Unverified Commit f07a8a75 authored by Dave Niewinski's avatar Dave Niewinski Committed by GitHub
Browse files

Merge pull request #109 from husky/urdf_cleanup

Fixed bumper extensions, cleaned up collision meshes
parents 8ebf5a76 9ac61b2c
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<created>2018-08-07T17:34:09</created>
<modified>2018-08-07T17:34:09</modified>
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<created>2019-04-11T09:49:19</created>
<modified>2019-04-11T09:49:19</modified>
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......@@ -25,7 +26,7 @@
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......@@ -44,45 +45,45 @@
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1.89754e-6 0 -1 -1.89741e-6 0 -1 -3.79443e-6 0 -1 -1.89722e-6 0 -1 -1.04348e-5 0 -1 7.58871e-6 0 -1 1.06717e-6 0 -1 -1.8972e-6 0 -1 2.84603e-6 0 -1 -1.13842e-5 0 -1 9.48768e-6 0 -1 9.48798e-6 0 -1 -3.79576e-6 0 -1 -1.89819e-6 0 -1 1.89851e-6 0 -1 3.79733e-6 0 -1 -3.79739e-6 0 -1 3.79789e-6 0 -1 -5.69674e-6 0 -1 -5.6972e-6 0 -1 3.79814e-6 0 -1 2.84876e-6 0 -1 -1.89909e-6 0 -1 1.06824e-6 0 -1 -7.59615e-6 0 -1 4.74753e-6 0 -1 -1.89885e-6 0 -1 3.79729e-6 0 -1 5.69582e-6 0 -1 -5.69541e-6 0 -1 1.89813e-6 0 -1 -1.89823e-6 0 -1 1.55132e-6 0 -1 1.89788e-6 0 -1 1.89757e-6 0 -1 1.89754e-6 0 -1 -1.89743e-6 0 -1 -3.79463e-6 0 -1 -1.89722e-6 0 -1 -1.04343e-5 0 -1 7.58872e-6 0 -1 1.06717e-6 0 -1 -1.89731e-6 0 -1 2.84586e-6 0 -1 -1.13848e-5 0 -1 9.48723e-6 0 -1 9.48834e-6 0 -1 -3.79561e-6 0 -1 -1.8982e-6 0 -1 1.89851e-6 0 -1 3.79736e-6 0 -1 -3.7974e-6 0 -1 3.79774e-6 0 -1 -5.69696e-6 0 -1 -5.69693e-6 0 -1 3.79832e-6 0 -1 2.84859e-6 0 -1 -1.8992e-6 0 -1 1.06824e-6 0 -1 -7.59617e-6 0 -1 4.74727e-6 0 -1 -1.89884e-6 0 -1 3.79749e-6 0 -1 5.69586e-6 0 -1 -5.69542e-6 0 -1 1.89821e-6 0 -1 -1.89821e-6 0 0 -0.3728418 0.927895 0 0.5945995 0.8040221 0 0.9677293 -0.2519922 0 0.8285237 0.5599539 0 -0.9990998 0.04242312 0 -0.04246491 -0.999098 0 -0.6607097 -0.7506416 0 -0.5242997 -0.8515338 0 0.4502319 -0.8929117 0 -0.5242961 0.8515362 0 -0.04246419 0.999098 0 -0.9856201 -0.1689765 0 0.9963986 -0.08479362 0 -0.3728475 -0.9278926 0 0.2928373 -0.9561623 0 0.9677293 0.2519922 0 0.8285314 -0.5599427 0 -0.6606811 -0.7506667 0 -0.3728618 -0.9278869 0 0.9677373 0.2519614 0 -0.5243034 -0.8515316 0 0.5945995 -0.8040221 0 -0.2106668 0.977558 0 -0.3728675 0.9278847 0 0.9112305 0.4118969 0 -0.9990977 0.04247242 0 -0.9855968 -0.1691125 0 -0.9429017 -0.3330713 0 0.9963965 -0.08481812 0 0.1270238 0.9918997 0 0.8284932 0.5599992 0 -0.9428811 -0.3331299 0 0.9112213 -0.4119174 0 0.4502121 -0.8929218 0 0.9963971 0.08480995 0 -0.873012 -0.4876989 0 -0.9990977 -0.04247242 0 0.9963958 0.08482635 0 0.5946192 0.8040076 0 -0.04246491 0.999098 0 0.828497 -0.5599935 0 0.4502353 0.8929101 0 -0.2106668 -0.977558 0 0.2928212 -0.9561673 0 0.9112336 -0.41189 0 -0.6606729 0.7506739 0 -0.7780383 0.6282169 0 0.7219851 0.6919087 0 0.7219933 -0.6919 0 0.7219563 -0.6919387 0 -0.9855968 0.1691125 0 -0.9856188 0.1689845 0 0.4502121 0.8929218 0 0.127031 -0.9918988 0 -0.8730085 -0.4877052 0 -0.8730085 0.4877052 