Request for gp20.urdf File

[saadmahboob71]

Hello,

I would like to kindly request the addition of a URDF file for the Yaskawa GP20 robot model to this repository. I cant seem to find it anywhere. If there's already a version of the GP20 model available elsewhere (public or licensed), a pointer or instructions to integrate it would also be greatly appreciated.

[gavanderhoorn]

Could you please clarify which specific GP20 variant you're looking for? Would you have a model number?

And just mentioning it: the GP20HL support package is here: ros-industrial/motoman/motoman_gp20hl_support.

[EricMarcil]

Hi,
Is this the model you are looking for: https://www.yaskawa.eu.com/robotics/robots/handling-mounting/productdetail/product/gp20_17184
It was never released in North America (they only offer the GP25), but Europe seems to offer it.
Once you confirm that this is the model you are looking for, I'll try to put something together next week.

If you need something to work with sooner, the lower part is seems identical to the GP25, you could always use the GP25 and edit the gp25_macro.xacro file to put in the data from the gp20 2D drawing. You have some gaps in the upper-arm between some model, but otherwise is should be a fairly good representation.

[yeu-wilhelm]

Hi Eric. The type code of the customer's robot is YR-1-06VX25-20-A00.

[EricMarcil]

@yeu-wilhelm I can find that model in MotoSim, is this a model made by YEU?
It looks like an hybrid, the bottom is a GP25, but do you know what model the upper arm is coming from?
Do you have an all.prm file for that robot?

[gavanderhoorn]

@EricMarcil wrote:

I can find that model in MotoSim, is this a model made by YEU?

did you mean to write "I can't find .." @EricMarcil?

[EricMarcil]

Sorry, I CAN'T find...

[yeu-hofmeister]

Hi Eric,
I will send you in a few minutes by mail the all.prm and Motosim file.

Best regards,
Alex

[EricMarcil]

@saadmahboob71 I added the model in the #643

@yeu-hofmeister Thanks for the Motosim models