add the convex hull obj in IRB140

vcmman · Feb 17, 2015 · 2fed0bf · 2fed0bf
1 parent 3e5fd02
commit 2fed0bf
Show file tree

Hide file tree

Showing 11 changed files with 63,769 additions and 14,383 deletions.
diff --git a/examples/IRB140/urdf/irb_140.urdf b/examples/IRB140/urdf/irb_140.urdf
@@ -21,10 +21,10 @@
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
-<!--<geometry>
+      <geometry>
         <mesh
           filename="package://IRB140/urdf/meshes/base_link.stl" />
-      </geometry>-->
+      </geometry>
       <material
         name="">
         <color
@@ -35,10 +35,10 @@
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
-      <geometry>
+<!--<geometry>
         <mesh
           filename="package://IRB140/urdf/meshes/base_link.stl" />
-      </geometry>
+      </geometry>-->
     </collision>
   </link>
   <link

diff --git a/examples/IRB140/urdf/irb_140_convhull.urdf b/examples/IRB140/urdf/irb_140_convhull.urdf
@@ -23,7 +23,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://IRB140/urdf/meshes/base_link_chull.wrl" />
+          filename="package://IRB140/urdf/meshes/base_link_chull.stl" />
       </geometry>
       <material
         name="">
@@ -37,7 +37,7 @@
         rpy="0 0 0" />
 <!--<geometry>
         <mesh
-          filename="package://IRB140/urdf/meshes/base_link_chull.wrl" />
+          filename="package://IRB140/urdf/meshes/base_link_chull.stl" />
       </geometry>-->
     </collision>
   </link>
@@ -63,7 +63,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://IRB140/urdf/meshes/link1_chull.wrl" />
+          filename="package://IRB140/urdf/meshes/link1_chull.stl" />
       </geometry>
       <material
         name="">
@@ -77,7 +77,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://IRB140/urdf/meshes/link1_chull.wrl" />
+          filename="package://IRB140/urdf/meshes/link1_chull.stl" />
       </geometry>
     </collision>
   </link>
@@ -103,7 +103,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://IRB140/urdf/meshes/link2_chull.wrl" />
+          filename="package://IRB140/urdf/meshes/link2_chull.stl" />
       </geometry>
       <material
         name="">
@@ -117,7 +117,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://IRB140/urdf/meshes/link2_chull.wrl" />
+          filename="package://IRB140/urdf/meshes/link2_chull.stl" />
       </geometry>
     </collision>
   </link>
@@ -143,7 +143,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://IRB140/urdf/meshes/link3_chull.wrl" />
+          filename="package://IRB140/urdf/meshes/link3_chull.stl" />
       </geometry>
       <material
         name="">
@@ -157,7 +157,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://IRB140/urdf/meshes/link3_chull.wrl" />
+          filename="package://IRB140/urdf/meshes/link3_chull.stl" />
       </geometry>
     </collision>
   </link>
@@ -183,7 +183,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://IRB140/urdf/meshes/link4_chull.wrl" />
+          filename="package://IRB140/urdf/meshes/link4_chull.stl" />
       </geometry>
       <material
         name="">
@@ -197,7 +197,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://IRB140/urdf/meshes/link4_chull.wrl" />
+          filename="package://IRB140/urdf/meshes/link4_chull.stl" />
       </geometry>
     </collision>
   </link>
@@ -223,7 +223,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://IRB140/urdf/meshes/link5_chull.wrl" />
+          filename="package://IRB140/urdf/meshes/link5_chull.stl" />
       </geometry>
       <material
         name="">
@@ -237,7 +237,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://IRB140/urdf/meshes/link5_chull.wrl" />
+          filename="package://IRB140/urdf/meshes/link5_chull.stl" />
       </geometry>
     </collision>
   </link>
@@ -263,7 +263,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://IRB140/urdf/meshes/link6_chull.wrl" />
+          filename="package://IRB140/urdf/meshes/link6_chull.stl" />
       </geometry>
       <material
         name="">
@@ -277,7 +277,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://IRB140/urdf/meshes/link6_chull.wrl" />
+          filename="package://IRB140/urdf/meshes/link6_chull.stl" />
       </geometry>
     </collision>
   </link>