[Personalrobots-commit] SF.net SVN: personalrobots:[18294] pkg/trunk

[<hsu...@us...>]

Revision: 18294
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=18294&view=rev
Author:   hsujohnhsu
Date:     2009-07-04 07:07:17 +0000 (Sat, 04 Jul 2009)

Log Message:
-----------
specify full path name and extension for collision meshes.
udpate urdf2gazebo according to this change.

Modified Paths:
--------------
    pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2gazebo.cpp
    pkg/trunk/stacks/pr2/pr2_defs/defs/arm_defs.xml
    pkg/trunk/stacks/pr2/pr2_defs/defs/gripper_defs.xml

Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2gazebo.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2gazebo.cpp	2009-07-04 06:47:28 UTC (rev 18293)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2gazebo.cpp	2009-07-04 07:07:17 UTC (rev 18294)
@@ -245,6 +245,11 @@
                 addKeyValue(geom, "scale", values2str(3, mesh->scale));
 
                 /* set mesh file */
+                // strip extension from filename
+                std::string tmp_extension(".stl");
+                int pos1 = mesh->filename.find(tmp_extension,0);
+                mesh->filename.replace(pos1,mesh->filename.size()-pos1+1,std::string(""));
+                // add mesh filename
                 addKeyValue(geom, "mesh", "models/pr2/" + mesh->filename + ".mesh");
                 
             }

Modified: pkg/trunk/stacks/pr2/pr2_defs/defs/arm_defs.xml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_defs/defs/arm_defs.xml	2009-07-04 06:47:28 UTC (rev 18293)
+++ pkg/trunk/stacks/pr2/pr2_defs/defs/arm_defs.xml	2009-07-04 07:07:17 UTC (rev 18294)
@@ -73,7 +73,7 @@
       <collision>
         <origin xyz="0.0 0 0.0" rpy="0 0 0" />
         <geometry name="${side}_shoulder_pan_collision">
-          <mesh filename="shoulder_yaw_convex" />
+          <mesh filename="convex/shoulder_yaw_convex.stlb" />
         </geometry>
       </collision>
       <map name="${side}_shoulder_pan_sensor" flag="gazebo">
@@ -143,7 +143,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry name="${side}_shoulder_lift_collision">
-          <mesh filename="shoulder_lift_convex" />
+          <mesh filename="convex/shoulder_lift_convex.stlb" />
         </geometry>
       </collision>
       <map name="${side}_shoulder_lift_sensor" flag="gazebo">
@@ -269,7 +269,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry name="${side}_upper_arm_collision">
-          <mesh filename="upper_arm_convex" />
+          <mesh filename="convex/upper_arm_convex.stlb" />
         </geometry>
       </collision>
 
@@ -335,7 +335,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry name="${side}_elbow_flex_collision">
-          <mesh filename="elbow_flex_convex" />
+          <mesh filename="convex/elbow_flex_convex.stlb" />
         </geometry>
       </collision>
       <map name="${side}_elbow_flex_sensor" flag="gazebo">
@@ -490,7 +490,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry name="${side}_forearm_collision">
-          <mesh filename="forearm_convex" />
+          <mesh filename="convex/forearm_convex.stlb" />
         </geometry>
       </collision>
       <map name="${side}_forearm_sensor" flag="gazebo">
@@ -553,7 +553,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry name="${side}_wrist_flex_collision">
-          <mesh filename="wrist_flex_convex" />
+          <mesh filename="convex/wrist_flex_convex.stlb" />
         </geometry>
       </collision>
       <map name="${side}_wrist_flex_sensor" flag="gazebo">

Modified: pkg/trunk/stacks/pr2/pr2_defs/defs/gripper_defs.xml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_defs/defs/gripper_defs.xml	2009-07-04 06:47:28 UTC (rev 18293)
+++ pkg/trunk/stacks/pr2/pr2_defs/defs/gripper_defs.xml	2009-07-04 07:07:17 UTC (rev 18294)
@@ -85,7 +85,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry name="${prefix}_l_finger_collision">
-          <mesh filename="upper_finger_l_convex" />
+          <mesh filename="convex/upper_finger_l_convex.stlb" />
         </geometry>
         <verbose value="Yes" />
         <map flag="collision" name="mesh">
@@ -169,7 +169,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry name="${prefix}_r_finger_collision">
-          <mesh filename="upper_finger_r_convex" />
+          <mesh filename="convex/upper_finger_r_convex.stlb" />
         </geometry>
         <verbose value="Yes" />
         <map flag="collision" name="mesh">
@@ -250,7 +250,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry name="${prefix}_l_finger_tip_collision">
-          <mesh filename="finger_tip_l_convex" />
+          <mesh filename="convex/finger_tip_l_convex.stlb" />
         </geometry>
         <verbose value="Yes" />
         <map flag="collision" name="mesh">
@@ -332,7 +332,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry name="${prefix}_r_finger_tip_collision">
-          <mesh filename="finger_tip_r_convex" />
+          <mesh filename="convex/finger_tip_r_convex.stlb" />
         </geometry>
         <verbose value="Yes" />
         <map flag="collision" name="mesh">
@@ -482,7 +482,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry name="${side}_gripper_palm_collision">
-          <mesh filename="gripper_palm_convex" />
+          <mesh filename="convex/gripper_palm_convex.stlb" />
         </geometry>
         <verbose value="Yes" />
         <map flag="collision" name="mesh">
@@ -707,7 +707,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry name="${side}_gripper_palm_collision">
-          <mesh filename="gripper_palm_convex" />
+          <mesh filename="convex/gripper_palm_convex.stlb" />
         </geometry>
         <verbose value="Yes" />
         <map flag="collision" name="mesh">


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