0 0.5946271 -0.8040018 0 0.292835 0.9561631 0 -0.8730155 0.4876927 0 0.2928165 0.9561687 0 -0.9429069 0.3330566 0 -0.5243034 0.8515316 0 -0.9990998 -0.04242312 0 -0.7780383 -0.6282169 0 -0.2106651 0.9775583 0 -0.9428784 0.3331372 0 0.7219645 0.6919301 0 0.1270321 0.9918987 0 0.1270238 -0.9918997 0 0.9677373 -0.2519614 0 -0.6607097 0.7506416 0 0.911215 0.411931 0 -0.04246455 -0.999098 0 -0.3728475 0.9278926 0 0.5945994 0.8040221 0 0.9677293 -0.2519924 0 0.8285313 0.5599427 0 -0.9990998 0.04242312 0 -0.04246419 -0.999098 0 -0.6607096 -0.7506418 0 -0.5243033 -0.8515316 0 0.4502351 -0.89291 0 -0.5243033 0.8515316 0 -0.9856187 -0.1689845 0 0.9963971 -0.08481001 0 -0.3728418 -0.927895 0 0.2928349 -0.9561631 0 0.9677293 0.2519924 0 0.8285237 -0.559954 0 -0.6606728 -0.7506741 0 -0.3728675 -0.9278847 0 0.9677373 0.2519615 0 -0.5242959 -0.8515362 0 0.5945994 -0.8040221 0 -0.2106668 0.977558 0 -0.3728618 0.9278869 0 0.9112336 0.4118901 0 -0.9990977 0.04247242 0 -0.9855967 -0.1691126 0 -0.9429069 -0.3330566 0 0.9963958 -0.08482635 0 0.1270236 0.9918997 0 0.8284971 0.5599936 0 -0.9428784 -0.3331372 0 0.9112151 -0.4119312 0 0.450212 -0.8929217 0 0.9963985 0.08479362 0 -0.8730155 -0.4876927 0 -0.9990977 -0.04247242 0 0.9963966 0.08481818 0 0.594627 0.8040018 0 -0.04246455 0.999098 0 0.8284931 -0.5599992 0 0.4502319 0.8929117 0 -0.2106668 -0.977558 0 0.2928165 -0.9561687 0 0.9112305 -0.411897 0 -0.660681 0.7506669 0 -0.7780382 0.628217 0 0.7219933 0.6919 0 0.7219851 -0.6919087 0 0.7219645 -0.6919301 0 -0.9855967 0.1691126 0 -0.9856202 0.1689766 0 0.450212 0.8929217 0 0.127032 -0.9918987 0 -0.8730084 -0.4877052 0 -0.8730084 0.4877052 0 0.5946191 -0.8040075 0 0.2928372 0.9561623 0 -0.8730119 0.4876989 0 0.2928211 0.9561673 0 -0.9429017 0.3330713 0 -0.5242996 0.851534 0 -0.9990998 -0.04242312 0 -0.2106651 -0.9775583 0 -0.7780382 -0.628217 0 -0.9428811 0.3331299 0 0.7219563 0.6919387 0 0.1270309 0.9918988 0 0.1270236 -0.9918997 0 0.9677373 -0.2519615 0 -0.6607096 0.7506418 0 0.9112212 0.4119175</float_array>
<technique_common>
<accessor count="148" offset="0" source="#meshId0-normals-array" stride="3">
<param name="X" type="float" />
<param name="Y" type="float" />
<param name="Z" type="float" />
<accessor source="#Bumper_001-mesh-normals-array" count="274" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="meshId0-vertices">
<input semantic="POSITION" source="#meshId0-positions" />
<input semantic="NORMAL" source="#meshId0-normals" />
<vertices id="Bumper_001-mesh-vertices">
<input semantic="POSITION" source="#Bumper_001-mesh-positions"/>
</vertices>
<polylist count="96" material="Dark-material">
<input offset="0" semantic="VERTEX" source="#meshId0-vertices" />
<vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
