From 7c851e76dc9ac8d6f9ff6c3f303609c5ea471d90 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A1ndez?= <shernand@iri.upc.edu>
Date: Sat, 19 Mar 2016 22:31:25 +0000
Subject: [PATCH] Added the bounding boxes for all parts for the collision
detection.
---
.../include/bioloid_controller_impl.h | 1 -
.../bounding_boxes/battery_pack2_bb.stl | Bin 0 -> 8284 bytes
.../meshes/bounding_boxes/body_bb.stl | Bin 0 -> 1884 bytes
.../meshes/bounding_boxes/controller_bb.stl | Bin 0 -> 684 bytes
.../bounding_boxes/left_arm_high_bb.stl | Bin 0 -> 15284 bytes
.../meshes/bounding_boxes/left_arm_low_bb.stl | Bin 0 -> 7684 bytes
.../left_leg_ankle_pitch_bb.stl | Bin 0 -> 8284 bytes
.../bounding_boxes/left_leg_ankle_roll_bb.stl | Bin 0 -> 18484 bytes
.../bounding_boxes/left_leg_knee_bb.stl | Bin 0 -> 10684 bytes
.../left_leg_pelvis_pitch_bb.stl | Bin 0 -> 18884 bytes
.../left_leg_pelvis_roll_bb.stl | Bin 0 -> 8084 bytes
.../bounding_boxes/left_leg_pelvis_yaw_bb.stl | Bin 0 -> 10284 bytes
.../bounding_boxes/left_shoulder_bb.stl | Bin 0 -> 10184 bytes
.../bounding_boxes/right_arm_high_bb.stl | Bin 0 -> 14284 bytes
.../bounding_boxes/right_arm_low_bb.stl | Bin 0 -> 12284 bytes
.../right_leg_ankle_pitch_bb.stl | Bin 0 -> 8284 bytes
.../right_leg_ankle_roll_bb.stl | Bin 0 -> 18484 bytes
.../bounding_boxes/right_leg_knee_bb.stl | Bin 0 -> 10684 bytes
.../right_leg_pelvis_pitch_bb.stl | Bin 0 -> 18684 bytes
.../right_leg_pelvis_roll_bb.stl | Bin 0 -> 8084 bytes
.../right_leg_pelvis_yaw_bb.stl | Bin 0 -> 10284 bytes
.../bounding_boxes/right_shoulder_bb.stl | Bin 0 -> 9284 bytes
.../smart_battery_charger_board_bb.stl | Bin 0 -> 2084 bytes
bioloid_description/urdf/bioloid.xacro | 118 ++++++++++++++++--
24 files changed, 110 insertions(+), 9 deletions(-)
create mode 100644 bioloid_description/meshes/bounding_boxes/battery_pack2_bb.stl
create mode 100644 bioloid_description/meshes/bounding_boxes/body_bb.stl
create mode 100644 bioloid_description/meshes/bounding_boxes/controller_bb.stl
create mode 100644 bioloid_description/meshes/bounding_boxes/left_arm_high_bb.stl
create mode 100644 bioloid_description/meshes/bounding_boxes/left_arm_low_bb.stl
create mode 100644 bioloid_description/meshes/bounding_boxes/left_leg_ankle_pitch_bb.stl
create mode 100644 bioloid_description/meshes/bounding_boxes/left_leg_ankle_roll_bb.stl
create mode 100644 bioloid_description/meshes/bounding_boxes/left_leg_knee_bb.stl
create mode 100644 bioloid_description/meshes/bounding_boxes/left_leg_pelvis_pitch_bb.stl
create mode 100644 bioloid_description/meshes/bounding_boxes/left_leg_pelvis_roll_bb.stl
create mode 100644 bioloid_description/meshes/bounding_boxes/left_leg_pelvis_yaw_bb.stl
create mode 100644 bioloid_description/meshes/bounding_boxes/left_shoulder_bb.stl
create mode 100644 bioloid_description/meshes/bounding_boxes/right_arm_high_bb.stl
create mode 100644 bioloid_description/meshes/bounding_boxes/right_arm_low_bb.stl
create mode 100644 bioloid_description/meshes/bounding_boxes/right_leg_ankle_pitch_bb.stl
create mode 100644 bioloid_description/meshes/bounding_boxes/right_leg_ankle_roll_bb.stl
create mode 100644 bioloid_description/meshes/bounding_boxes/right_leg_knee_bb.stl
create mode 100644 bioloid_description/meshes/bounding_boxes/right_leg_pelvis_pitch_bb.stl
create mode 100644 bioloid_description/meshes/bounding_boxes/right_leg_pelvis_roll_bb.stl
create mode 100644 bioloid_description/meshes/bounding_boxes/right_leg_pelvis_yaw_bb.stl
create mode 100644 bioloid_description/meshes/bounding_boxes/right_shoulder_bb.stl
