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JWhitleyWorkJWhitleyWork
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Merge pull request #554 from PickNikRobotics/9.1-fix-invalid-names
Fix Invalid URDF Names
2 parents 3d67bdb + 4029489 commit 964c6a1

3 files changed

Lines changed: 74 additions & 74 deletions

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‎src/hangar_sim/config/moveit/picknik_ur.srdf‎

Lines changed: 68 additions & 68 deletions
Original file line numberDiff line numberDiff line change
@@ -361,74 +361,74 @@
361361
<disable_collisions link1="collision_Cube_002" link2="collision_supports_015" reason="Never"/>
362362
<disable_collisions link1="collision_Cube_002" link2="collision_vacuum_base" reason="Never"/>
363363
<disable_collisions link1="collision_Cube_002" link2="collision_vacuum_suction_cups" reason="Never"/>
364-
<disable_collisions link1="collision_Cube" link2="collision_Cube_002.001" reason="Never"/>
365-
<disable_collisions link1="collision_Cube_001" link2="collision_Cube_002.001" reason="Never"/>
366-
<disable_collisions link1="collision_Cube_002" link2="collision_Cube_002.001" reason="Never"/>
367-
<disable_collisions link1="collision_Cube_002.001" link2="collision_Cube_004" reason="Never"/>
368-
<disable_collisions link1="collision_Cube_002.001" link2="collision_Cube_005" reason="Never"/>
369-
<disable_collisions link1="collision_Cube_002.001" link2="collision_Cube_006" reason="Never"/>
370-
<disable_collisions link1="collision_Cube_002.001" link2="collision_Cube_007" reason="Never"/>
371-
<disable_collisions link1="collision_Cube_002.001" link2="collision_Cube_008" reason="Never"/>
372-
<disable_collisions link1="collision_Cube_002.001" link2="collision_Cube_009" reason="Never"/>
373-
<disable_collisions link1="collision_Cube_002.001" link2="collision_Cube_010" reason="Never"/>
374-
<disable_collisions link1="collision_Cube_002.001" link2="collision_Cube_011" reason="Never"/>
375-
<disable_collisions link1="collision_Cube_002.001" link2="collision_Cube_012" reason="Never"/>
376-
<disable_collisions link1="collision_Cube_002.001" link2="collision_Cube_013" reason="Never"/>
377-
<disable_collisions link1="collision_Cube_002.001" link2="collision_Cube_014" reason="Never"/>
378-
<disable_collisions link1="collision_Cube_002.001" link2="collision_Cube_015" reason="Never"/>
379-
<disable_collisions link1="collision_Cube_002.001" link2="collision_Plane" reason="Never"/>
380-
<disable_collisions link1="collision_Cube_002.001" link2="collision_Plane_001" reason="Never"/>
381-
<disable_collisions link1="collision_Cube_002.001" link2="collision_Plane_002" reason="Never"/>
382-
<disable_collisions link1="collision_Cube_002.001" link2="collision_Plane_003" reason="Never"/>
383-
<disable_collisions link1="collision_Cube_002.001" link2="collision_Plane_004" reason="Never"/>
384-
<disable_collisions link1="collision_Cube_002.001" link2="collision_Plane_005" reason="Never"/>
385-
<disable_collisions link1="collision_Cube_002.001" link2="collision_Plane_006" reason="Never"/>
386-
<disable_collisions link1="collision_Cube_002.001" link2="collision_Plane_007" reason="Never"/>
387-
<disable_collisions link1="collision_Cube_002.001" link2="collision_Plane_008" reason="Never"/>
388-
<disable_collisions link1="collision_Cube_002.001" link2="collision_Plane_009" reason="Never"/>
389-
<disable_collisions link1="collision_Cube_002.001" link2="collision_Plane_010" reason="Never"/>
390-
<disable_collisions link1="collision_Cube_002.001" link2="collision_Plane_011" reason="Never"/>
391-
<disable_collisions link1="collision_Cube_002.001" link2="collision_Plane_012" reason="Never"/>
392-
<disable_collisions link1="collision_Cube_002.001" link2="collision_SM_Box_A7_73" reason="Never"/>
393-
<disable_collisions link1="collision_Cube_002.001" link2="collision_SM_Box_A8" reason="Never"/>
394-
<disable_collisions link1="collision_Cube_002.001" link2="collision_SM_Box_C7_77" reason="Never"/>
395-
<disable_collisions link1="collision_Cube_002.001" link2="collision_SM_Floor_376" reason="Adjacent"/>
396-
<disable_collisions link1="collision_Cube_002.001" link2="collision_SM_Pillar2_001" reason="Never"/>
397-
<disable_collisions link1="collision_Cube_002.001" link2="collision_SM_Pillar3_001" reason="Never"/>
398-
<disable_collisions link1="collision_Cube_002.001" link2="collision_SM_Pillar4_001" reason="Never"/>
399-
<disable_collisions link1="collision_Cube_002.001" link2="collision_SM_Pillar5_001" reason="Never"/>
400-
<disable_collisions link1="collision_Cube_002.001" link2="collision_SM_Pillar6_001" reason="Never"/>
401-
<disable_collisions link1="collision_Cube_002.001" link2="collision_SM_Pillar7_001" reason="Never"/>
402-
<disable_collisions link1="collision_Cube_002.001" link2="collision_SM_Pillar8_001" reason="Never"/>
403-
<disable_collisions link1="collision_Cube_002.001" link2="collision_SM_Pillar_10_001" reason="Never"/>
404-
<disable_collisions link1="collision_Cube_002.001" link2="collision_SM_Room_426_001" reason="Never"/>
