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[urdf] Add capsule collision macro to have capsule description of TALOS links through cylinder and spheres. #8

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[urdf] Add capsule collision macro to have capsule description of TALOS links through cylinder and spheres. #8

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98 changes: 72 additions & 26 deletions talos_description/urdf/arm/arm.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@
<xacro:property name="arm_eps" value="0.02" />


<xacro:macro name="talos_arm" params="name parent side reflect">
<xacro:macro name="talos_arm" params="name parent side reflect using_capsule_collision">
<xacro:unless value="$(arg test)">
<xacro:include filename="$(find talos_description_calibration)/urdf/calibration/arm_${side}.xacro" />
</xacro:unless>
Expand All @@ -51,14 +51,27 @@
<material name="DarkGrey" />
</visual>

<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_1_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
<xacro:if value="${using_capsule_collision}">
<xacro:if value="${side == 'left'}">
<xacro:capsule-collision e1="-0.030119 0.141768 0.0465263" e2="-0.00429634 0.0157203 0.0513477" rad="0.076661652397679497" clen="0.12875612953621868" rpy="1.53256 0.201924 0.194397" mid="-0.0172077 0.0787443 0.048937" />
</xacro:if>
<xacro:if value="${side == 'right'}">
<xacro:capsule-collision e1="-0.030119 -0.141768 0.0465263" e2="-0.00429634 -0.0157203 0.0513477" rad="0.076661652397679497" clen="0.12875612953621868" rpy="-1.53256 0.201924 -0.194397" mid="-0.0172077 -0.0787443 0.048937" />
</xacro:if>
</xacro:if>

<xacro:unless value="${using_capsule_collision}">
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_1_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</xacro:unless>

</link>


<joint name="${name}_${side}_1_joint" type="revolute">
<parent link="${parent}" />
<child link="${name}_${side}_1_link" />
Expand All @@ -85,13 +98,24 @@
</geometry>
<material name="DarkGrey" />
</visual>
<xacro:if value="${using_capsule_collision}">
<xacro:if value="${side == 'left'}">
<xacro:capsule-collision e1="-8.22104e-05 0.00124357 -0.107621" e2="0.0268691 0.000255834 -0.00293965" rad="0.082464320229024751" clen="0.10809965507805776" rpy="0.00943534 0.251977 0.00119509" mid="0.0133935 0.000749701 -0.0552803" />
</xacro:if>
<xacro:if value="${side == 'right'}">
<xacro:capsule-collision e1="-8.22104e-05 -0.00124357 -0.107621" e2="0.0268691 -0.000255834 -0.00293965" rad="0.082464320229024751" clen="0.10809965507805776" rpy="-0.00943534 0.251977 -0.00119509" mid="0.0133935 -0.000749701 -0.0552803" />
</xacro:if>
</xacro:if>

<xacro:unless value="${using_capsule_collision}">
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_2_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</xacro:unless>

<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_2_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>

<joint name="${name}_${side}_2_joint" type="revolute">
Expand Down Expand Up @@ -121,12 +145,23 @@
<material name="DarkGrey" />
</visual>

<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_3_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
<xacro:if value="${using_capsule_collision}">
<xacro:if value="${side == 'left'}">
<xacro:capsule-collision e1="0.0012938 0.00577828 -0.203827" e2="0.0206547 0.0332832 -0.277413" rad="0.077010074599207598" clen="0.080908820017687497" rpy="-2.78389 0.241638 -1.1828" mid="0.0109743 0.0195307 -0.24062" />
</xacro:if>
<xacro:if value="${side == 'right'}">
<xacro:capsule-collision e1="0.0012938 -0.00577828 -0.203827" e2="0.0206547 -0.0332832 -0.277413" rad="0.077010074599207598" clen="0.080908820017687497" rpy="2.78389 0.241638 1.1828" mid="0.0109743 -0.0195307 -0.24062" />
</xacro:if>
</xacro:if>
<xacro:unless value="${using_capsule_collision}">
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_3_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</xacro:unless>

</link>

<joint name="${name}_${side}_3_joint" type="revolute">
Expand Down Expand Up @@ -158,12 +193,23 @@
<material name="DarkGrey" />
</visual>

<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_4_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
<xacro:if value="${using_capsule_collision}">
<xacro:if value="${side == 'left'}">
<xacro:capsule-collision e1="-0.020217 -0.00152238 -0.0600083" e2="-0.000255625 -0.0316283 0.0000811275" rad="0.061638573989565293" clen="0.07011106838940788" rpy="0.464462 0.288704 0.0687292" mid="-0.0102363 -0.0165753 -0.0299636" />
</xacro:if>
<xacro:if value="${side == 'right'}">
<xacro:capsule-collision e1="-0.020217 0.00152238 -0.0600083" e2="-0.000255625 0.0316283 0.0000811275" rad="0.061638573989565293" clen="0.07011106838940788" rpy="-0.464462 0.288704 -0.0687292" mid="-0.0102363 0.0165753 -0.0299636" />
</xacro:if>
</xacro:if>
<xacro:unless value="${using_capsule_collision}">
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_4_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</xacro:unless>