<p>0 1 2 0 47 1 3 4 5 3 5 6 7 8 9 7 9 10 11 12 13 11 13 14 15 16 17 15 17 18 19 20 21 19 21 22 23 24 25 23 25 26 27 28 29 27 29 30 31 32 33 31 33 34 35 36 37 35 37 38 39 40 41 39 41 42 43 44 45 43 45 46 48 49 50 50 55 48 50 49 51 50 51 52 52 59 50 50 59 60 50 60 56 56 57 50 50 57 58 50 58 53 53 54 50 50 54 55 61 62 63 63 68 61 63 62 64 63 64 65 65 72 63 63 72 73 63 73 69 69 70 63 63 70 71 63 71 66 66 67 63 63 67 68 74 75 76 74 121 75 77 78 79 77 79 80 81 82 83 81 83 84 85 86 87 85 87 88 89 90 91 89 91 92 93 94 95 93 95 96 97 98 99 97 99 100 101 102 103 101 103 104 105 106 107 105 107 108 109 110 111 109 111 112 113 114 115 113 115 116 117 118 119 117 119 120 122 123 124 124 129 122 124 123 125 124 125 126 126 133 124 124 133 134 124 134 130 130 131 124 124 131 132 124 132 127 127 128 124 124 128 129 135 136 137 137 142 135 137 136 138 137 138 139 139 146 137 137 146 147 137 147 143 143 144 137 137 144 145 137 145 140 140 141 137 137 141 142 </p>
</polylist>
<triangles material="Dark-material" count="304">
<input semantic="VERTEX" source="#Bumper_001-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Bumper_001-mesh-normals" offset="1"/>
<p>0 0 36 0 1 0 36 1 2 1 1 1 36 2 3 2 2 2 36 1 4 1 3 1 36 3 5 3 4 3 36 1 6 1 5 1 36 1 7 1 6 1 36 4 8 4 7 4 36 5 9 5 8 5 36 6 10 6 9 6 36 7 11 7 10 7 36 8 12 8 11 8 36 9 13 9 12 9 36 10 14 10 13 10 36 11 15 11 14 11 36 12 16 12 15 12 36 13 17 13 16 13 36 14 18 14 17 14 36 15 19 15 18 15 36 1 20 1 19 1 36 1 21 1 20 1 36 16 22 16 21 16 36 17 23 17 22 17 36 18 24 18 23 18 36 19 25 19 24 19 36 20 26 20 25 20 36 21 27 21 26 21 36 22 28 22 27 22 36 23 29 23 28 23 36 24 30 24 29 24 36 25 31 25 30 25 36 26 32 26 31 26 36 27 33 27 32 27 36 1 34 1 33 1 36 1 35 1 34 1 36 28 37 28 35 28 36 29 38 29 37 29 36 1 0 1 38 1 39 30 74 30 77 30 74 1 40 1 77 1 74 31 41 31 40 31 74 1 42 1 41 1 74 32 43 32 42 32 74 1 44 1 43 1 74 1 45 1 44 1 74 33 46 33 45 33 74 34 47 34 46 34 74 35 48 35 47 35 74 36 49 36 48 36 74 37 50 37 49 37 74 38 51 38 50 38 74 39 52 39 51 39 74 40 53 40 52 40 74 41 54 41 53 41 74 42 55 42 54 42 74 43 56 43 55 43 74 44 57 44 56 44 74 1 58 1 57 1 74 1 59 1 58 1 74 45 60 45 59 45 74 46 61 46 60 46 74 47 62 47 61 47 74 48 63 48 62 48 74 49 64 49 63 49 74 50 65 50 64 50 74 51 66 51 65 51 74 52 67 52 66 52 74 53 68 53 67 53 74 54 69 54 68 54 74 55 70 55 69 55 74 56 71 56 70 56 74 1 72 1 71 1 74 1 73 1 72 1 74 57 75 57 73 57 74 58 76 58 75 58 74 1 39 1 76 1 78 59 79 59 114 59 114 60 79 60 80 60 114 61 80 61 81 61 114 62 81 62 82 62 114 63 82 63 83 63 114 64 83 64 84 64 114 65 84 65 85 65 114 66 85 66 86 66 114 67 86 67 87 67 114 68 87 68 88 68 114 69 88 69 89 69 114 70 89 70 90 70 114 71 90 71 91 71 114 72 91 72 92 72 114 73 92 73 93 73 114 74 93 74 94 74 114 75 94 75 95 75 114 60 95 60 96 60 114 76 96 76 97 76 114 60 97 60 98 60 114 77 98 77 99 77 114 78 99 78 100 78 114 79 100 79 101 79 114 80 101 80 102 80 114 81 102 81 103 81 114 82 103 82 104 82 114 83 104 83 105 83 114 84 105 84 106 84 114 85 106 85 107 85 114 86 107 86 108 86 114 87 108 87 109 87 114 88 109 88 110 88 114 89 110 89 111 89 114 90 111 90 112 90 114 91 112 91 113 91 114 92 113 92 115 92 114 93 115 93 116 93 114 94 116 94 78 94 117 95 155 95 152 95 152 60 155 60 118 60 152 96 118 96 119 96 152 97 119 97 120 97 152 98 120 98 121 98 152 99 121 99 122 99 152 100 122 100 123 100 152 101 123 101 124 101 152 102 124 102 125 102 152 103 125 103 126 103 152 104 126 104 127 104 152 