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Fixed dae models to use up_axis Y_UP (for OMPL to work)
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Collision model changed to avoid bad OMPL planning (spaces between links)
Collision model now with multiple collision objects (now handled in hydro) such as cylinders and spheres to create capsules
Enabled self_collision to not permit crossed fingers in gazebo
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@guihomework
guihomework committed Jul 14, 2014
1 parent 0de5988 commit 8442e63
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Showing 52 changed files with 173 additions and 98 deletions.
2 changes: 1 addition & 1 deletion sr_description/hand/model/F1.dae
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<created>2012-07-23T02:16:01.949584</created>
<modified>2012-07-23T02:16:01.949597</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/F2.dae
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<created>2012-07-23T02:15:44.246463</created>
<modified>2012-07-23T02:15:44.246477</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/F3.dae
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<created>2012-07-23T02:15:31.855069</created>
<modified>2012-07-23T02:15:31.855082</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/TH1_z.dae
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<created>2012-07-23T02:13:47.090860</created>
<modified>2012-07-23T02:13:47.090873</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/TH2_z.dae
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<created>2012-07-23T02:14:04.601049</created>
<modified>2012-07-23T02:14:04.601062</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/TH3_z.dae
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<created>2012-07-23T02:14:18.666034</created>
<modified>2012-07-23T02:14:18.666047</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/biotacs/biotac_decimated.dae
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<created>2012-12-14T09:15:39</created>
<modified>2012-12-14T09:15:39</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_cameras>
<camera id="Camera-camera" name="Camera">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/biotacs/biotac_thumb_adapter.dae
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<created>2012-12-14T09:32:52</created>
<modified>2012-12-14T09:32:52</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_cameras>
<camera id="Camera-camera" name="Camera">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/distal_ellipsoid.dae
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<created>2012-07-23T01:48:41.413018</created>
<modified>2012-07-23T01:48:41.413036</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_geometries>
<geometry id="ellipsoid-Geometry" name="ellipsoid-Geometry">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_light/F1.dae
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<created>2012-07-23T02:18:18.630014</created>
<modified>2012-07-23T02:18:18.630028</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_light/F2.dae
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<created>2012-07-23T02:18:03.236589</created>
<modified>2012-07-23T02:18:03.236602</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_light/F3.dae
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<created>2012-07-23T02:17:30.699549</created>
<modified>2012-07-23T02:17:30.699562</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_light/TH1_z.dae
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<created>2012-07-23T02:19:57.817591</created>
<modified>2012-07-23T02:19:57.817614</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_light/TH2_z.dae
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<created>2012-07-23T02:19:43.659883</created>
<modified>2012-07-23T02:19:43.659896</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_light/TH3_z.dae
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<created>2012-07-23T02:19:26.873500</created>
<modified>2012-07-23T02:19:26.873524</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_light/forearm.dae
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<created>2012-07-09T16:31:07.703152</created>
<modified>2012-07-09T16:31:07.703174</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="Material-fx" name="Material-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_light/knuckle.dae
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<created>2012-07-23T02:18:42.789987</created>
<modified>2012-07-23T02:18:42.790010</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="osg2mat0-fx" name="osg2mat0-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_light/lfmetacarpal.dae
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<created>2012-07-23T02:19:08.920629</created>
<modified>2012-07-23T02:19:08.920641</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_light/palm.dae
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<created>2012-07-23T02:20:16.267352</created>
<modified>2012-07-23T02:20:16.267365</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_light/wrist.dae
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<created>2012-07-23T02:20:30.787713</created>
<modified>2012-07-23T02:20:30.787736</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="osg2mat0-fx" name="osg2mat0-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_standard/F1.dae
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Expand Up @@ -11,7 +11,7 @@
<created>2012-07-23T02:16:01.949584</created>
<modified>2012-07-23T02:16:01.949597</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_standard/F2.dae
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<created>2012-07-23T02:15:44.246463</created>
<modified>2012-07-23T02:15:44.246477</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_standard/F3.dae
