[boxy urdf] added collision tags for the adapters and kms40:

it's freaky how in the collision mesh of Boxy the grippers are just floating in the air... Basically, just copy pasted the visual tags for collision. The other changes are only minor stuff like fixing indentation / removing trailing whitespace / breaking too long lines.
code-iai · Aug 16, 2020 · 4d3d160 · 4d3d160
1 parent a9d1fb7
commit 4d3d160
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Showing 5 changed files with 83 additions and 25 deletions.
diff --git a/iai_adapters_description/urdf/adapter_fwa050_wsg50.urdf.xacro b/iai_adapters_description/urdf/adapter_fwa050_wsg50.urdf.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <!-- This is a hand-made URDF XACRO file for the adapter from Schunk FWA-050 to Weiss Robotics WSG50 -->
 
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="adapter_fwa050_wsg50"> 
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="adapter_fwa050_wsg50">
 
   <xacro:macro name="adapter_fwa050_wsg50_xacro" params="prefix parent *origin">
 
@@ -17,27 +17,36 @@
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
           <!-- these meshes were exported in mm, so scale back to m -->
-          <mesh filename="package://iai_adapters_description/meshes/adapter_fwa050_wsg50.stl" scale="0.001 0.001 0.001"/>
+          <mesh filename="package://iai_adapters_description/meshes/adapter_fwa050_wsg50.stl"
+                scale="0.001 0.001 0.001"/>
         </geometry>
         <material name="Grey"/>
       </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <!-- these meshes were exported in mm, so scale back to m -->
+          <mesh filename="package://iai_adapters_description/meshes/adapter_fwa050_wsg50.stl"
+                scale="0.001 0.001 0.001"/>
+        </geometry>
+        <material name="Grey"/>
+      </collision>
     </link>
 
     <!-- Empty link just to get the frame out -->
     <link name="${prefix}adapter_fwa050_wsg50_frame_out"/>
-    
+
     <!-- joint positioning the frame_out -->
     <joint name="${prefix}adapter_fwa050_wsg50_trans_frame_out"
            type="fixed">
-      <origin xyz="0 0 0.01"
-              rpy="0 0 0" />
+      <origin xyz="0 0 0.01" rpy="0 0 0" />
       <parent link="${prefix}adapter_fwa050_wsg50_frame_in" />
       <child link="${prefix}adapter_fwa050_wsg50_frame_out" />
       <axis xyz="0 0 0" />
     </joint>
 
     <!-- The joint connecting us to the next part of the chain is in the next URDF -->
 
-
   </xacro:macro>
+
 </robot>
diff --git a/iai_adapters_description/urdf/adapter_kms40_fwk050.urdf.xacro b/iai_adapters_description/urdf/adapter_kms40_fwk050.urdf.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <!-- This is a hand-made URDF XACRO file for the adapter from Weiss Robotics KMS-40 to the Schunk FWK050 -->
 
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="adapter_kms40_fwk050"> 
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="adapter_kms40_fwk050">
 
   <xacro:macro name="adapter_kms40_fwk050_xacro" params="prefix parent *origin">
 
@@ -17,20 +17,29 @@
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
           <!-- these meshes were exported in mm, so scale back to m -->
-          <mesh filename="package://iai_adapters_description/meshes/adapter_kms40_fwk050.stl" scale="0.001 0.001 0.001"/>
+          <mesh filename="package://iai_adapters_description/meshes/adapter_kms40_fwk050.stl"
+                scale="0.001 0.001 0.001"/>
         </geometry>
         <material name="Grey"/>
       </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <!-- these meshes were exported in mm, so scale back to m -->
+          <mesh filename="package://iai_adapters_description/meshes/adapter_kms40_fwk050.stl"
+                scale="0.001 0.001 0.001"/>
+        </geometry>
+        <material name="Grey"/>
+      </collision>
     </link>
 
     <!-- Empty link just to get the frame out -->
     <link name="${prefix}adapter_kms40_fwk050_frame_out"/>
-    
+
     <!-- joint positioning the frame_out -->
     <joint name="${prefix}adapter_kms40_fwk050_trans_frame_out"
            type="fixed">
-      <origin xyz="0 0 0.01"
-              rpy="0 0 0" />
+      <origin xyz="0 0 0.01" rpy="0 0 0" />
       <parent link="${prefix}adapter_kms40_fwk050_frame_in" />
       <child link="${prefix}adapter_kms40_fwk050_frame_out" />
       <axis xyz="0 0 0" />
@@ -39,4 +48,5 @@
     <!-- The joint connecting us to the next part of the chain is in the next URDF -->
 
   </xacro:macro>
+
 </robot>
diff --git a/iai_adapters_description/urdf/fwk_fwa_050.urdf.xacro b/iai_adapters_description/urdf/fwk_fwa_050.urdf.xacro
@@ -17,20 +17,29 @@
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
           <!-- these meshes were exported in mm, so scale back to m -->
-          <mesh filename="package://iai_adapters_description/meshes/fwk_fwa_050_simple.stl" scale="0.001 0.001 0.001"/>
+          <mesh filename="package://iai_adapters_description/meshes/fwk_fwa_050_simple.stl"
+                scale="0.001 0.001 0.001"/>
         </geometry>
         <material name="Grey"/>
       </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <!-- these meshes were exported in mm, so scale back to m -->
+          <mesh filename="package://iai_adapters_description/meshes/fwk_fwa_050_simple.stl"
+                scale="0.001 0.001 0.001"/>
+        </geometry>
+        <material name="Grey"/>
+      </collision>
     </link>
 
