STL modells for Mico

[raphimulator]

Hello community,

I was having trouble with some collision-detection using moveit.
Actually it is the same problem as described in this blog:
http://jonweisz.com/collada-fools-me-twice/

It says Collada causes some phantom geometry that messes with collision detection.
So my approach would be "Try to replace collada- by stl-files in the urdf"
Okay, easier said than done, because to be honest Mico's standalone_arm.urdf.xacro and its predecessors are barely readable.
I am no expert in urdf/xacro either, but I can't even tell where the file is loaded.
Other than that: mico describtion doesn't support stl-files for all links.

Thanks for the support.

[dekent]

In the mico_arm.urdf.xacro file, the Collada files are loaded within all of the tags. If you do a search for "mesh" within the file you'll find all of the places where they're loaded. From there, you'll have to replace the .dae file paths with .stl file paths, and you'll also have to add many of the .stl files to the meshes folder of the package, which currently contains mostly Collada files.

I only have Collada files for the arm meshes, so you'll have to either find stl files for the mico, or possibly convert the .dae files. I'm not sure if converting them would fix your problem, though.