405-
<disable_collisions link1="collision_Cube_002.001" link2="collision_SM_Room_426_002" reason="Never"/>
406-
<disable_collisions link1="collision_Cube_002.001" link2="collision_SM_Room_426_003" reason="Never"/>
407-
<disable_collisions link1="collision_Cube_002.001" link2="collision_SM_Room_426_004" reason="Never"/>
408-
<disable_collisions link1="collision_Cube_002.001" link2="collision_SM_WallBack_396_001" reason="Never"/>
409-
<disable_collisions link1="collision_Cube_002.001" link2="collision_SM_WallBack_396_002" reason="Never"/>
410-
<disable_collisions link1="collision_Cube_002.001" link2="collision_SM_WallFront_382_001" reason="Never"/>
411-
<disable_collisions link1="collision_Cube_002.001" link2="collision_SM_WallFront_382_002" reason="Never"/>
412-
<disable_collisions link1="collision_Cube_002.001" link2="collision_SM_WallSide16_002" reason="Never"/>
413-
<disable_collisions link1="collision_Cube_002.001" link2="collision_SM_WallSide4_001" reason="Never"/>
414-
<disable_collisions link1="collision_Cube_002.001" link2="collision_supports" reason="Never"/>
415-
<disable_collisions link1="collision_Cube_002.001" link2="collision_supports_001" reason="Never"/>
416-
<disable_collisions link1="collision_Cube_002.001" link2="collision_supports_002" reason="Never"/>
417-
<disable_collisions link1="collision_Cube_002.001" link2="collision_supports_003" reason="Never"/>
418-
<disable_collisions link1="collision_Cube_002.001" link2="collision_supports_004" reason="Never"/>
419-
<disable_collisions link1="collision_Cube_002.001" link2="collision_supports_005" reason="Never"/>
420-
<disable_collisions link1="collision_Cube_002.001" link2="collision_supports_006" reason="Never"/>
421-
<disable_collisions link1="collision_Cube_002.001" link2="collision_supports_007" reason="Never"/>
422-
<disable_collisions link1="collision_Cube_002.001" link2="collision_supports_008" reason="Never"/>
423-
<disable_collisions link1="collision_Cube_002.001" link2="collision_supports_009" reason="Never"/>
424-
<disable_collisions link1="collision_Cube_002.001" link2="collision_supports_010" reason="Never"/>
425-
<disable_collisions link1="collision_Cube_002.001" link2="collision_supports_011" reason="Never"/>
426-
<disable_collisions link1="collision_Cube_002.001" link2="collision_supports_012" reason="Never"/>
427-
<disable_collisions link1="collision_Cube_002.001" link2="collision_supports_013" reason="Never"/>
428-
<disable_collisions link1="collision_Cube_002.001" link2="collision_supports_014" reason="Never"/>
429-
<disable_collisions link1="collision_Cube_002.001" link2="collision_supports_015" reason="Never"/>
430-
<disable_collisions link1="collision_Cube_002.001" link2="collision_vacuum_base" reason="Never"/>
431-
<disable_collisions link1="collision_Cube_002.001" link2="collision_vacuum_suction_cups" reason="Never"/>
364+
<disable_collisions link1="collision_Cube" link2="collision_Cube_002_001" reason="Never"/>
365+
<disable_collisions link1="collision_Cube_001" link2="collision_Cube_002_001" reason="Never"/>
366+
<disable_collisions link1="collision_Cube_002" link2="collision_Cube_002_001" reason="Never"/>
367+
<disable_collisions link1="collision_Cube_002_001" link2="collision_Cube_004" reason="Never"/>
368+
<disable_collisions link1="collision_Cube_002_001" link2="collision_Cube_005" reason="Never"/>
369+
<disable_collisions link1="collision_Cube_002_001" link2="collision_Cube_006" reason="Never"/>
370+
<disable_collisions link1="collision_Cube_002_001" link2="collision_Cube_007" reason="Never"/>
371+
<disable_collisions link1="collision_Cube_002_001" link2="collision_Cube_008" reason="Never"/>
372+
<disable_collisions link1="collision_Cube_002_001" link2="collision_Cube_009" reason="Never"/>
373+
<disable_collisions link1="collision_Cube_002_001" link2="collision_Cube_010" reason="Never"/>
374+
<disable_collisions link1="collision_Cube_002_001" link2="collision_Cube_011" reason="Never"/>
375+
<disable_collisions link1="collision_Cube_002_001" link2="collision_Cube_012" reason="Never"/>
376+
<disable_collisions link1="collision_Cube_002_001" link2="collision_Cube_013" reason="Never"/>
377+
<disable_collisions link1="collision_Cube_002_001" link2="collision_Cube_014" reason="Never"/>
378+
<disable_collisions link1="collision_Cube_002_001" link2="collision_Cube_015" reason="Never"/>
379+
<disable_collisions link1="collision_Cube_002_001" link2="collision_Plane" reason="Never"/>
380+
<disable_collisions link1="collision_Cube_002_001" link2="collision_Plane_001" reason="Never"/>
381+
<disable_collisions link1="collision_Cube_002_001" link2="collision_Plane_002" reason="Never"/>
382+
<disable_collisions link1="collision_Cube_002_001" link2="collision_Plane_003" reason="Never"/>
383+
<disable_collisions link1="collision_Cube_002_001" link2="collision_Plane_004" reason="Never"/>
384+
<disable_collisions link1="collision_Cube_002_001" link2="collision_Plane_005" reason="Never"/>
385+
