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file://$(find spot_description) -> package://spot_description (#194)
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@skpawar1305
skpawar1305 authored Nov 16, 2023
1 parent 9f8b806 commit f1450f0
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Showing 4 changed files with 81 additions and 81 deletions.
14 changes: 7 additions & 7 deletions spot_description/urdf/accessories.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -11,17 +11,17 @@
<link name="pack_mount">
<visual>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/base/visual/pack_top.dae"/>
<mesh filename="package://spot_description/meshes/base/visual/pack_top.dae"/>
</geometry>
</visual>
<visual>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/base/visual/pack_body.dae"/>
<mesh filename="package://spot_description/meshes/base/visual/pack_body.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/base/visual/pack_body.dae"/>
<mesh filename="package://spot_description/meshes/base/visual/pack_body.dae"/>
</geometry>
</collision>
</link>
Expand All @@ -37,12 +37,12 @@
<link name="lidar_mount">
<visual>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/base/visual/lidar_mount.dae"/>
<mesh filename="package://spot_description/meshes/base/visual/lidar_mount.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/base/collision/lidar_mount_collision.stl"/>
<mesh filename="package://spot_description/meshes/base/collision/lidar_mount_collision.stl"/>
</geometry>
</collision>
</link>
Expand All @@ -58,14 +58,14 @@
<link name="velodyne_cage">
<visual>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/base/collision/velodyne_cage.stl" scale="0.001 0.001 0.001" />
<mesh filename="package://spot_description/meshes/base/collision/velodyne_cage.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin xyz="0 0 0" rpy="0 0 0" />
<material name="black" />
</visual>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/base/collision/velodyne_cage.stl" scale="0.001 0.001 0.001" />
<mesh filename="package://spot_description/meshes/base/collision/velodyne_cage.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin xyz="0 0 0" rpy="0 0 0" />
</collision>
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52 changes: 26 additions & 26 deletions spot_description/urdf/spot_arm_macro.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -7,25 +7,25 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/visual/arm_link_sh0.obj" />
<mesh filename="package://spot_description/meshes/arm/visual/arm_link_sh0.obj" />
</geometry>
<material name="arm_link_sh0">
<color rgba="0.2 0.2 0.2 1" />
</material>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/arm_link_sh0_base.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/arm_link_sh0_base.obj" />
</geometry>
</collision>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/arm_link_sh0_left_motor.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/arm_link_sh0_left_motor.obj" />
</geometry>
</collision>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/arm_link_sh0_right_motor.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/arm_link_sh0_right_motor.obj" />
</geometry>
</collision>
<inertial>
Expand All @@ -49,7 +49,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/visual/arm_link_sh1.obj" />
<mesh filename="package://spot_description/meshes/arm/visual/arm_link_sh1.obj" />
</geometry>
<material name="arm_link_sh1">
<color rgba="0.2 0.2 0.2 1" />
Expand Down Expand Up @@ -78,15 +78,15 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/visual/arm_link_hr0.obj" />
<mesh filename="package://spot_description/meshes/arm/visual/arm_link_hr0.obj" />
</geometry>
<material name="arm_link_hr0">
<color rgba="0.2 0.2 0.2 1" />
</material>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/arm_link_hr0.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/arm_link_hr0.obj" />
</geometry>
</collision>
<inertial>
Expand All @@ -109,15 +109,15 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/visual/arm_link_el0.obj" />
<mesh filename="package://spot_description/meshes/arm/visual/arm_link_el0.obj" />
</geometry>
<material name="arm_link_el0">
<color rgba="0.2 0.2 0.2 1" />
</material>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/arm_link_el0.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/arm_link_el0.obj" />
</geometry>
</collision>
<inertial>
Expand All @@ -140,20 +140,20 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/visual/arm_link_el1.obj" />
<mesh filename="package://spot_description/meshes/arm/visual/arm_link_el1.obj" />
</geometry>
<material name="arm_link_el1">
<color rgba="0.2 0.2 0.2 1" />
</material>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/arm_link_el1_main.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/arm_link_el1_main.obj" />
</geometry>
</collision>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/arm_link_el1_lip.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/arm_link_el1_lip.obj" />
</geometry>
</collision>
<inertial>
Expand All @@ -177,15 +177,15 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/visual/arm_link_wr0.obj" />
<mesh filename="package://spot_description/meshes/arm/visual/arm_link_wr0.obj" />
</geometry>
<material name="arm_link_wr0">
<color rgba="0.2 0.2 0.2 1" />
</material>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/arm_link_wr0.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/arm_link_wr0.obj" />
</geometry>
</collision>
<inertial>
Expand All @@ -209,30 +209,30 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/visual/arm_link_wr1.obj" />
<mesh filename="package://spot_description/meshes/arm/visual/arm_link_wr1.obj" />
</geometry>
<material name="arm_link_wr1">
<color rgba="0.2 0.2 0.2 1" />
</material>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/arm_link_wr1.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/arm_link_wr1.obj" />
</geometry>
</collision>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/front_jaw.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/front_jaw.obj" />
</geometry>
</collision>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/middle_jaw.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/middle_jaw.obj" />
</geometry>
</collision>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/jaw_tooth.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/jaw_tooth.obj" />
</geometry>
</collision>
<inertial>
Expand All @@ -256,40 +256,40 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/visual/arm_link_fngr.obj" />
<mesh filename="package://spot_description/meshes/arm/visual/arm_link_fngr.obj" />
</geometry>
<material name="arm_link_fngr">
<color rgba="0.2 0.2 0.2 1" />
</material>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/left_hinge.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/left_hinge.obj" />
</geometry>
</collision>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/left_finger.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/left_finger.obj" />
</geometry>
</collision>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/left_tooth.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/left_tooth.obj" />
</geometry>
</collision>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/right_hinge.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/right_hinge.obj" />
</geometry>
</collision>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/right_finger.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/right_finger.obj" />
</geometry>
</collision>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/right_tooth.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/right_tooth.obj" />
</geometry>
</collision>
<inertial>
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