Merge pull request #121 from hersh/stl-collision-meshes

Decimated and converted to STL ur5 collision meshes.

ur_description/urdf/ur5.urdf.xacro

@@ -88,7 +88,7 @@
       </visual>
       <collision>
         <geometry>
-          <mesh filename="package://ur_description/meshes/ur5/collision/Base.dae" />
+          <mesh filename="package://ur_description/meshes/ur5/collision/base.stl" />
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="0.06" length="0.05" mass="${base_mass}">
@@ -118,7 +118,7 @@
       </visual>
       <collision>
         <geometry>
-          <mesh filename="package://ur_description/meshes/ur5/collision/Shoulder.dae" />
+          <mesh filename="package://ur_description/meshes/ur5/collision/shoulder.stl" />
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="0.06" length="0.15" mass="${shoulder_mass}">
@@ -148,7 +148,7 @@
       </visual>
       <collision>
         <geometry>
-          <mesh filename="package://ur_description/meshes/ur5/collision/UpperArm.dae" />
+          <mesh filename="package://ur_description/meshes/ur5/collision/upper_arm.stl" />
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="0.06" length="0.56" mass="${upper_arm_mass}">
@@ -178,7 +178,7 @@
       </visual>
       <collision>
         <geometry>
-          <mesh filename="package://ur_description/meshes/ur5/collision/Forearm.dae" />
+          <mesh filename="package://ur_description/meshes/ur5/collision/forearm.stl" />
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="0.06" length="0.5" mass="${forearm_mass}">
@@ -208,7 +208,7 @@
       </visual>
       <collision>
         <geometry>
-          <mesh filename="package://ur_description/meshes/ur5/collision/Wrist1.dae" />
+          <mesh filename="package://ur_description/meshes/ur5/collision/wrist_1.stl" />
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="0.6" length="0.12" mass="${wrist_1_mass}">
@@ -238,7 +238,7 @@
       </visual>
       <collision>
         <geometry>
-          <mesh filename="package://ur_description/meshes/ur5/collision/Wrist2.dae" />
+          <mesh filename="package://ur_description/meshes/ur5/collision/wrist_2.stl" />
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="0.6" length="0.12" mass="${wrist_2_mass}">
@@ -268,7 +268,7 @@
       </visual>
       <collision>
         <geometry>
-          <mesh filename="package://ur_description/meshes/ur5/collision/Wrist3.dae" />
+          <mesh filename="package://ur_description/meshes/ur5/collision/wrist_3.stl" />
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="0.6" length="0.12" mass="${wrist_3_mass}">