<disable_collisions link1="collision_Cube_002_001" link2="collision_Plane_006" reason="Never"/>
386+
<disable_collisions link1="collision_Cube_002_001" link2="collision_Plane_007" reason="Never"/>
387+
<disable_collisions link1="collision_Cube_002_001" link2="collision_Plane_008" reason="Never"/>
388+
<disable_collisions link1="collision_Cube_002_001" link2="collision_Plane_009" reason="Never"/>
389+
<disable_collisions link1="collision_Cube_002_001" link2="collision_Plane_010" reason="Never"/>
390+
<disable_collisions link1="collision_Cube_002_001" link2="collision_Plane_011" reason="Never"/>
391+
<disable_collisions link1="collision_Cube_002_001" link2="collision_Plane_012" reason="Never"/>
392+
<disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Box_A7_73" reason="Never"/>
393+
<disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Box_A8" reason="Never"/>
394+
<disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Box_C7_77" reason="Never"/>
395+
<disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Floor_376" reason="Adjacent"/>
396+
<disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Pillar2_001" reason="Never"/>
397+
<disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Pillar3_001" reason="Never"/>
398+
<disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Pillar4_001" reason="Never"/>
399+
<disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Pillar5_001" reason="Never"/>
400+
<disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Pillar6_001" reason="Never"/>
401+
<disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Pillar7_001" reason="Never"/>
402+
<disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Pillar8_001" reason="Never"/>
403+
<disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Pillar_10_001" reason="Never"/>
404+
<disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Room_426_001" reason="Never"/>
405+
<disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Room_426_002" reason="Never"/>
406+
<disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Room_426_003" reason="Never"/>
407+
<disable_collisions link1="collision_Cube_002_001" link2="collision_SM_Room_426_004" reason="Never"/>
408+
<disable_collisions link1="collision_Cube_002_001" link2="collision_SM_WallBack_396_001" reason="Never"/>
409+
<disable_collisions link1="collision_Cube_002_001" link2="collision_SM_WallBack_396_002" reason="Never"/>
410+
<disable_collisions link1="collision_Cube_002_001" link2="collision_SM_WallFront_382_001" reason="Never"/>
411+
<disable_collisions link1="collision_Cube_002_001" link2="collision_SM_WallFront_382_002" reason="Never"/>
412+
<disable_collisions link1="collision_Cube_002_001" link2="collision_SM_WallSide16_002" reason="Never"/>
413+
<disable_collisions link1="collision_Cube_002_001" link2="collision_SM_WallSide4_001" reason="Never"/>
414+
<disable_collisions link1="collision_Cube_002_001" link2="collision_supports" reason="Never"/>
415+
<disable_collisions link1="collision_Cube_002_001" link2="collision_supports_001" reason="Never"/>
416+
<disable_collisions link1="collision_Cube_002_001" link2="collision_supports_002" reason="Never"/>
417+
<disable_collisions link1="collision_Cube_002_001" link2="collision_supports_003" reason="Never"/>
418+
<disable_collisions link1="collision_Cube_002_001" link2="collision_supports_004" reason="Never"/>
419+
<disable_collisions link1="collision_Cube_002_001" link2="collision_supports_005" reason="Never"/>
420+
<disable_collisions link1="collision_Cube_002_001" link2="collision_supports_006" reason="Never"/>
421+
<disable_collisions link1="collision_Cube_002_001" link2="collision_supports_007" reason="Never"/>
422+
<disable_collisions link1="collision_Cube_002_001" link2="collision_supports_008" reason="Never"/>
423+
<disable_collisions link1="collision_Cube_002_001" link2="collision_supports_009" reason="Never"/>
424+
<disable_collisions link1="collision_Cube_002_001" link2="collision_supports_010" reason="Never"/>
425+
<disable_collisions link1="collision_Cube_002_001" link2="collision_supports_011" reason="Never"/>
426+
<disable_collisions link1="collision_Cube_002_001" link2="collision_supports_012" reason="Never"/>
427+
<disable_collisions link1="collision_Cube_002_001" link2="collision_supports_013" reason="Never"/>
428+
<disable_collisions link1="collision_Cube_002_001" link2="collision_supports_014" reason="Never"/>
429+
<disable_collisions link1="collision_Cube_002_001" link2="collision_supports_015" reason="Never"/>
430+
<disable_collisions link1="collision_Cube_002_001" link2="collision_vacuum_base" reason="Never"/>
431+
<disable_collisions link1="collision_Cube_002_001" link2="collision_vacuum_suction_cups" reason="Never"/>
432432
<disable_collisions link1="collision_Cube_004" link2="collision_Cube_005" reason="Never"/>
433433
<disable_collisions link1="collision_Cube_004" link2="collision_Cube_006" reason="Never"/>
434434
<disable_collisions link1="collision_Cube_004" link2="collision_Cube_007" reason="Never"/>

