Open k-okada opened 4 years ago
support to write STL model for URDF collision element.
irteusgl `rospack find eusurdf`/euslisp/eusmodel_to_urdf.l $EUSDIR/models/room73a3-bariera-1400-middle-0-object.l `rospack find eusurdf`/models/room73a3-bariera-1400-middle-0/ /opt/ros/melodic/lib/collada_urdf_jsk_patch/collada_to_urdf --use-stl
will produce
<?xml version="1.0"?> <robot name="room73a3-bariera-1400-middle-0" xmlns:xi="http://www.w3.org/2001/XInclude"> <gazebo> <static>false</static> </gazebo> <link name="nil_link"> <visual> <origin xyz="0 0 0" rpy="0 -0 0"/> <geometry> <mesh filename="model://room73a3-bariera-1400-middle-0/meshes/nil_link_mesh.dae" scale="1 1 1" /> </geometry> </visual> <collision> <origin xyz="0 0 0" rpy="0 -0 0"/> <geometry> <mesh filename="model://room73a3-bariera-1400-middle-0/meshes/nil_link_mesh.stl" scale="1 1 1" /> </geometry> </collision> <inertial> <mass value="0.001" /> <origin xyz="0 0 0" rpy="0 -0 0"/> <inertia ixx="1e-03" ixy="0" ixz="0" iyy="1e-03" iyz="0" izz="1e-03"/> </inertial> </link> <gazebo reference="nil_link"> <mu1>0.9</mu1> <mu2>0.9</mu2> </gazebo> </robot>
support to write STL model for URDF collision element.
will produce