The mass is most easily measured by weighing an object. You can also use the commercial product SolidWorks to compute these information.įor a guide on using SolidWorks, please refer to Or inertia properties of your model, or quickly clean the model,Ī tool which runs MeshLab internally for this purpose. If you wish to skip the setup and only compute the volume, center of mass, It is shown how to obtain inertial data using the free software MeshLab. These parameters if you have 3D models of the links.Īssuming homogeneous bodies (uniform mass density), This tutorial will guide you through the process of obtaining and setting This will flip all back to front faces in the same way.An accurate simulation requires physically plausible inertial parameters:Īnd the moment of inertia matrix of all links. To unify these normal, issue the commandĪnd select everything. NOTE: when you bring your mesh into your 3d application there may be “back to front” sections in Rhino these will show up as darker patches. When you are happy with the result export the mesh usingĪnd choose an appropriate file type – OBJ would be suitable for bringing into Rhino, Blender, 3DS etc Wait – potentially for a whileĪfter the process is complete you will then be able to view your mesh – if it is too poor quality you could try again by optimising the original point cloud with a higher sample count. Then Chooseįilters > Remeshing, Simplification and Reconstruction > Surface Reconstruction: Ball PivotingĪccept the defaults and select Apply. Convert the optimised point cloud to a meshĬlick to turn off the original point cloud, leaving just the optimised version on and selected. Also you can drag the point size lower to get a clearer view of your scan.ģ. You can switch them on and off (like Photoshop layers) in the right hand panel. You will now see two versions of your point cloud scan – the original and the reduced version In the Number of Samples field pick somewhere between 100000 (quicker, less detailed) and 1000000 (slower, bigger but more detailed). Reduce the density of the point cloud by choosingįilters > Point Set > Point Cloud Simplification – Accept the default settings by pressing Apply. Once it has imported successfully then you need to do three operations:įilters > Normals, Curvatures and Orientation > Compute Normals for Point Sets Then browse to your ASC point cloud file and select that. ASC – for example if your file was called MyFile.pts it should now be called MyFile.asc Right click to rename the file – and change that last. Your PTS file will change from whatever you called it to the same name but with the letters. Then at the top of the explorer window choose DETAILS and tick the box FILE NAME EXTENSION Browse to where your PTS file is and click to select it You will need to have exported your point cloud from Recap as a PTS file – though for MeshLab to import it, it needs to be renamed as an. As point clouds typically are very large and data heavy some of the steps here are about reducing complexity.
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