105 127 105 128 105 152 106 128 106 129 106 152 107 129 107 130 107 152 108 130 108 131 108 152 109 131 109 132 109 152 110 132 110 133 110 152 60 133 60 134 60 152 111 134 111 135 111 152 60 135 60 136 60 152 112 136 112 137 112 152 113 137 113 138 113 152 114 138 114 139 114 152 115 139 115 140 115 152 116 140 116 141 116 152 117 141 117 142 117 152 118 142 118 143 118 152 119 143 119 144 119 152 120 144 120 145 120 152 121 145 121 146 121 152 122 146 122 147 122 152 123 147 123 148 123 152 124 148 124 149 124 152 125 149 125 150 125 152 126 150 126 151 126 152 127 151 127 153 127 152 128 153 128 154 128 152 129 154 129 117 129 47 130 124 130 46 130 53 131 130 131 52 131 22 132 99 132 21 132 17 133 94 133 16 133 40 134 155 134 77 134 30 135 107 135 29 135 72 136 149 136 71 136 33 137 110 137 32 137 65 138 142 138 64 138 46 139 123 139 45 139 11 140 88 140 10 140 0 141 116 141 38 141 21 142 98 142 20 142 70 143 147 143 69 143 28 144 105 144 27 144 19 145 96 145 18 145 24 146 101 146 23 146 34 147 111 147 33 147 32 148 109 148 31 148 57 149 134 149 56 149 71 150 148 150 70 150 64 151 141 151 63 151 10 152 87 152 9 152 9 153 86 153 8 153 56 154 133 154 55 154 2 155 79 155 1 155 39 156 154 156 76 156 76 157 153 157 75 157 59 158 136 158 58 158 12 159 89 159 11 159 55 160 132 160 54 160 38 161 115 161 37 161 23 162 100 162 22 162 27 163 104 163 26 163 20 164 97 164 19 164 37 165 113 165 35 165 1 166 78 166 0 166 58 167 135 167 57 167 15 168 92 168 14 168 49 169 126 169 48 169 62 170 139 170 61 170 52 171 129 171 51 171 31 172 108 172 30 172 66 173 143 173 65 173 61 174 138 174 60 174 7 175 84 175 6 175 44 176 121 176 43 176 54 177 131 177 53 177 63 178 140 178 62 178 25 179 102 179 24 179 41 180 118 180 40 180 3 181 80 181 2 181 14 182 91 182 13 182 6 176 83 176 5 176 67 183 144 183 66 183 75 184 151 184 73 184 43 185 120 185 42 185 26 186 103 186 25 186 13 187 90 187 12 187 5 188 82 188 4 188 51 189 128 189 50 189 42 190 119 190 41 190 8 191 85 191 7 191 77 192 117 192 39 192 69 172 146 172 68 172 73 193 150 193 72 193 35 193 112 193 34 193 48 194 125 194 47 194 4 195 81 195 3 195 16 196 93 196 15 196 50 197 127 197 49 197 29 198 106 198 28 198 60 199 137 199 59 199 45 200 122 200 44 200 18 201 95 201 17 201 68 202 145 202 67 202 47 203 125 203 124 203 53 204 131 204 130 204 22 205 100 205 99 205 17 206 95 206 94 206 40 207 118 207 155 207 30 208 108 208 107 208 72 209 150 209 149 209 33 210 111 210 110 210 65 211 143 211 142 211 46 212 124 212 123 212 11 169 89 169 88 169 0 213 78 213 116 213 21 214 99 214 98 214 70 215 148 215 147 215 28 216 106 216 105 216 19 217 97 217 96 217 24 218 102 218 101 218 34 219 112 219 111 219 32 220 110 220 109 220 57 221 135 221 134 221 71 222 149 222 148 222 64 223 142 223 141 223 10 224 88 224 87 224 9 225 87 225 86 225 56 226 134 226 133 226 2 227 80 227 79 227 39 228 117 228 154 228 76 229 154 229 153 229 59 230 137 230 136 230 12 231 90 231 89 231 55 232 133 232 132 232 38 233 116 233 115 233 23 234 101 234 100 234 27 235 105 235 104 235 20 236 98 236 97 236 37 237 115 237 113 237 1 238 79 238 78 238 58 