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… and collision_checking tag that can be understood by pinocchio
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The python script for generating the file is probably not the best one and for simplicity I just placed it at @alaurenzi If you think that this PR should be merged feel free to improve or transfer the script where you think it fits better in this repo. Consider also if the script should be used for autogenerating the urdf file each time new files are generated I have checked the generated collisions by visualizing the pinocchio::GeometryModel generated from the urdf. The capsules are the same as the ones in |
…g into devel # Conflicts: # centauro_srdf/srdf/centauro.srdf # centauro_srdf/srdf/centauro_capsule.srdf # centauro_urdf/urdf/centauro.urdf # centauro_urdf/urdf/centauro_capsule.urdf # centauro_urdf/urdf/centauro_virtual_frame.urdf # centauro_urdf/urdf/utils.urdf.xacro
…or now same as wheels)
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This pull request is for generating a urdf for centauro that has maximum one collision object for each link but at the same time can be interpreted as capsule shape from various urdf-processing libraries, e.g. pinocchio. This is done by including only the cylinder objects in the urdf and adding a <collision_checking> tag that can be processed by pinocchio etc.