Fix UR3 mesh positioning (backport of #258) (#259)

Author: mergify[bot]

config/ur3/visual_parameters.yaml

@@ -78,7 +78,7 @@ mesh_files:
       mesh:
         package: ur_description
         path: meshes/ur3/collision/wrist2.stl
-    visual_offset: -0.085
+    visual_offset: -0.083
 
   wrist_3:
     visual:
@@ -93,3 +93,4 @@ mesh_files:
         package: ur_description
         path: meshes/ur3/collision/wrist3.stl
     visual_offset: -0.082
+    visual_offset_xyz: "0 -0.00255 -0.082"

urdf/inc/ur_common.xacro

@@ -22,7 +22,12 @@
   </xacro:macro>
 
   <xacro:macro name="get_visual_params" params="name:=^ type:=^" >
-    <xacro:property name="visual_params" value="${sec_mesh_files[name][type]}" scope="parent"/>
+    <xacro:if value="${type in sec_mesh_files[name]}">
+      <xacro:property name="visual_params" value="${sec_mesh_files[name][type]}" scope="parent"/>
+    </xacro:if>
+    <xacro:unless value="${type in sec_mesh_files[name]}">
+      <xacro:property name="visual_params" value="" scope="parent"/>
+    </xacro:unless>
   </xacro:macro>
 
   <!-- Simplification of getting meshes. Available types can be seen in the visual_parameters.yaml (At the time of writing: visual, collision) -->

urdf/ur_macro.xacro

@@ -270,7 +270,7 @@
       </inertial>
     </link>
     <link name="${tf_prefix}wrist_2_link">
-	  <xacro:get_visual_params name="wrist_2" type="visual_offset"/>
+          <xacro:get_visual_params name="wrist_2" type="visual_offset"/>
       <visual>
         <origin xyz="0 0 ${visual_params}" rpy="0 0 0"/>
         <geometry>
@@ -297,15 +297,22 @@
       </inertial>
     </link>
     <link name="${tf_prefix}wrist_3_link">
-	  <xacro:get_visual_params name="wrist_3" type="visual_offset"/>
+      <!-- TODO: remove this once all wrist_3 meshes have the visual_offset_xyz tag -->
+      <xacro:get_visual_params name="wrist_3" type="visual_offset_xyz"/>
+      <xacro:property name="mesh_offset" value="${visual_params}" scope="parent"/>
+
+      <xacro:if value="${visual_params == ''}">
+        <xacro:get_visual_params name="wrist_3" type="visual_offset"/>
+        <xacro:property name="mesh_offset" value="0 0 ${visual_params}" scope="parent"/>
+      </xacro:if>
       <visual>
-        <origin xyz="0 0 ${visual_params}" rpy="${pi/2} 0 0"/>
+        <origin xyz="${mesh_offset}" rpy="${pi/2} 0 0"/>
         <geometry>
           <xacro:get_mesh name="wrist_3" type="visual"/>
         </geometry>
       </visual>
       <collision>
-        <origin xyz="0 0 ${visual_params}" rpy="${pi/2} 0 0"/>
+        <origin xyz="${mesh_offset}" rpy="${pi/2} 0 0"/>
         <geometry>
           <xacro:get_mesh name="wrist_3" type="collision"/>
         </geometry>