Polishing simple collision model

Author: JonaszM

meldog_description/description/links/lower_limb/LFLL_link.urdf.xacro

@@ -8,6 +8,8 @@
         sc_length="${lower_limb_col_length}"
         sc_radius="${lower_limb_col_radius}"
 
+        coll_xyz="0 0 -${lower_limb_col_length/2}"
+
         vis_name="${lower_limb_vis_stl_name}" 
         coll_name="${lower_limb_coll_stl_name}" 
 

meldog_description/description/links/lower_limb/LRLL_link.urdf.xacro

@@ -8,6 +8,8 @@
         sc_length="${lower_limb_col_length}"
         sc_radius="${lower_limb_col_radius}"
 
+        coll_xyz="0 0 -${lower_limb_col_length/2}"
+
         vis_name="${lower_limb_vis_stl_name}" 
         coll_name="${lower_limb_coll_stl_name}" 
 

meldog_description/description/links/lower_limb/RFLL_link.urdf.xacro

@@ -8,6 +8,8 @@
         sc_length="${lower_limb_col_length}"
         sc_radius="${lower_limb_col_radius}"
 
+        coll_xyz="0 0 -${lower_limb_col_length/2}"
+
         vis_name="${lower_limb_vis_stl_name}" 
         coll_name="${lower_limb_coll_stl_name}" 
 

meldog_description/description/links/lower_limb/RRLL_link.urdf.xacro

@@ -8,6 +8,8 @@
         sc_length="${lower_limb_col_length}"
         sc_radius="${lower_limb_col_radius}"
 
+        coll_xyz="0 0 -${lower_limb_col_length/2}"
+
         vis_name="${lower_limb_vis_stl_name}" 
         coll_name="${lower_limb_coll_stl_name}" 
 

meldog_description/description/links/upper_limb/LFUL_link.urdf.xacro

@@ -8,6 +8,8 @@
         sc_length="${upper_limb_col_length}"
         sc_radius="${upper_limb_col_radius}"
 
+        coll_xyz="0 0 -${upper_limb_col_length/2}"
+
         vis_name="${upper_limb_vis_stl_name}" 
         coll_name="${upper_limb_coll_stl_name}" 
 

meldog_description/description/links/upper_limb/LRUL_link.urdf.xacro

@@ -8,6 +8,8 @@
         sc_length="${upper_limb_col_length}"
         sc_radius="${upper_limb_col_radius}"
 
+        coll_xyz="0 0 -${upper_limb_col_length/2}"
+
         vis_name="upper_limb_test.stl" 
         coll_name="upper_limb_collision.stl" 
 

meldog_description/description/links/upper_limb/RFUL_link.urdf.xacro

@@ -8,6 +8,8 @@
         sc_length="${upper_limb_col_length}"
         sc_radius="${upper_limb_col_radius}"
 
+        coll_xyz="0 0 -${upper_limb_col_length/2}"
+
         vis_name="r_upper_limb_vis.stl" 
         coll_name="upper_limb_collision.stl" 
 

meldog_description/description/links/upper_limb/RRUL_link.urdf.xacro

@@ -8,6 +8,8 @@
         sc_length="${upper_limb_col_length}"
         sc_radius="${upper_limb_col_radius}"
 
+        coll_xyz="0 0 -${upper_limb_col_length/2}"
+
         vis_name="r_upper_limb_vis.stl" 
         coll_name="upper_limb_collision.stl"