HeeroYui-deprecated/nao_dcm
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Converted nao_meshes to collada for Gazebo compatibility..

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Konstantinos Chatzilygeroudis 2014-05-22 02:44:39 +03:00
parent b92842f3ce
commit ff5a60073b
1 changed files with 43 additions and 39 deletions
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82
nao_dcm_common/nao_dcm_description/urdf/nao_dcm_visuals_collisions.xacro
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@ -19,6 +19,10 @@
<color rgba="1 1 0 1"/>
</material>
<material name="LightGrey">
<color rgba="0.8 0.8 0.8 1.0"/>
</material>
<!-- END OF MATERIALS -->
<!-- XACRO MACROS FOR VISUALS AND COLLISIONS -->
@ -41,16 +45,16 @@
</xacro:unless>
<xacro:if value="${nao_meshes}">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<origin xyz="0 0 0" rpy="-${PI_2} -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/visual/Torso.obj" scale="${scale} ${scale} ${scale}"/>
<mesh filename="package://nao_meshes/meshes/V40/visual/Torso.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/collision/Torso.ply" scale="${scale} ${scale} ${scale}"/>
<mesh filename="package://nao_meshes/meshes/V40/collision/Torso.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision>
@ -60,16 +64,16 @@
<xacro:macro name="visuals_collisions_head_yaw" params="">
<xacro:if value="${nao_meshes}">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<origin xyz="0 0 0" rpy="-${PI_2} -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/visual/HeadYaw.obj" scale="${scale} ${scale} ${scale}"/>
<mesh filename="package://nao_meshes/meshes/V40/visual/HeadYaw.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/collision/HeadYaw.ply" scale="${scale} ${scale} ${scale}"/>
<mesh filename="package://nao_meshes/meshes/V40/collision/HeadYaw.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision>
@ -94,16 +98,16 @@
</xacro:unless>
<xacro:if value="${nao_meshes}">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<origin xyz="0 0 0" rpy="-${PI_2} -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/visual/HeadPitch.obj" scale="${scale} ${scale} ${scale}"/>
<mesh filename="package://nao_meshes/meshes/V40/visual/HeadPitch.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/collision/HeadPitch.ply" scale="${scale} ${scale} ${scale}"/>
<mesh filename="package://nao_meshes/meshes/V40/collision/HeadPitch.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision>
@ -113,16 +117,16 @@
<xacro:macro name="visuals_collisions_shoulder_pitch" params="side">
<xacro:if value="${nao_meshes}">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<origin xyz="0 0 0" rpy="-${PI_2} -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/visual/${side}ShoulderPitch.obj" scale="${scale} ${scale} ${scale}"/>
<mesh filename="package://nao_meshes/meshes/V40/visual/${side}ShoulderPitch.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/collision/${side}ShoulderPitch.ply" scale="${scale} ${scale} ${scale}"/>
<mesh filename="package://nao_meshes/meshes/V40/collision/${side}ShoulderPitch.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision>
@ -147,16 +151,16 @@
</xacro:unless>
<xacro:if value="${nao_meshes}">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<origin xyz="0 0 0" rpy="-${PI_2} -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/visual/${side}ShoulderRoll.obj" scale="${scale} ${scale} ${scale}"/>
<mesh filename="package://nao_meshes/meshes/V40/visual/${side}ShoulderRoll.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/collision/${side}ShoulderRoll.ply" scale="${scale} ${scale} ${scale}"/>
<mesh filename="package://nao_meshes/meshes/V40/collision/${side}ShoulderRoll.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision>
@ -181,16 +185,16 @@
</xacro:unless>
<xacro:if value="${nao_meshes}">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<origin xyz="0 0 0" rpy="-${PI_2} -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/visual/${side}ElbowRoll.obj" scale="${scale} ${scale} ${scale}"/>
<mesh filename="package://nao_meshes/meshes/V40/visual/${side}ElbowRoll.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/collision/${side}ElbowRoll.ply" scale="${scale} ${scale} ${scale}"/>
<mesh filename="package://nao_meshes/meshes/V40/collision/${side}ElbowRoll.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision>