     <!-- Empty link just to get the frame out -->
     <link name="${prefix}fwk_fwa_050_frame_out"/>
-    
+
     <!-- joint positioning the frame_out -->
     <joint name="${prefix}fwk_fwa_050_trans_frame_out"
            type="fixed">
-      <origin xyz="0 0 0.0141"
-              rpy="0 0 0" />
+      <origin xyz="0 0 0.0141" rpy="0 0 0" />
       <parent link="${prefix}fwk_fwa_050_frame_in" />
       <child link="${prefix}fwk_fwa_050_frame_out" />
       <axis xyz="0 0 0" />
@@ -39,4 +48,5 @@
     <!-- The joint connecting us to the next part of the chain is in the next URDF -->
 
   </xacro:macro>
+
 </robot>
diff --git a/iai_adapters_description/urdf/lwr4_cabling_adaptor.urdf.xacro b/iai_adapters_description/urdf/lwr4_cabling_adaptor.urdf.xacro
@@ -1,30 +1,43 @@
 <?xml version="1.0"?>
 
-<!-- Many Kuka LWR4s are equipped with a little plate to let the cables go out 
+<!-- Many Kuka LWR4s are equipped with a little plate to let the cables go out
      sideways. This is a description of such an adaptor. -->
 
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="lwr4_cabling_adaptor"> 
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="lwr4_cabling_adaptor">
 
   <xacro:macro name="lwr4_cabling_adaptor" params="prefix parent *origin">
 
     <joint name="${prefix}arm_cabling_adaptor_joint" type="fixed">
       <xacro:insert_block name="origin" />
-      <!--origin xyz="0 0 0.01" rpy="0 0 0"/-->  <!-- This places the link at the end of the plate (frame_out) -->
+      <!-- This places the link at the end of the plate (frame_out) -->
+      <!--origin xyz="0 0 0.01" rpy="0 0 0"/-->
       <parent link="${parent}"/>
       <child link="${prefix}cabling_adaptor_link"/>
     </joint>
 
     <link name="${prefix}cabling_adaptor_link">
       <visual>
-        <origin xyz="0 0 -0.005" rpy="0 0 0" />  <!-- The cylinder is placed at the center -->
+        <!-- The cylinder is placed at the center -->
+        <origin xyz="0 0 -0.005" rpy="0 0 0" />
         <geometry>
           <cylinder length="0.01" radius="0.0315"/>
         </geometry>
         <material name="Black">
           <color rgba="0 0 0 1.0"/>
         </material>
       </visual>
+      <collision>
+        <!-- The cylinder is placed at the center -->
+        <origin xyz="0 0 -0.005" rpy="0 0 0" />
+        <geometry>
+          <cylinder length="0.01" radius="0.0315"/>
+        </geometry>
+        <material name="Black">
+          <color rgba="0 0 0 1.0"/>
+        </material>
+      </collision>
     </link>
 
   </xacro:macro>
+
 </robot>
diff --git a/iai_kms_40_description/urdf/kms_40.urdf.xacro b/iai_kms_40_description/urdf/kms_40.urdf.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro"
-       name="kms_40"> 
+       name="kms_40">
 
   <xacro:macro name="kms_40_xacro" params="prefix parent *origin">
 
@@ -16,10 +16,19 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iai_kms_40_description/meshes/adapter_plate_iso50_kms40_weiss.stl" scale="0.001 0.001 0.001"/>
+          <mesh filename="package://iai_kms_40_description/meshes/adapter_plate_iso50_kms40_weiss.stl"
+                scale="0.001 0.001 0.001"/>
         </geometry>
         <material name="Grey"/>
       </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://iai_kms_40_description/meshes/adapter_plate_iso50_kms40_weiss.stl"
+                scale="0.001 0.001 0.001"/>
+        </geometry>
+        <material name="Grey"/>
+      </collision>
     </link>
 
 
@@ -37,8 +46,6 @@
 
 
     <!-- Now joint connecting the actual kms40 sensor -->
-
-
     <joint name="${prefix}kms40_joint" type="fixed">
       <origin xyz="0 0 0" rpy="0 0 0" />
       <parent link="${prefix}adapter_iso50_kms40_frame_out"/>
@@ -50,10 +57,19 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iai_kms_40_description/meshes/kms40_simple.stl" scale="0.001 0.001 0.001"/>
+          <mesh filename="package://iai_kms_40_description/meshes/kms40_simple.stl"
+                scale="0.001 0.001 0.001"/>
         </geometry>
         <material name="Grey"/>
       </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://iai_kms_40_description/meshes/kms40_simple.stl"
+                scale="0.001 0.001 0.001"/>
+        </geometry>
+        <material name="Grey"/>
+      </collision>
     </link>
 
     <!-- Empty link just to get the frame out -->
@@ -69,6 +85,6 @@
       <axis xyz="0 0 0" />
     </joint>
 
-
   </xacro:macro>
+
 </robot>