 1000.0))
(objects (list glv))

CONTRIBUTING

Repo symbol

jsk_model_tools repository

eus_assimp euscollada euslisp_model_conversion_tester eusurdf jsk_model_tools urdf_mesh_converter

ROS Distro
indigo

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_model_tools.git
VCS Type git
VCS Version master
Last Updated 2025-05-10
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
eus_assimp 0.4.5
euscollada 0.4.5
euslisp_model_conversion_tester UNKNOWN
eusurdf 0.4.5
jsk_model_tools 0.4.5
urdf_mesh_converter 0.4.5

README

jsk_model_tools Build Status

Package Melodic (Bionic) Noetic (Focal) Noetic (Buster)
jsk_model_tools (arm64) Build Status Build Status Build Status
jsk_model_tools (armhf) Build Status Build Status —
jsk_model_tools (i386) — — —
jsk_model_tools (amd64) Build Status Build Status Build Status

Model Convert

Convert from CAD manually

(cf. PR of function to automatically convert: https://github.com/euslisp/jskeus/pull/248)

  • Convert1. export stl mesh with SolidEdge

=> my_model.stl is generated.

  • Convert2. generate urdf generate urdf with following contents. （assume that my_model.stl is located at /home/leus/my_model.stl）
<robot name="my_model_name">
  <link name="root">
    <inertial>
     <origin xyz="0 0 0.5" rpy="0 0 0"/>
     <mass value="1"/>
     <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
    </inertial>
    <visual>
     <origin xyz="0 0 0" rpy="0 0 0" />
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </visual>
    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </collision>
  </link>
</robot>

=> save to my_model.urdf

  • Convert3. convert to collada
rosrun collada_urdf_jsk_patch urdf_to_collada my_model.urdf my_model.dae

=> my_model.dae is generated.

  • Convert4. convert to eus
rosrun euscollada collada2eus my_model.dae my_model.l # fixed model version
rosrun euscollada collada2eus my_model.dae my_model.yaml my_model.l

=> my_model.l is generated.
my_model.yaml is used to set joints and endcoords settings. Please refer to example file of PR2.
Without the yaml file, the model can not move or get/send :angle-vector.

  • Visualize1. visualize urdf with Rviz
roslaunch urdf_tutorial display.launch model:=/home/leus/my_model.urdf
  • Visualize2. spawn urdf to gazebo
roslaunch gazebo_ros empty_world.launch
rosrun gazebo_ros spawn_model -file my_model.urdf -urdf -model my_model
  • Visualize3. visualize eus with irtviewer
roseus my_model.l
(objects (list (my_model)))
  • Visualize4. visualize stl with irtviewer
(load "package://eus_assimp/euslisp/eus-assimp.l" )
(setq glv (load-mesh-file "my_model.stl" :scale 1000.0))
(objects (list glv))

CONTRIBUTING

Repo symbol

jsk_model_tools repository

ROS Distro
hydro

Repository Summary

Checkout URI https://github.com/tork-a/jsk_model_tools-release.git
VCS Type git
VCS Version master
Last Updated 2023-11-30
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

No packages found.

README

jsk_model_tools (noetic) - 0.4.5-1

The packages in the jsk_model_tools repository were released into the noetic distro by running /usr/bin/bloom-release jsk_model_tools --rosdistro noetic --track noetic on Thu, 30 Nov 2023 10:24:19 -0000

These packages were released:

  • eus_assimp
  • euscollada
  • eusurdf
  • jsk_model_tools

Version of package(s) in repository jsk_model_tools:

  • upstream repository: https://github.com/jsk-ros-pkg/jsk_model_tools
  • release repository: https://github.com/tork-a/jsk_model_tools-release.git
  • rosdistro version: 0.4.4-2
  • old version: 0.4.4-2
  • new version: 0.4.5-1

Versions of tools used:

  • bloom version: 0.11.2
  • catkin_pkg version: 0.5.2
  • rosdep version: 0.22.1
  • rosdistro version: 0.8.3
  • vcstools version: 0.1.42

jsk_model_tools (noetic) - 0.4.4-2

The packages in the jsk_model_tools repository were released into the noetic distro by running /usr/bin/bloom-release jsk_model_tools --track noetic --rosdistro noetic on Fri, 15 Jul 2022 06:20:37 -0000

These packages were released:

  • eus_assimp
  • euscollada
  • eusurdf
  • jsk_model_tools

Version of package(s) in repository jsk_model_tools:

  • upstream repository: https://github.com/jsk-ros-pkg/jsk_model_tools
  • release repository: https://github.com/tork-a/jsk_model_tools-release.git
  • rosdistro version: 0.4.4-1
  • old version: 0.4.4-1
  • new version: 0.4.4-2

Versions of tools used:

  • bloom version: 0.11.1
  • catkin_pkg version: 0.5.0
  • rosdep version: 0.21.0
  • rosdistro version: 0.8.3
  • vcstools version: 0.1.42

jsk_model_tools (noetic) - 0.4.4-1

The packages in the jsk_model_tools repository were released into the noetic distro by running /usr/bin/bloom-release jsk_model_tools --rosdistro noetic --track noetic on Thu, 12 May 2022 08:45:25 -0000