239 136 239 135 239 15 240 93 240 92 240 49 241 127 241 126 241 62 242 140 242 139 242 52 243 130 243 129 243 31 244 109 244 108 244 66 245 144 245 143 245 61 246 139 246 138 246 7 247 85 247 84 247 44 248 122 248 121 248 54 249 132 249 131 249 63 250 141 250 140 250 25 251 103 251 102 251 41 252 119 252 118 252 3 253 81 253 80 253 14 254 92 254 91 254 6 248 84 248 83 248 67 255 145 255 144 255 75 256 153 256 151 256 43 257 121 257 120 257 26 258 104 258 103 258 13 259 91 259 90 259 5 260 83 260 82 260 51 261 129 261 128 261 42 262 120 262 119 262 8 263 86 263 85 263 77 264 155 264 117 264 69 265 147 265 146 265 73 266 151 266 150 266 35 266 113 266 112 266 48 224 126 224 125 224 4 267 82 267 81 267 16 268 94 268 93 268 50 269 128 269 127 269 29 270 107 270 106 270 60 271 138 271 137 271 45 272 123 272 122 272 18 273 96 273 95 273 68 135 146 135 145 135</p>
</triangles>
</mesh>
</geometry>
</library_geometries>
<library_controllers/>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="<STL_BINARY>" name="<STL_BINARY>">
<matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#meshId0">
<node id="Bumper_001" name="Bumper_001" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#Bumper_001-mesh" name="Bumper_001">
<bind_material>
<technique_common>
<instance_material symbol="Dark-material" target="#Dark-material"/>
......@@ -93,6 +94,6 @@
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene" />
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
\ No newline at end of file
......@@ -27,7 +27,8 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<xacro:macro name="husky_decorate">
<xacro:property name="husky_bumper_extend" value="$(optenv HUSKY_FORWARD_BUMPER_EXTEND 0)" />
<xacro:property name="husky_front_bumper_extend" value="$(optenv HUSKY_FRONT_BUMPER_EXTEND 0)" />
<xacro:property name="husky_rear_bumper_extend" value="$(optenv HUSKY_REAR_BUMPER_EXTEND 0)" />
<!-- Spawn Husky chassis -->
<link name="top_chassis_link">
......@@ -74,22 +75,22 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<!-- Attach front bumper -->
<joint name="front_bumper" type="fixed">
<origin xyz="${0.48 + husky_bumper_extend / 100.0} 0 0.091" rpy="0 0 0" />
<origin xyz="${0.48 + husky_front_bumper_extend} 0 0.091" rpy="0 0 0" />
<parent link="base_link" />
<child link="front_bumper_link" />
</joint>
<xacro:if value="${husky_bumper_extend}">
<xacro:if value="${husky_front_bumper_extend}">
<link name="front_bumper_extension_link">
<visual>
<geometry>
<mesh filename="package://husky_description/meshes/bumper_extension.dae" scale="${husky_bumper_extend} 1 1"/>
<mesh filename="package://husky_description/meshes/bumper_extension.dae" />
</geometry>
</visual>
</link>
<joint name="front_bumper_extension" type="fixed">
<origin xyz="${0.405 + husky_bumper_extend / 200.0} 0 0.091" rpy="0 0 0" />
<origin xyz="${0.48 + husky_front_bumper_extend} 0 0.091" rpy="0 0 0" />
<parent link="base_link" />
<child link="front_bumper_extension_link" />
</joint>
......@@ -106,11 +107,27 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<!-- Attach rear bumper -->
