How to add .stl file to a robot?

Question

Valeria Leto 2021-5-12

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/828445-how-to-add-stl-file-to-a-robot

移动：Remo Pillat 2024-3-29

Hi! I would like to add an .stl file to a robot link created with the robotic toolbox. I checked the Visuals field of the body and the model has been loaded properly, but when I use show(robot) nothing happens. How can I fix it?

%body1

body1 = rigidBody('body1');

addVisual(body1, "Mesh", 'IRB 910SC_IRC5C_Arm1_450_rev0.STL');

3 个评论
显示 1更早的评论隐藏 1更早的评论

Valeria Leto 2021-5-13

Hi! I thought it was a mesh problem. I can't loas my stl file at the moment, don't know why. I took it from ABB site.

Valeria Leto 2021-5-13

the output to body1.Visuals is 1x1 cell array

请先登录，再进行评论。

请先登录，再回答此问题。

Answer 1

Yiping Liu 2021-5-13

0
链接

此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/828445-how-to-add-stl-file-to-a-robot#answer_1433366

移动：Remo Pillat 2024-3-29

Valeria,

It might be a scaling issue, i.e. the dimension of the meshes is too small to be seen when rendered.

If you importrobot from URDF, and if the URDF file specifies the scaling for the mesh, the scaling of the mesh will be handled automatically. But if you do it from addVisual, you have to do the scaling on the mesh file yourself, which is not that straighforward.

But that's just a guess, please share your mesh file and the robot description, so we can take a closer look.