</link>

<joint name="${name}_${side}_4_joint" type="revolute">
Expand Down Expand Up @@ -218,7 +264,7 @@
<!--************************-->
<!-- WRIST -->
<!--************************-->
<xacro:talos_wrist name="arm" parent="${name}_${side}_4_link" side="${side}" reflect="${reflect}" />
<xacro:talos_wrist name="arm" parent="${name}_${side}_4_link" side="${side}" reflect="${reflect}" using_capsule_collision="${using_capsule_collision}" />

</xacro:macro>

Expand Down
74 changes: 55 additions & 19 deletions talos_description/urdf/arm/wrist.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@
<xacro:property name="wrist_eps" value="0.02" />


<xacro:macro name="talos_wrist" params="name parent side reflect">
<xacro:macro name="talos_wrist" params="name parent side reflect using_capsule_collision">
<xacro:unless value="$(arg test)">
<xacro:include filename="$(find talos_description_calibration)/urdf/calibration/arm_${side}.xacro" />
</xacro:unless>
Expand All @@ -48,12 +48,24 @@
<material name="LightGrey" />
</visual>

<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_5_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
<xacro:if value="${using_capsule_collision}">
<xacro:if value="${side == 'left'}">
<xacro:capsule-collision e1="-2.13964e-05 0.000999035 0.0358616" e2="0.000145615 0.0012191 0.121451" rad="0.077412213480368891" clen="0.085589949413547098" rpy="-0.00257122 0.0019513 -2.50861e-06" mid="6.21094e-05 0.00110907 0.0786563" />
</xacro:if>
<xacro:if value="${side == 'right'}">
<xacro:capsule-collision e1="-2.13964e-05 -0.000999035 0.0358616" e2="0.000145615 -0.0012191 0.121451" rad="0.077412213480368891" clen="0.085589949413547098" rpy="0.00257122 0.0019513 2.50861e-06" mid="6.21094e-05 -0.00110907 0.0786563" />
</xacro:if>
</xacro:if>

<xacro:unless value="${using_capsule_collision}">
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_5_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</xacro:unless>

</link>

<joint name="${name}_${side}_5_joint" type="revolute">
Expand Down Expand Up @@ -82,12 +94,24 @@
<material name="LightGrey" />
</visual>

<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_6_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
<xacro:if value="${using_capsule_collision}">
<xacro:if value="${side == 'left'}">
<xacro:capsule-collision e1="3.71733e-07 -0.000248227 -0.00766634" e2="5.46154e-05 -8.61821e-05 0.00107298" rad="0.044402592090813625" clen="0.0087409825962203314" rpy="-0.0185399 0.00620572 -5.75286e-05" mid="2.74936e-05 -0.000167204 -0.00329668" />

</xacro:if>
<xacro:if value="${side == 'right'}">
<xacro:capsule-collision e1="3.71733e-07 0.000248227 -0.00766634" e2="5.46154e-05 8.61821e-05 0.00107298" rad="0.044402592090813625" clen="0.0087409825962203314" rpy="0.0185399 0.00620572 5.75286e-05" mid="2.74936e-05 0.000167204 -0.00329668" />
</xacro:if>
</xacro:if>

<xacro:unless value="${using_capsule_collision}">
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_6_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</xacro:unless>
</link>

<joint name="${name}_${side}_6_joint" type="revolute">
Expand Down Expand Up @@ -116,12 +140,24 @@
<material name="DarkGrey" />
</visual>

<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_7_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
<xacro:if value="${using_capsule_collision}">
<xacro:if value="${side == 'left'}">
<xacro:capsule-collision e1="-3.67844e-05 -8.9312e-05 -0.0167866" e2="1.80245e-05 -1.49283e-05 -0.0702192" rad="0.048804145966408037" clen="0.05343267786175529" rpy="-3.1402 0.00102576 -1.27005" mid="-9.37996e-06 -5.21201e-05 -0.0435029" />
</xacro:if>
<xacro:if value="${side == 'right'}">
<xacro:capsule-collision e1="-3.67844e-05 8.9312e-05 -0.0167866" e2="1.80245e-05 1.49283e-05 -0.0702192" rad="0.048804145966408037" clen="0.05343267786175529" rpy="3.1402 0.00102576 1.27005" mid="-9.37996e-06 5.21201e-05 -0.0435029" />
</xacro:if>
</xacro:if>

<xacro:unless value="${using_capsule_collision}">
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_7_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</xacro:unless>

</link>

<joint name="${name}_${side}_7_joint" type="revolute">
Expand Down
22 changes: 22 additions & 0 deletions talos_description/urdf/capsule_collision.xacro
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Original file line number Diff line number Diff line change
@@ -0,0 +1,22 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="capsule-collision" params="e1 e2 rad clen rpy mid">
<collision>
<origin rpy="${rpy}" xyz="${e1}" />
<geometry>
<sphere radius="${rad}" />
</geometry>
</collision>
<collision>
<origin rpy="${rpy}" xyz="${mid}" />
<geometry>
<cylinder length="${clen}" radius="${rad}" />
</geometry>
</collision>
<collision>
<origin rpy="${rpy}" xyz="${e2}" />
<geometry>
<sphere radius="${rad}" />
</geometry>
</collision>
</xacro:macro>
</robot>
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