These packages were released:

  • eus_assimp
  • euscollada
  • eusurdf
  • jsk_model_tools

Version of package(s) in repository jsk_model_tools:

  • upstream repository: https://github.com/jsk-ros-pkg/jsk_model_tools
  • release repository: https://github.com/tork-a/jsk_model_tools-release.git
  • rosdistro version: 0.4.3-1
  • old version: 0.4.3-1
  • new version: 0.4.4-1

Versions of tools used:

  • bloom version: 0.11.1
  • catkin_pkg version: 0.4.24
  • rosdep version: 0.21.0
  • rosdistro version: 0.8.3
  • vcstools version: 0.1.42

jsk_model_tools (melodic) - 0.4.4-1

The packages in the jsk_model_tools repository were released into the melodic distro by running /usr/bin/bloom-release jsk_model_tools --rosdistro melodic --track melodic on Thu, 12 May 2022 04:29:19 -0000

These packages were released:

  • eus_assimp
  • euscollada
  • eusurdf
  • jsk_model_tools

Version of package(s) in repository jsk_model_tools:

  • upstream repository: https://github.com/jsk-ros-pkg/jsk_model_tools
  • release repository: https://github.com/tork-a/jsk_model_tools-release.git
  • rosdistro version: 0.4.3-0
  • old version: 0.4.3-1
  • new version: 0.4.4-1

Versions of tools used:

File truncated at 100 lines see the full file

CONTRIBUTING

Repo symbol

jsk_model_tools repository

eus_assimp euscollada euslisp_model_conversion_tester eusurdf jsk_model_tools urdf_mesh_converter

ROS Distro
kinetic

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_model_tools.git
VCS Type git
VCS Version master
Last Updated 2025-05-10
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
eus_assimp 0.4.5
euscollada 0.4.5
euslisp_model_conversion_tester UNKNOWN
eusurdf 0.4.5
jsk_model_tools 0.4.5
urdf_mesh_converter 0.4.5

README

jsk_model_tools Build Status

Package Melodic (Bionic) Noetic (Focal) Noetic (Buster)
jsk_model_tools (arm64) Build Status Build Status Build Status
jsk_model_tools (armhf) Build Status Build Status —
jsk_model_tools (i386) — — —
jsk_model_tools (amd64) Build Status Build Status Build Status

Model Convert

Convert from CAD manually

(cf. PR of function to automatically convert: https://github.com/euslisp/jskeus/pull/248)

  • Convert1. export stl mesh with SolidEdge

=> my_model.stl is generated.

  • Convert2. generate urdf generate urdf with following contents. （assume that my_model.stl is located at /home/leus/my_model.stl）
<robot name="my_model_name">
  <link name="root">
    <inertial>
     <origin xyz="0 0 0.5" rpy="0 0 0"/>
     <mass value="1"/>
     <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
    </inertial>
    <visual>
     <origin xyz="0 0 0" rpy="0 0 0" />
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </visual>
    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </collision>
  </link>
</robot>

=> save to my_model.urdf

  • Convert3. convert to collada
rosrun collada_urdf_jsk_patch urdf_to_collada my_model.urdf my_model.dae

=> my_model.dae is generated.

  • Convert4. convert to eus
rosrun euscollada collada2eus my_model.dae my_model.l # fixed model version
rosrun euscollada collada2eus my_model.dae my_model.yaml my_model.l

=> my_model.l is generated.
my_model.yaml is used to set joints and endcoords settings. Please refer to example file of PR2.
Without the yaml file, the model can not move or get/send :angle-vector.

  • Visualize1. visualize urdf with Rviz
roslaunch urdf_tutorial display.launch model:=/home/leus/my_model.urdf
  • Visualize2. spawn urdf to gazebo
roslaunch gazebo_ros empty_world.launch
rosrun gazebo_ros spawn_model -file my_model.urdf -urdf -model my_model
  • Visualize3. visualize eus with irtviewer
roseus my_model.l
(objects (list (my_model)))
  • Visualize4. visualize stl with irtviewer
(load "package://eus_assimp/euslisp/eus-assimp.l" )
(setq glv (load-mesh-file "my_model.stl" :scale 1000.0))
(objects (list glv))

CONTRIBUTING

Repo symbol

jsk_model_tools repository

eus_assimp euscollada euslisp_model_conversion_tester eusurdf jsk_model_tools urdf_mesh_converter

ROS Distro
melodic

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_model_tools.git
VCS Type git
VCS Version master
Last Updated 2025-05-10
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
eus_assimp 0.4.5
euscollada 0.4.5
euslisp_model_conversion_tester UNKNOWN
eusurdf 0.4.5
jsk_model_tools 0.4.5
urdf_mesh_converter 0.4.5

README

jsk_model_tools Build Status

Package Melodic (Bionic) Noetic (Focal) Noetic (Buster)
jsk_model_tools (arm64) Build Status Build Status Build Status
jsk_model_tools (armhf) Build Status Build Status —
jsk_model_tools (i386) — — —
jsk_model_tools (amd64) Build Status Build Status Build Status

Model Convert

Convert from CAD manually

(cf. PR of function to automatically convert: https://github.com/euslisp/jskeus/pull/248)

  • Convert1. export stl mesh with SolidEdge

=> my_model.stl is generated.

