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Repository for the DRC project.
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Remove name tags from collision groups in URDF model files #465

Closed osrf-migration closed 9 years ago

osrf-migration commented 9 years ago

Original report (archived issue) by Stefan Kohlbrecher (Bitbucket: Stefan_Kohlbrecher).

The non-standard use of group names for the collision geometries of various parts of the robot (atlas.urdf, Sandia hands etc.) leads to various tools spamming the following everytime a model is loaded:

#!

[ WARN] [1420637866.177538171, 403.452000000]: The notion of a group name for collision tags is not supported by URDF.
[ WARN] [1420637866.177570627, 403.452000000]: The notion of a group name for collision tags is not supported by URDF.
[ WARN] [1420637866.177628287, 403.452000000]: The notion of a group name for collision tags is not supported by URDF.
[ WARN] [1420637866.177688207, 403.453000000]: The notion of a group name for collision tags is not supported by URDF.
[ WARN] [1420637866.177741757, 403.453000000]: The notion of a group name for collision tags is not supported by URDF.
[ WARN] [1420637866.177842462, 403.453000000]: The notion of a group name for collision tags is not supported by URDF.
[ WARN] [1420637866.177890283, 403.453000000]: The notion of a group name for collision tags is not supported by URDF.

Unless there is a compelling reason to keep them, I'd vote for removing the name tags. See also discussion on robot_model github issue 18.

osrf-migration commented 9 years ago

Original comment by Stefan Kohlbrecher (Bitbucket: Stefan_Kohlbrecher).

Can somebody from OSRF comment if this if this is possible? It's really a trivial change that would make using the models much more convenient. We can of course do this ourselves by forking and editing models, but that means when models are updated by OSRF, we might run into time wasting merge conflicts. (After looking at who worked on models assigning to @nkoenig for comment).

osrf-migration commented 9 years ago

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

On it.

osrf-migration commented 9 years ago

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

Collision groups are also relevant to the following sdformat pull request:

https://bitbucket.org/osrf/sdformat/pull-request/122/update-internal-urdfdom-to-030-version

osrf-migration commented 9 years ago

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

See pull request #520

osrf-migration commented 9 years ago

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

Resolved in pull request #520.

osrf-migration commented 9 years ago

Original comment by Stefan Kohlbrecher (Bitbucket: Stefan_Kohlbrecher).

Thanks for the fast pull request! While testing I noticed there are a few group names in Multisense URDFs left, so would be good to remove those also.

osrf-migration commented 9 years ago

Original comment by Stefan Kohlbrecher (Bitbucket: Stefan_Kohlbrecher).

Made a pull request: https://osrf-migration.github.io/drcsim-gh-pages/#!/osrf/drcsim/pull-request/521