@ -215,16 +219,16 @@
</xacro:unless>
<xacro:if value="${nao_meshes}">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<origin xyz="0 0 0" rpy="-${PI_2} -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/visual/WristYaw.obj" scale="${scale} ${scale} ${scale}"/>
<mesh filename="package://nao_meshes/meshes/V40/visual/WristYaw.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/collision/WristYaw.ply" scale="${scale} ${scale} ${scale}"/>
<mesh filename="package://nao_meshes/meshes/V40/collision/WristYaw.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision>
@ -234,16 +238,16 @@
<xacro:macro name="visuals_collisions_hip_yaw_pitch" params="side reflect">
<xacro:if value="${nao_meshes}">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<origin xyz="0 0 0" rpy="-${PI_2} -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/visual/${side}HipYawPitch.obj" scale="${scale} ${scale} ${scale}"/>
<mesh filename="package://nao_meshes/meshes/V40/visual/${side}HipYawPitch.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/collision/${side}HipYawPitch.ply" scale="${scale} ${scale} ${scale}"/>
<mesh filename="package://nao_meshes/meshes/V40/collision/${side}HipYawPitch.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision>
@ -253,16 +257,16 @@
<xacro:macro name="visuals_collisions_hip_roll" params="side">
<xacro:if value="${nao_meshes}">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<origin xyz="0 0 0" rpy="-${PI_2} -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/visual/${side}HipRoll.obj" scale="${scale} ${scale} ${scale}"/>
<mesh filename="package://nao_meshes/meshes/V40/visual/${side}HipRoll.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/collision/${side}HipRoll.ply" scale="${scale} ${scale} ${scale}"/>
<mesh filename="package://nao_meshes/meshes/V40/collision/${side}HipRoll.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision>
@ -287,16 +291,16 @@
</xacro:unless>
<xacro:if value="${nao_meshes}">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<origin xyz="0 0 0" rpy="-${PI_2} -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/visual/${side}HipPitch.obj" scale="${scale} ${scale} ${scale}"/>
<mesh filename="package://nao_meshes/meshes/V40/visual/${side}HipPitch.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/collision/${side}HipPitch.ply" scale="${scale} ${scale} ${scale}"/>
<mesh filename="package://nao_meshes/meshes/V40/collision/${side}HipPitch.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision>
@ -321,16 +325,16 @@
</xacro:unless>
<xacro:if value="${nao_meshes}">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<origin xyz="0 0 0" rpy="-${PI_2} -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/visual/${side}KneePitch.obj" scale="${scale} ${scale} ${scale}"/>
<mesh filename="package://nao_meshes/meshes/V40/visual/${side}KneePitch.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/collision/${side}KneePitch.ply" scale="${scale} ${scale} ${scale}"/>
<mesh filename="package://nao_meshes/meshes/V40/collision/${side}KneePitch.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision>
@ -355,16 +359,16 @@
</xacro:unless>
<xacro:if value="${nao_meshes}">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<origin xyz="0 0 0" rpy="-${PI_2} -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/visual/${side}AnklePitch.obj" scale="${scale} ${scale} ${scale}"/>
<mesh filename="package://nao_meshes/meshes/V40/visual/${side}AnklePitch.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/collision/${side}AnklePitch.ply" scale="${scale} ${scale} ${scale}"/>
<mesh filename="package://nao_meshes/meshes/V40/collision/${side}AnklePitch.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision>
@ -389,16 +393,16 @@
</xacro:unless>
<xacro:if value="${nao_meshes}">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<origin xyz="0 0 0" rpy="-${PI_2} -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/visual/${side}AnkleRoll.obj" scale="${scale} ${scale} ${scale}"/>
<mesh filename="package://nao_meshes/meshes/V40/visual/${side}AnkleRoll.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/collision/${side}AnkleRoll.ply" scale="${scale} ${scale} ${scale}"/>
<mesh filename="package://nao_meshes/meshes/V40/collision/${side}AnkleRoll.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision>