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Multiple visual entries in urdf

asked 2011-08-16 00:18:30 -0500

dornhege gravatar image

updated 2011-08-16 06:37:10 -0500

AHornung gravatar image

Is it possible to have multiple visual entries in an urdf link?

If yes, how? For me, it seems to only take the first entry.

The same would go for collision models and maybe inertia.

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answered 2011-08-16 06:35:36 -0500

AHornung gravatar image

updated 2011-08-16 06:42:27 -0500

Eric Perko gravatar image

There was a discussion about this on the mailing list in the past, with a ticket submitted and newer more general ticket. It seems like it is implemented in robot_model trunk (and waiting for release in e-turtle?).

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I can't seem to post these links correctly - they show up OK in the preview but look messed up in the answer?
AHornung gravatar image AHornung  ( 2011-08-16 06:38:25 -0500 )edit
I fixed the links for you. For some reason, the "add link" tool prepends an "http://" to things that start with "https://". You can see the error if you look at the actual markdown for the link. I usually just insert links as markdown and skip the GUI tool to avoid weirdness like that.
Eric Perko gravatar image Eric Perko  ( 2011-08-16 06:44:54 -0500 )edit
Ah thanks! I just can't get used to the syntax of the markdown here - thus the need to fall back to the editor tool.
AHornung gravatar image AHornung  ( 2011-08-16 06:48:53 -0500 )edit
The hacky/simple way is using the editor tool and then correcting the links in the source.
dornhege gravatar image dornhege  ( 2011-08-17 00:11:47 -0500 )edit

answered 2011-08-17 18:52:54 -0500

hsu gravatar image

The released electric robot_model do parse multiple visuals. You can retrieve them using urdf::Link::getVisuals(const std::string &group_name). Please take a look at the code api.

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answered 2011-08-16 03:21:20 -0500

David Lu gravatar image

I think the short answer is no.

However, you can create a second link with the same origin that has additional properties.

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I will do this for now. Seems a bit hacky to me as it is actually one part.
dornhege gravatar image dornhege  ( 2011-08-17 00:10:18 -0500 )edit

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Asked: 2011-08-16 00:18:30 -0500

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Last updated: Aug 17 '11