From 6e9e5949ec0ba2d62cda0036eeb54b5ed6e4fc0d Mon Sep 17 00:00:00 2001
From: Dave Hershberger <dave.hershberger@sri.com>
Date: Tue, 7 Oct 2014 16:49:42 -0700
Subject: [PATCH] Decimated and converted to STL ur5 collision meshes.

---
 ur_description/meshes/ur5/collision/base.stl    | Bin 0 -> 28984 bytes
 ur_description/meshes/ur5/collision/forearm.stl | Bin 0 -> 52584 bytes
 .../meshes/ur5/collision/shoulder.stl           | Bin 0 -> 33784 bytes
 .../meshes/ur5/collision/upper_arm.stl          | Bin 0 -> 58884 bytes
 ur_description/meshes/ur5/collision/wrist_1.stl | Bin 0 -> 35184 bytes
 ur_description/meshes/ur5/collision/wrist_2.stl | Bin 0 -> 35184 bytes
 ur_description/meshes/ur5/collision/wrist_3.stl | Bin 0 -> 22384 bytes
 ur_description/urdf/ur5.urdf.xacro              |  14 +++++++-------
 8 files changed, 7 insertions(+), 7 deletions(-)
 create mode 100644 ur_description/meshes/ur5/collision/base.stl
 create mode 100644 ur_description/meshes/ur5/collision/forearm.stl
 create mode 100644 ur_description/meshes/ur5/collision/shoulder.stl
 create mode 100644 ur_description/meshes/ur5/collision/upper_arm.stl
 create mode 100644 ur_description/meshes/ur5/collision/wrist_1.stl
 create mode 100644 ur_description/meshes/ur5/collision/wrist_2.stl
 create mode 100644 ur_description/meshes/ur5/collision/wrist_3.stl

diff --git a/ur_description/meshes/ur5/collision/base.stl b/ur_description/meshes/ur5/collision/base.stl
new file mode 100644
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diff --git a/ur_description/meshes/ur5/collision/wrist_1.stl b/ur_description/meshes/ur5/collision/wrist_1.stl
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diff --git a/ur_description/meshes/ur5/collision/wrist_2.stl b/ur_description/meshes/ur5/collision/wrist_2.stl
new file mode 100644
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diff --git a/ur_description/meshes/ur5/collision/wrist_3.stl b/ur_description/meshes/ur5/collision/wrist_3.stl
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diff --git a/ur_description/urdf/ur5.urdf.xacro b/ur_description/urdf/ur5.urdf.xacro
index e4634c1..448b308 100644
--- a/ur_description/urdf/ur5.urdf.xacro
+++ b/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}">
-- 
GitLab