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<created>2012-07-23T02:15:31.855069</created>
<modified>2012-07-23T02:15:31.855082</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_standard/TH1_z.dae
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<created>2012-07-23T02:13:47.090860</created>
<modified>2012-07-23T02:13:47.090873</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_standard/TH2_z.dae
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Expand Up @@ -11,7 +11,7 @@
<created>2012-07-23T02:14:04.601049</created>
<modified>2012-07-23T02:14:04.601062</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_standard/TH3_z.dae
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Expand Up @@ -11,7 +11,7 @@
<created>2012-07-23T02:14:18.666034</created>
<modified>2012-07-23T02:14:18.666047</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_standard/forearm.dae
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<created>2012-07-09T16:29:53.272413</created>
<modified>2012-07-09T16:29:53.272436</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="Material-fx" name="Material-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_standard/knuckle.dae
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<created>2012-07-23T02:15:15.508647</created>
<modified>2012-07-23T02:15:15.508662</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="osg2mat0-fx" name="osg2mat0-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_standard/lfmetacarpal.dae
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<created>2012-07-23T02:16:22.697136</created>
<modified>2012-07-23T02:16:22.697149</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_standard/palm.dae
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<created>2012-07-23T02:03:42.155704</created>
<modified>2012-07-23T02:03:42.155716</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_standard/wrist.dae
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<created>2012-07-23T02:14:55.555034</created>
<modified>2012-07-23T02:14:55.555052</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="osg2mat0-fx" name="osg2mat0-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/forearm.dae
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<created>2012-07-09T16:29:53.272413</created>
<modified>2012-07-09T16:29:53.272436</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="Material-fx" name="Material-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/forearm_muscle.dae
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<created>2013-02-21T11:19:02</created>
<modified>2013-02-21T11:19:02</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/forearm_muscle_disk.dae
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<created>2013-02-21T11:51:39</created>
<modified>2013-02-21T11:51:39</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/knuckle.dae
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<created>2012-07-23T02:15:15.508647</created>
<modified>2012-07-23T02:15:15.508662</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="osg2mat0-fx" name="osg2mat0-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/lfmetacarpal.dae
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<created>2012-07-23T02:16:22.697136</created>
<modified>2012-07-23T02:16:22.697149</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/palm.dae
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Expand Up @@ -11,7 +11,7 @@
<created>2012-07-23T02:03:42.155704</created>
<modified>2012-07-23T02:03:42.155716</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/wrist.dae
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<created>2012-07-23T02:14:55.555034</created>
<modified>2012-07-23T02:14:55.555052</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="osg2mat0-fx" name="osg2mat0-fx">
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4 changes: 2 additions & 2 deletions sr_description/hand/xacro/finger/knuckle/edc_muscle_knuckle.urdf.xacro
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Expand Up @@ -26,9 +26,9 @@
<material name="LightGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<origin xyz="0 0 0" rpy="0 1.5708 0" />
<geometry name="${link_prefix}knuckle_collision_geom">
<box size="0.005 0.005 0.005" />
<cylinder radius="0.007" length="0.014" />
</geometry>
</collision>
</link>
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4 changes: 2 additions & 2 deletions sr_description/hand/xacro/finger/knuckle/knuckle.urdf.xacro
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<material name="LightGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<origin xyz="0 0 0" rpy="0 1.5708 0" />
<geometry name="${link_prefix}knuckle_collision_geom">
<box size="0.005 0.005 0.005" />
<cylinder radius="0.007" length="0.014" />
</geometry>
</collision>
</link>
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4 changes: 2 additions & 2 deletions sr_description/hand/xacro/finger/lfmetacarpal/edc_muscle_lfmetacarpal.urdf.xacro
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<material name="Grey" />
</visual>
<collision>
<origin xyz="0 0 0.04" rpy="0 0 0" />
<origin xyz="0 0 0.042" rpy="0 0 0" />
<geometry name="lfmetacarpal_collision_geom">
<box size="0.008 0.008 0.03" />
<box size="0.018 0.024 0.048" />
</geometry>
</collision>
</link>
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4 changes: 2 additions & 2 deletions sr_description/hand/xacro/finger/lfmetacarpal/lfmetacarpal.urdf.xacro
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<material name="Grey" />
</visual>
<collision>
<origin xyz="0 0 0.04" rpy="0 0 0" />
<origin xyz="0 0 0.042" rpy="0 0 0" />
<geometry name="lfmetacarpal_collision_geom">
<box size="0.008 0.008 0.03" />
<box size="0.018 0.024 0.048" />
</geometry>
</collision>
</link>
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