create mode 100644 bioloid_description/meshes/bounding_boxes/smart_battery_charger_board_bb.stl
diff --git a/bioloid_controller/include/bioloid_controller_impl.h b/bioloid_controller/include/bioloid_controller_impl.h
index b068c35..cd86c8e 100644
--- a/bioloid_controller/include/bioloid_controller_impl.h
+++ b/bioloid_controller/include/bioloid_controller_impl.h
@@ -479,7 +479,6 @@ namespace bioloid_controller
else if(lr_imu_value<-300.0)
lr_imu_value=-300.0;
gyro_lr_value=((lr_imu_value*512)/300.0)+512;
- std::cout << "fb_gyro: " << gyro_fb_value << ", lr_gyro: " << gyro_lr_value << std::endl;
}
template <class HardwareInterface>
diff --git a/bioloid_description/meshes/bounding_boxes/battery_pack2_bb.stl b/bioloid_description/meshes/bounding_boxes/battery_pack2_bb.stl
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diff --git a/bioloid_description/meshes/bounding_boxes/smart_battery_charger_board_bb.stl b/bioloid_description/meshes/bounding_boxes/smart_battery_charger_board_bb.stl
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diff --git a/bioloid_description/urdf/bioloid.xacro b/bioloid_description/urdf/bioloid.xacro
index a12cdb7..fab09ee 100755
--- a/bioloid_description/urdf/bioloid.xacro
+++ b/bioloid_description/urdf/bioloid.xacro
@@ -3,6 +3,12 @@
<xacro:include filename="$(find bioloid_description)/urdf/bioloid.gazebo" />
<link name="base_link">
+ <collision>
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://bioloid_description/meshes/bounding_boxes/body_bb.stl" />
+ </geometry>
+ </collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
@@ -20,6 +26,12 @@
</link>
<link name="right_shoulder">
+ <collision>
+ <origin xyz="0.0 -0.0145 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://bioloid_description/meshes/bounding_boxes/right_shoulder_bb.stl" />
+ </geometry>
+ </collision>
<visual>
<origin xyz="0.0 -0.0145 0" rpy="0 0 0" />
<geometry>
@@ -37,6 +49,12 @@
</link>
<link name="right_arm_high" >
+ <collision>
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://bioloid_description/meshes/bounding_boxes/right_arm_high_bb.stl" />
+ </geometry>
+ </collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
@@ -54,6 +72,12 @@
</link>
<link name="right_arm_low" >
+ <collision>
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://bioloid_description/meshes/bounding_boxes/right_arm_low_bb.stl" />
+ </geometry>
+ </collision>
<visual>
<origin xyz="0.00 0.0 0.0" rpy="0 0 0" />
<geometry>
@@ -71,6 +95,12 @@
</link>
<link name="left_shoulder">
+ <collision>
+ <origin xyz="0.0 -0.0145 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://bioloid_description/meshes/bounding_boxes/left_shoulder_bb.stl" />
+ </geometry>
+ </collision>
<visual>
<origin xyz="0.0 -0.0145 0" rpy="0 0 0" />
<geometry>
@@ -88,6 +118,12 @@
</link>
<link name="left_arm_high" >
+ <collision>
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://bioloid_description/meshes/bounding_boxes/left_arm_high_bb.stl" />
+ </geometry>
+ </collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
@@ -105,6 +141,12 @@
</link>
<link name="left_arm_low" >
+ <collision>
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://bioloid_description/meshes/bounding_boxes/left_arm_low_bb.stl" />
+ </geometry>
+ </collision>
<visual>
<origin xyz="0.00 0.0 0.0" rpy="0 0 0" />
<geometry>
@@ -122,6 +164,12 @@
</link>
<link name="right_leg_pelvis_yaw" >
+ <collision>
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://bioloid_description/meshes/bounding_boxes/right_leg_pelvis_yaw_bb.stl" />
+ </geometry>
+ </collision>
<visual>
<origin xyz="0 0.0 0" rpy="0 0 0" />
<geometry>