  • Convert2. generate urdf generate urdf with following contents. （assume that my_model.stl is located at /home/leus/my_model.stl）
<robot name="my_model_name">
  <link name="root">
    <inertial>
     <origin xyz="0 0 0.5" rpy="0 0 0"/>
     <mass value="1"/>
     <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
    </inertial>
    <visual>
     <origin xyz="0 0 0" rpy="0 0 0" />
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </visual>
    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </collision>
  </link>
</robot>

=> save to my_model.urdf

  • Convert3. convert to collada
rosrun collada_urdf_jsk_patch urdf_to_collada my_model.urdf my_model.dae

=> my_model.dae is generated.

  • Convert4. convert to eus
rosrun euscollada collada2eus my_model.dae my_model.l # fixed model version
rosrun euscollada collada2eus my_model.dae my_model.yaml my_model.l

=> my_model.l is generated.
my_model.yaml is used to set joints and endcoords settings. Please refer to example file of PR2.
Without the yaml file, the model can not move or get/send :angle-vector.

  • Visualize1. visualize urdf with Rviz
roslaunch urdf_tutorial display.launch model:=/home/leus/my_model.urdf
  • Visualize2. spawn urdf to gazebo
roslaunch gazebo_ros empty_world.launch
rosrun gazebo_ros spawn_model -file my_model.urdf -urdf -model my_model
  • Visualize3. visualize eus with irtviewer
roseus my_model.l
(objects (list (my_model)))
  • Visualize4. visualize stl with irtviewer
(load "package://eus_assimp/euslisp/eus-assimp.l" )
(setq glv (load-mesh-file "my_model.stl" :scale 1000.0))
(objects (list glv))

CONTRIBUTING

Repo symbol

jsk_model_tools repository

eus_assimp euscollada euslisp_model_conversion_tester eusurdf jsk_model_tools urdf_mesh_converter

ROS Distro
noetic

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_model_tools.git
VCS Type git
VCS Version master
Last Updated 2025-05-10
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
eus_assimp 0.4.5
euscollada 0.4.5
euslisp_model_conversion_tester UNKNOWN
eusurdf 0.4.5
jsk_model_tools 0.4.5
urdf_mesh_converter 0.4.5

README

jsk_model_tools Build Status

Package Melodic (Bionic) Noetic (Focal) Noetic (Buster)
jsk_model_tools (arm64) Build Status Build Status Build Status
jsk_model_tools (armhf) Build Status Build Status —
jsk_model_tools (i386) — — —
jsk_model_tools (amd64) Build Status Build Status Build Status

Model Convert

Convert from CAD manually

(cf. PR of function to automatically convert: https://github.com/euslisp/jskeus/pull/248)

  • Convert1. export stl mesh with SolidEdge

=> my_model.stl is generated.

  • Convert2. generate urdf generate urdf with following contents. （assume that my_model.stl is located at /home/leus/my_model.stl）
<robot name="my_model_name">
  <link name="root">
    <inertial>
     <origin xyz="0 0 0.5" rpy="0 0 0"/>
     <mass value="1"/>
     <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
    </inertial>
    <visual>
     <origin xyz="0 0 0" rpy="0 0 0" />
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </visual>
    <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
       <mesh filename="file:///home/leus/my_model.stl" />
     </geometry>
    </collision>
  </link>
</robot>

=> save to my_model.urdf

  • Convert3. convert to collada
rosrun collada_urdf_jsk_patch urdf_to_collada my_model.urdf my_model.dae

=> my_model.dae is generated.

  • Convert4. convert to eus
rosrun euscollada collada2eus my_model.dae my_model.l # fixed model version
rosrun euscollada collada2eus my_model.dae my_model.yaml my_model.l

=> my_model.l is generated.
my_model.yaml is used to set joints and endcoords settings. Please refer to example file of PR2.
Without the yaml file, the model can not move or get/send :angle-vector.

  • Visualize1. visualize urdf with Rviz
roslaunch urdf_tutorial display.launch model:=/home/leus/my_model.urdf
  • Visualize2. spawn urdf to gazebo
roslaunch gazebo_ros empty_world.launch
rosrun gazebo_ros spawn_model -file my_model.urdf -urdf -model my_model
  • Visualize3. visualize eus with irtviewer
roseus my_model.l
(objects (list (my_model)))
  • Visualize4. visualize stl with irtviewer
(load "package://eus_assimp/euslisp/eus-assimp.l" )
(setq glv (load-mesh-file "my_model.stl" :scale 1000.0))
(objects (list glv))

CONTRIBUTING