Yaskawa GP70L support?

[daenny]

Hi,

Yaskawa has announced the GP70L. Is there anything planned to support that robot?

Kind regards,

Daniel

[gavanderhoorn]

There would be nothing to change on the driver side.

Only thing needed would be a robot support package.

Perhaps @EricMarcil can comment on that.

[daenny]

Ok, I also thought so. We would basically mainly need STL files and a URDF/xacro model, I guess?

[gavanderhoorn]

We would basically mainly need STL files and a URDF/xacro model

exactly.

I'd suggest to start from an existing package and update it for the GP70L.

[EricMarcil]

We can look into making the model. When would you need it?

[daenny]

It's not in a hurry, we can work with the GP88 and adjust the link lengths for now. We are currently looking if the reachability of the GP70L is suitable for our use-case.

[EricMarcil]

That model is not yet available in MotoSim, I'll have to make a request to get the model.

[daenny]

Awesome thanks!

[EricMarcil]

@daenny Ok, I got the MotoSim model but still need to convert them to get mesh format compatible with ROS.
Do you already have a working GP70L package and just need the mesh model or do you want me to create the complete support package?

[daenny]

At the moment, we are using the GP88 urdf with other length for the links, in our custom reachability tooling.
For our case at the moment the stl would be enough, but for future if it's not too much work, a complete package would be needed. I can help with that if you do not have the time.

[EricMarcil]

@daenny Please try these model and let me if they display properly.

meshes_gp70l.zip

[daenny]

Thanks! It works!

We had to change one offset wrt to the GP88 model:


Otherwise it would be: