Skip to content

Commit

Permalink
update urdf mesh filenames to use package path (#50)
Browse files Browse the repository at this point in the history 
Co-authored-by: Chance Cardona <41308677+chancecardona@users.noreply.github.com>
  • Loading branch information
@panagelak @chancecardona
panagelak and chancecardona authored Oct 18, 2024
1 parent 27ecc36 commit 77e6092
Show file tree
Hide file tree
Showing 3 changed files with 28 additions and 28 deletions.
16 changes: 8 additions & 8 deletions robotiq_description/urdf/robotiq_2f_140.xacro
View file
Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/visual/2f_140/robotiq_2f_${stroke}_outer_knuckle.stl" />
<mesh filename="package://robotiq_description/meshes/visual/2f_140/robotiq_2f_${stroke}_outer_knuckle.stl" />
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
Expand All @@ -26,7 +26,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/collision/2f_140/robotiq_2f_${stroke}_outer_knuckle.stl" />
<mesh filename="package://robotiq_description/meshes/collision/2f_140/robotiq_2f_${stroke}_outer_knuckle.stl" />
</geometry>
</collision>
</link>
Expand All @@ -48,7 +48,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/visual/2f_140/robotiq_2f_${stroke}_outer_finger.stl" />
<mesh filename="package://robotiq_description/meshes/visual/2f_140/robotiq_2f_${stroke}_outer_finger.stl" />
</geometry>
<material name="">
<color rgba="0.1 0.1 0.1 1" />
Expand All @@ -57,7 +57,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/collision/2f_140/robotiq_2f_${stroke}_outer_finger.stl" />
<mesh filename="package://robotiq_description/meshes/collision/2f_140/robotiq_2f_${stroke}_outer_finger.stl" />
</geometry>
</collision>
</link>
Expand All @@ -79,7 +79,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/visual/2f_140/robotiq_2f_${stroke}_inner_knuckle.stl" />
<mesh filename="package://robotiq_description/meshes/visual/2f_140/robotiq_2f_${stroke}_inner_knuckle.stl" />
</geometry>
<material name="">
<color rgba="0.1 0.1 0.1 1" />
Expand All @@ -88,7 +88,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/collision/2f_140/robotiq_2f_${stroke}_inner_knuckle.stl" />
<mesh filename="package://robotiq_description/meshes/collision/2f_140/robotiq_2f_${stroke}_inner_knuckle.stl" />
</geometry>
</collision>
</link>
Expand All @@ -110,7 +110,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/visual/2f_140/robotiq_2f_${stroke}_inner_finger.stl" />
<mesh filename="package://robotiq_description/meshes/visual/2f_140/robotiq_2f_${stroke}_inner_finger.stl" />
</geometry>
<material name="">
<color rgba="0.1 0.1 0.1 1" />
Expand All @@ -119,7 +119,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/collision/2f_140/robotiq_2f_${stroke}_inner_finger.stl" />
<mesh filename="package://robotiq_description/meshes/collision/2f_140/robotiq_2f_${stroke}_inner_finger.stl" />
</geometry>
</collision>
</link>
Expand Down
4 changes: 2 additions & 2 deletions robotiq_description/urdf/robotiq_2f_140_macro.urdf.xacro
View file
Original file line number Diff line number Diff line change
Expand Up @@ -46,7 +46,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/visual/2f_140/robotiq_2f_140_base_link.stl" />
<mesh filename="package://robotiq_description/meshes/visual/2f_140/robotiq_2f_140_base_link.stl" />
</geometry>
<material name="">
<color rgba="0.1 0.1 0.1 1" />
Expand All @@ -55,7 +55,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/collision/2f_140/robotiq_2f_140_base_link.stl" />
<mesh filename="package://robotiq_description/meshes/collision/2f_140/robotiq_2f_140_base_link.stl" />
</geometry>
</collision>
</link>
Expand Down
36 changes: 18 additions & 18 deletions robotiq_description/urdf/robotiq_2f_85_macro.urdf.xacro
View file
Original file line number Diff line number Diff line change
Expand Up @@ -32,12 +32,12 @@
<link name="${prefix}robotiq_85_base_link">
<visual>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/visual/2f_85/robotiq_base.dae" />
<mesh filename="package://robotiq_description/meshes/visual/2f_85/robotiq_base.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/collision/2f_85/robotiq_base.stl" />
<mesh filename="package://robotiq_description/meshes/collision/2f_85/robotiq_base.stl" />
</geometry>
</collision>
<inertial>
Expand All @@ -50,12 +50,12 @@
<link name="${prefix}robotiq_85_left_knuckle_link">
<visual>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/visual/2f_85/left_knuckle.dae" />
<mesh filename="package://robotiq_description/meshes/visual/2f_85/left_knuckle.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/collision/2f_85/left_knuckle.stl" />
<mesh filename="package://robotiq_description/meshes/collision/2f_85/left_knuckle.stl" />
</geometry>
</collision>
<inertial>
Expand All @@ -68,12 +68,12 @@
<link name="${prefix}robotiq_85_right_knuckle_link">
<visual>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/visual/2f_85/right_knuckle.dae" />
<mesh filename="package://robotiq_description/meshes/visual/2f_85/right_knuckle.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/collision/2f_85/right_knuckle.stl" />
<mesh filename="package://robotiq_description/meshes/collision/2f_85/right_knuckle.stl" />
</geometry>
</collision>
<inertial>
Expand All @@ -86,12 +86,12 @@
<link name="${prefix}robotiq_85_left_finger_link">
<visual>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/visual/2f_85/left_finger.dae" />
<mesh filename="package://robotiq_description/meshes/visual/2f_85/left_finger.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/collision/2f_85/left_finger.stl" />
<mesh filename="package://robotiq_description/meshes/collision/2f_85/left_finger.stl" />
</geometry>
</collision>
<inertial>
Expand All @@ -104,12 +104,12 @@
<link name="${prefix}robotiq_85_right_finger_link">
<visual>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/visual/2f_85/right_finger.dae" />
<mesh filename="package://robotiq_description/meshes/visual/2f_85/right_finger.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/collision/2f_85/right_finger.stl" />
<mesh filename="package://robotiq_description/meshes/collision/2f_85/right_finger.stl" />
</geometry>
</collision>
<inertial>
Expand All @@ -122,12 +122,12 @@
<link name="${prefix}robotiq_85_left_inner_knuckle_link">
<visual>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/visual/2f_85/left_inner_knuckle.dae" />
<mesh filename="package://robotiq_description/meshes/visual/2f_85/left_inner_knuckle.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/collision/2f_85/left_inner_knuckle.stl" />
<mesh filename="package://robotiq_description/meshes/collision/2f_85/left_inner_knuckle.stl" />
</geometry>
</collision>
<inertial>
Expand All @@ -140,12 +140,12 @@
<link name="${prefix}robotiq_85_right_inner_knuckle_link">
<visual>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/visual/2f_85/right_inner_knuckle.dae" />
<mesh filename="package://robotiq_description/meshes/visual/2f_85/right_inner_knuckle.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/collision/2f_85/right_inner_knuckle.stl" />
<mesh filename="package://robotiq_description/meshes/collision/2f_85/right_inner_knuckle.stl" />
</geometry>
</collision>
<inertial>
Expand All @@ -158,12 +158,12 @@
<link name="${prefix}robotiq_85_left_finger_tip_link">
<visual>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/visual/2f_85/left_finger_tip.dae" />
<mesh filename="package://robotiq_description/meshes/visual/2f_85/left_finger_tip.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/collision/2f_85/left_finger_tip.stl" />
<mesh filename="package://robotiq_description/meshes/collision/2f_85/left_finger_tip.stl" />
</geometry>
<surface>
<friction>
Expand Down Expand Up @@ -194,12 +194,12 @@
<link name="${prefix}robotiq_85_right_finger_tip_link">
<visual>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/visual/2f_85/right_finger_tip.dae" />
<mesh filename="package://robotiq_description/meshes/visual/2f_85/right_finger_tip.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find robotiq_description)/meshes/collision/2f_85/right_finger_tip.stl" />
<mesh filename="package://robotiq_description/meshes/collision/2f_85/right_finger_tip.stl" />
</geometry>
<surface>
<friction>
Expand Down

0 comments on commit 77e6092

Please sign in to comment.