Create robot bounding mesh

[gaschler]

Create robot bounding mesh

[gaschler]

Hello Martin,
to answer your first question how to obtain meshes of robots, most manufacturers offer *.step files for download. As an example, the Mitsubishi RV-6SL robot is available as a file rv-6sl_top.stp. Then, you triangulate with FreeCAD and export as *.wrl file wih good quality settings (such that you start with similar vertex counts).

For bounding mesh simplification, always start with the simplest method (metric: average, initialization: midpoint) and make sure the algorithm works on that type of mesh. After that, try potentially finer methods such as (metric: average, initialization: DistancePrimitives).

When evaluating the results, note that the "error" or "mesh error" in boundingmesh-gui is not a distance but a cost function of the respective metric. Computing the exact distance is not part of boundingmesh, other software like meshlab could do it.