‎src/hangar_sim/description/hangar.xml‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -2517,14 +2517,14 @@
25172517
/>
25182518
</body>
25192519
<body
2520-
name="collision_Cube_002.001"
2520+
name="collision_Cube_002_001"
25212521
pos="-11.812490463256836 2.936809539794922 0.800389289855957"
25222522
quat="4.371138828673793e-08 0.0 0.0 -1.0"
25232523
>
25242524
<geom
25252525
class="collision"
25262526
type="mesh"
2527-
name="collision_Cube_002.001 geom"
2527+
name="collision_Cube_002_001 geom"
25282528
mesh="collision_Cube_002.001"
25292529
/>
25302530
<body
@@ -2969,7 +2969,7 @@
29692969
<mesh name="SM_DoorSingle2" file="hangar_mesh/SM_DoorSingle2.obj" />
29702970
<mesh name="SM_AccessStand_441" file="hangar_mesh/SM_AccessStand_441.obj" />
29712971
<mesh
2972-
name="collision_Cube_002.001"
2972+
name="collision_Cube_002_001"
29732973
file="hangar_mesh/collision_Cube_002.001.obj"
29742974
/>
29752975
<mesh

‎src/hangar_sim/description/hangar_urdf.xacro‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -157,7 +157,7 @@
157157
</geometry>
158158
</collision>
159159
</link>
160-
<link name="collision_Cube_002.001">
160+
<link name="collision_Cube_002_001">
161161
<collision>
162162
<origin rpy="0.0 0.0 0.0" xyz="-11.812490463256836 -22.871850967407228 1.300389289855957"/>
163163
<geometry>
@@ -661,9 +661,9 @@
661661
<origin rpy="0.0 0.0 0.0" xyz="0.0 25.80866050720215 -0.5"/>
662662

663663
</joint>
664-
<joint name="collision_SM_Floor_376_collision_Cube_002.001_joint" type="fixed">
664+
<joint name="collision_SM_Floor_376_collision_Cube_002_001_joint" type="fixed">
665665
<parent link="collision_SM_Floor_376"/>
666-
<child link="collision_Cube_002.001"/>
666+
<child link="collision_Cube_002_001"/>
667667
<origin rpy="0.0 0.0 0.0" xyz="0.0 25.80866050720215 -0.5"/>
668668

669669
</joint>

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