@@ -139,6 +187,12 @@
</link>
<link name="right_leg_pelvis_roll" >
+ <collision>
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://bioloid_description/meshes/bounding_boxes/right_leg_pelvis_roll_bb.stl" />
+ </geometry>
+ </collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
@@ -156,6 +210,12 @@
</link>
<link name="right_leg_pelvis_pitch" >
+ <collision>
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://bioloid_description/meshes/bounding_boxes/right_leg_pelvis_pitch_bb.stl" />
+ </geometry>
+ </collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
@@ -173,6 +233,12 @@
</link>
<link name="right_leg_knee" >
+ <collision>
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://bioloid_description/meshes/bounding_boxes/right_leg_knee_bb.stl" />
+ </geometry>
+ </collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
@@ -190,6 +256,12 @@
</link>
<link name="right_leg_ankle_pitch" >
+ <collision>
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://bioloid_description/meshes/bounding_boxes/right_leg_ankle_pitch_bb.stl" />
+ </geometry>
+ </collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
@@ -208,9 +280,9 @@
<link name="right_leg_ankle_roll" >
<collision>
- <origin xyz="0.0 -0.031 0.0" rpy="0 0 0"/>
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
<geometry>
- <box size="0.060 0.002 0.1"/>
+ <mesh filename="package://bioloid_description/meshes/bounding_boxes/right_leg_ankle_roll_bb.stl" />
</geometry>
</collision>
<visual>
@@ -230,6 +302,12 @@
</link>
<link name="left_leg_pelvis_yaw" >
+ <collision>
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://bioloid_description/meshes/bounding_boxes/left_leg_pelvis_yaw_bb.stl" />
+ </geometry>
+ </collision>
<visual>
<origin xyz="0 0.0 0" rpy="0 0 0" />
<geometry>
@@ -247,6 +325,12 @@
</link>
<link name="left_leg_pelvis_roll" >
+ <collision>
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://bioloid_description/meshes/bounding_boxes/left_leg_pelvis_roll_bb.stl" />
+ </geometry>
+ </collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
@@ -264,6 +348,12 @@
</link>
<link name="left_leg_pelvis_pitch" >
+ <collision>
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://bioloid_description/meshes/bounding_boxes/left_leg_pelvis_pitch_bb.stl" />
+ </geometry>
+ </collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
@@ -281,6 +371,12 @@
</link>
<link name="left_leg_knee" >
+ <collision>
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://bioloid_description/meshes/bounding_boxes/left_leg_knee_bb.stl" />
+ </geometry>
+ </collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
@@ -298,6 +394,12 @@
</link>
<link name="left_leg_ankle_pitch" >
+ <collision>
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://bioloid_description/meshes/bounding_boxes/left_leg_ankle_pitch_bb.stl" />
+ </geometry>
+ </collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
@@ -315,6 +417,12 @@
</link>
<link name="left_leg_ankle_roll" >
+ <collision>
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://bioloid_description/meshes/bounding_boxes/left_leg_ankle_roll_bb.stl" />
+ </geometry>
+ </collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
@@ -329,12 +437,6 @@
<origin xyz="0.00000000 -0.02582749 -0.00471367" rpy="0 0 0"/>
<inertia ixx="0.00003001" ixy="0.0" ixz="0.0" iyy="0.00003576" iyz="-0.00000137" izz="0.00000999" />
</inertial>
- <collision>
- <origin xyz="0.0 -0.031 0.0" rpy="0 0 0"/>
- <geometry>
- <box size="0.060 0.002 0.1"/>
- </geometry>
- </collision>
</link>
<joint name="j_shoulder_r" type="revolute">
--
GitLab