Commit 4561b4dc authored by Dave Niewinski's avatar Dave Niewinski Committed by Tony Baltovski
Browse files

Added a large top plate (used for waterproofing upgrade and UR5 upgrade) and...

Added a large top plate (used for waterproofing upgrade and UR5 upgrade) and an environment variable for controlling it HUSKY_LARGE_TOP_PLATE
parent acddbd17
<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
</contributor>
<created>2018-03-28T16:01:17</created>
<modified>2018-03-28T16:01:17</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_images/>
<library_effects>
<effect id="Dark-effect">
<profile_COMMON>
<technique sid="common">
<phong>
<emission>
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
<color sid="ambient">0 0 0 1</color>
</ambient>
<diffuse>
<color sid="diffuse">0.08000001 0.08000001 0.08000001 1</color>
</diffuse>
<specular>
<color sid="specular">0.025 0.025 0.025 1</color>
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<shininess>
<float sid="shininess">50</float>
</shininess>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
</phong>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_materials>
<material id="Dark-material" name="Dark">
<instance_effect url="#Dark-effect"/>
</material>
</library_materials>
<library_geometries>
<geometry id="UR5_Top_Plate-mesh" name="UR5 Top Plate">
<mesh>
<source id="UR5_Top_Plate-mesh-positions">
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<technique_common>
<accessor source="#UR5_Top_Plate-mesh-positions-array" count="102" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="UR5_Top_Plate-mesh-normals">
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<technique_common>
<accessor source="#UR5_Top_Plate-mesh-normals-array" count="104" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="UR5_Top_Plate-mesh-vertices">
<input semantic="POSITION" source="#UR5_Top_Plate-mesh-positions"/>
</vertices>
<polylist material="Dark-material" count="204">
<input semantic="VERTEX" source="#UR5_Top_Plate-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#UR5_Top_Plate-mesh-normals" offset="1"/>
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</polylist>
</mesh>
</geometry>
</library_geometries>
<library_controllers/>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="UR5_Top_Plate" name="UR5_Top_Plate" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1.0584 0.00336042 0 0 0 1</matrix>
<instance_geometry url="#UR5_Top_Plate-mesh" name="UR5_Top_Plate">
<bind_material>
<technique_common>
<instance_material symbol="Dark-material" target="#Dark-material"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
\ No newline at end of file
......@@ -93,33 +93,65 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<xacro:if value="$(optenv HUSKY_TOP_PLATE_ENABLED true)">
<!-- Spawn the top plate -->
<link name="top_plate_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://husky_description/meshes/top_plate.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/top_plate.dae" />
</geometry>
</collision>
<collision>
<!-- Extra collision tag for widgets on top plate -->
<geometry>
<box size="0.32 0.41 0.09" rpy="0 0 0"/>
</geometry>
</collision>
</link>
<!-- Attach top plate -->
<joint name="top_plate_joint" type="fixed">
<parent link="base_link" />
<child link="top_plate_link"/>
<origin xyz="0.0812 0 0.245" rpy="0 0 0"/>
</joint>
<xacro:if value="$(optenv HUSKY_LARGE_TOP_PLATE false)">
<link name="top_plate_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://husky_description/meshes/large_top_plate.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/large_top_plate_collision.stl" />
</geometry>
</collision>
<collision>
<!-- Extra collision tag for widgets on top plate -->
<geometry>
<box size="0.32 0.41 0.09" rpy="0 0 0"/>
</geometry>
</collision>
</link>
<!-- Attach top plate -->
<joint name="top_plate_joint" type="fixed">
<parent link="base_link" />
<child link="top_plate_link"/>
<origin xyz="0.0812 0 0.225" rpy="0 0 0"/>
</joint>
</xacro:if>
<xacro:unless value="$(optenv HUSKY_LARGE_TOP_PLATE false)">
<link name="top_plate_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://husky_description/meshes/top_plate.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/top_plate.dae" />
</geometry>
</collision>
<collision>
<!-- Extra collision tag for widgets on top plate -->
<geometry>
<box size="0.32 0.41 0.09" rpy="0 0 0"/>
</geometry>
</collision>
</link>
<!-- Attach top plate -->
<joint name="top_plate_joint" type="fixed">
<parent link="base_link" />
<child link="top_plate_link"/>
<origin xyz="0.0812 0 0.245" rpy="0 0 0"/>
</joint>
</xacro:unless>
</xacro:if>
</xacro:macro>
......
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