GP165R robot support package

[EricMarcil]

Add the support package for the Yaskawa GP165R robot

[gavanderhoorn]

Other comment: this model appears to have a balancer unit. As we're not modelling the actual motion of that, I would suggest removing the piston.

When the arm rotates back, the piston starts intersecting with the arm. This can make motion planners consider that a collision -- unless it has been disabled on purpose.

Just removing the piston would avoid that completely I believe.

[EricMarcil]

Other comment: this model appears to have a balancer unit. As we're not modelling the actual motion of that, I would suggest removing the piston.

When the arm rotates back, the piston starts intersecting with the arm. This can make motion planners consider that a collision -- unless it has been disabled on purpose.

Just removing the piston would avoid that completely I believe.

@gavanderhoorn I looked at removing just the piston, it doesn't change much, because we then use a convex hull on the model to create the collision model which will collide with the L-axis anyway.

The orange outline is the model without the piston, so not much of a difference.

[gavanderhoorn]

Thanks for checking.

I agree about the convex hull, but not all planning tools use it.

Having the 'detailed' mesh also not intersecting with the arm covers all cases and doesn't really reduce visual fidelity.

[EricMarcil]

@gavanderhoorn I've updated the link_1_s and removed the piston as per your request.

[gavanderhoorn]

Waiting for green CI, but approving already.

[gavanderhoorn]

Thanks @EricMarcil 👍

[EricMarcil]

@gavanderhoorn Thanks for all the recent reviews and merge!