<joint name="rear_bumper" type="fixed">
<origin xyz="-0.48 0 0.091" rpy="0 0 ${M_PI}" />
<origin xyz="${-0.48 - husky_rear_bumper_extend} 0 0.091" rpy="0 0 ${M_PI}" />
<parent link="base_link" />
<child link="rear_bumper_link" />
</joint>
<xacro:if value="${husky_rear_bumper_extend}">
<link name="rear_bumper_extension_link">
<visual>
<geometry>
<mesh filename="package://husky_description/meshes/bumper_extension.dae" />
</geometry>
</visual>
</link>
<joint name="rear_bumper_extension" type="fixed">
<origin xyz="${-0.48 - husky_rear_bumper_extend} 0 0.091" rpy="0 0 ${M_PI}" />
<parent link="base_link" />
<child link="rear_bumper_extension_link" />
</joint>
</xacro:if>
<xacro:if value="$(optenv HUSKY_TOP_PLATE_ENABLED true)">
<!-- Spawn the top plate -->
<xacro:if value="$(optenv HUSKY_LARGE_TOP_PLATE false)">
......@@ -127,12 +144,6 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<mesh filename="package://husky_description/meshes/large_top_plate_collision.stl" />
</geometry>
</collision>
<collision>
<!-- Extra collision tag for widgets on top plate -->
<geometry>
<box size="0.32 0.41 0.09" rpy="0 0 0"/>
</geometry>
</collision>
</link>
<!-- Attach top plate -->
<joint name="top_plate_joint" type="fixed">
......@@ -165,13 +176,7 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/top_plate.dae" />
</geometry>
</collision>
<collision>
<!-- Extra collision tag for widgets on top plate -->
<geometry>
<box size="0.32 0.41 0.09" rpy="0 0 0"/>
<mesh filename="package://husky_description/meshes/top_plate.stl" />
</geometry>
</collision>
</link>
......
......@@ -33,7 +33,8 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<xacro:arg name="kinect_xyz" default="$(optenv HUSKY_KINECT_XYZ 0 0 0)" />
<xacro:arg name="kinect_rpy" default="$(optenv HUSKY_KINECT_RPY 0 0.18 3.14)" />
<xacro:property name="husky_bumper_extend" value="$(optenv HUSKY_FORWARD_BUMPER_EXTEND 0)" />
<xacro:property name="husky_front_bumper_extend" value="$(optenv HUSKY_FRONT_BUMPER_EXTEND 0)" />
<xacro:property name="husky_rear_bumper_extend" value="$(optenv HUSKY_REAR_BUMPER_EXTEND 0)" />
<xacro:arg name="robot_namespace" default="/" />
<xacro:arg name="urdf_extras" default="empty.urdf" />
......@@ -71,15 +72,15 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
</geometry>
</visual>
<collision>
<origin xyz="${husky_bumper_extend / 200.0} 0 ${base_z_size/4}" rpy="0 0 0" />
<origin xyz="${( husky_front_bumper_extend - husky_rear_bumper_extend ) / 2.0} 0 ${base_z_size/4}" rpy="0 0 0" />
<geometry>
<box size="${base_x_size + husky_bumper_extend / 100.0} ${base_y_size} ${base_z_size/2}"/>
<box size="${ base_x_size + husky_front_bumper_extend + husky_rear_bumper_extend } ${base_y_size} ${base_z_size/2}"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 ${base_z_size*3/4}" rpy="0 0 0" />
<origin xyz="0 0 ${base_z_size*3/4-0.01}" rpy="0 0 0" />
<geometry>
<box size="${base_x_size*4/5} ${base_y_size} ${base_z_size/2}"/>
<box size="${base_x_size*4/5} ${base_y_size} ${base_z_size/2-0.02}"/>
</geometry>
</collision>
</link>
......
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