From 4ae4b8a757aa0c84c2aaad4828e127e5b5674b81 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Thu, 6 Jul 2017 19:31:30 +0200
Subject: [PATCH] Use full models of gripper inner bodies for collision
checking
---
urdf/talos_full.urdf | 12 ++++++++----
1 file changed, 8 insertions(+), 4 deletions(-)
diff --git a/urdf/talos_full.urdf b/urdf/talos_full.urdf
index 3eaa8bc..5506dec 100644
--- a/urdf/talos_full.urdf
+++ b/urdf/talos_full.urdf
@@ -1385,7 +1385,8 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<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>
</collision>
</link>
@@ -1497,7 +1498,8 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<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>
</collision>
</link>
@@ -1740,7 +1742,8 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<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>
</collision>
</link>
@@ -1852,7 +1855,8 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<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>
</collision>
</link>
--
GitLab