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Commit 4ae4b8a7 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
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Use full models of gripper inner bodies for collision checking

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with 8 additions and 4 deletions
urdf/talos_full.urdf
+ 8
− 4
View file @ 4ae4b8a7
...@@ -1385,7 +1385,8 @@ ...@@ -1385,7 +1385,8 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="package://talos-data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/> <mesh filename="package://talos-data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
<!--<mesh filename="package://talos-data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>-->
</geometry> </geometry>
</collision> </collision>
</link> </link>
...@@ -1497,7 +1498,8 @@ ...@@ -1497,7 +1498,8 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="package://talos-data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/> <mesh filename="package://talos-data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
<!--<mesh filename="package://talos-data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>-->
</geometry> </geometry>
</collision> </collision>
</link> </link>
...@@ -1740,7 +1742,8 @@ ...@@ -1740,7 +1742,8 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="package://talos-data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/> <mesh filename="package://talos-data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
<!--<mesh filename="package://talos-data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>-->
</geometry> </geometry>
</collision> </collision>
</link> </link>
...@@ -1852,7 +1855,8 @@ ...@@ -1852,7 +1855,8 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="package://talos-data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/> <mesh filename="package://talos-data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
<!--<mesh filename="package://talos-data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>-->
</geometry> </geometry>
</collision> </collision>
</link> </link>
......
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