tesseract-robotics · Levi-Armstrong · Mar 19, 2025 · Dec 13, 2024 · Dec 13, 2024 · Jan 11, 2025
diff --git a/tesseract_support/urdf/abb_irb2400.urdf b/tesseract_support/urdf/abb_irb2400.urdf
@@ -3,7 +3,7 @@
 <!-- |    This document was autogenerated by xacro from irb2400.xacro                  | -->
 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
 <!-- =================================================================================== -->
-<robot name="abb_irb2400" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="abb_irb2400" xmlns:xacro="http://ros.org/wiki/xacro" tesseract:make_convex="true">
   <!-- Conversion were obtained from http://www.e-paint.co.uk/Lab_values.asp
        unless otherwise stated. -->
   <!-- Actual colors -->

diff --git a/tesseract_support/urdf/abb_irb2400_external_positioner.urdf b/tesseract_support/urdf/abb_irb2400_external_positioner.urdf
@@ -3,7 +3,7 @@
 <!-- |    This document was autogenerated by xacro from irb2400.xacro                  | -->
 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
 <!-- =================================================================================== -->
-<robot name="abb_irb2400_external_positioner" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="abb_irb2400_external_positioner" xmlns:xacro="http://ros.org/wiki/xacro" tesseract:make_convex="true">
   <!-- Conversion were obtained from http://www.e-paint.co.uk/Lab_values.asp
        unless otherwise stated. -->
   <!-- Actual colors -->

diff --git a/tesseract_support/urdf/abb_irb2400_on_positioner.urdf b/tesseract_support/urdf/abb_irb2400_on_positioner.urdf
@@ -3,7 +3,7 @@
 <!-- |    This document was autogenerated by xacro from irb2400.xacro                  | -->
 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
 <!-- =================================================================================== -->
-<robot name="abb_irb2400_on_positioner" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="abb_irb2400_on_positioner" xmlns:xacro="http://ros.org/wiki/xacro" tesseract:make_convex="true">
   <!-- Conversion were obtained from http://www.e-paint.co.uk/Lab_values.asp
        unless otherwise stated. -->
   <!-- Actual colors -->

diff --git a/tesseract_support/urdf/boxbot.urdf b/tesseract_support/urdf/boxbot.urdf
@@ -3,7 +3,7 @@
 <!-- |    This document was autogenerated by xacro from boxbot.xacro                   | -->
 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
 <!-- =================================================================================== -->
-<robot name="boxbot" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="boxbot" xmlns:xacro="http://ros.org/wiki/xacro" tesseract:make_convex="true">
   <link name="base_link"/>
   <link name="boxbot_linkX"/>
   <link name="boxbot_linkY"/>

diff --git a/tesseract_support/urdf/car_seat_demo.urdf b/tesseract_support/urdf/car_seat_demo.urdf
@@ -3,7 +3,7 @@
 <!-- |    This document was autogenerated by xacro from car_seat_demo.xacro            | -->
 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
 <!-- =================================================================================== -->
-<robot name="car_seat_demo">
+<robot name="car_seat_demo" tesseract:make_convex="true">
   <!-- link list -->
   <link name="base_link">
     <visual>

diff --git a/tesseract_support/urdf/car_seat_demo.xacro b/tesseract_support/urdf/car_seat_demo.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot name="car_seat_demo" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="car_seat_demo" xmlns:xacro="http://ros.org/wiki/xacro" tesseract:make_convex="true">
     <xacro:include filename="$(find tesseract_support)/urdf/sia20d_macro.xacro"/>
     <xacro:motoman_sia20d prefix=""/>
     <xacro:include filename="$(find tesseract_support)/urdf/car_seat_demo_macro.xacro"/>

diff --git a/tesseract_support/urdf/gantry_robot_underslung/gudel_fp6.xacro b/tesseract_support/urdf/gantry_robot_underslung/gudel_fp6.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot name="gudel" xmlns:xacro="http://wiki.ros.org/xacro">
+<robot name="gudel" xmlns:xacro="http://wiki.ros.org/xacro" tesseract:make_convex="true">
   <xacro:include filename="$(find tesseract_support)/urdf/gantry_robot_underslung/gudel_fp6_macro.xacro"/>
   <xacro:gudel_fp6 prefix=""/>
 </robot>
diff --git a/tesseract_support/urdf/iiwa7.urdf b/tesseract_support/urdf/iiwa7.urdf
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot name="kuka_liwa_7" xmlns:xacro="http://wiki.ros.org/xacro">
+<robot name="kuka_liwa_7" xmlns:xacro="http://wiki.ros.org/xacro" tesseract:make_convex="true">
     <!-- link list -->
     <link name="link_0">
       <visual>

diff --git a/tesseract_support/urdf/lbr_iiwa_14_r820.urdf b/tesseract_support/urdf/lbr_iiwa_14_r820.urdf
@@ -3,7 +3,7 @@
 <!-- |    This document was autogenerated by xacro from lbr_iiwa_14_r820.xacro         | -->
 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
 <!-- =================================================================================== -->
-<robot name="kuka_lbr_iiwa_14_r820" xmlns:xacro="http://wiki.ros.org/xacro">
+<robot name="kuka_lbr_iiwa_14_r820" xmlns:xacro="http://wiki.ros.org/xacro" tesseract:make_convex="true">
   <!-- link list -->
   <link name="base_link">
     <visual>

diff --git a/tesseract_support/urdf/lbr_iiwa_14_r820.xacro b/tesseract_support/urdf/lbr_iiwa_14_r820.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot name="kuka_lbr_iiwa_14_r820" xmlns:xacro="http://wiki.ros.org/xacro">
+<robot name="kuka_lbr_iiwa_14_r820" xmlns:xacro="http://wiki.ros.org/xacro" tesseract:make_convex="true">
   <xacro:include filename="$(find tesseract_support)/urdf/lbr_iiwa_14_r820_macro.xacro"/>
   <xacro:kuka_lbr_iiwa_14_r820 prefix=""/>
 </robot>
diff --git a/tesseract_support/urdf/online_planning_example.urdf b/tesseract_support/urdf/online_planning_example.urdf
@@ -3,7 +3,7 @@
 <!-- |    This document was autogenerated by xacro from online_planning_example.xacro  | -->
 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
 <!-- =================================================================================== -->
-<robot name="online_planning_example">
+<robot name="online_planning_example" tesseract:make_convex="true">
   <!-- Conversion were obtained from http://www.e-paint.co.uk/Lab_values.asp
        unless otherwise stated. -->
   <!-- Actual colors -->

diff --git a/tesseract_support/urdf/online_planning_example.xacro b/tesseract_support/urdf/online_planning_example.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot name="online_planning_example" xmlns:xacro="http://wiki.ros.org/xacro">
+<robot name="online_planning_example" xmlns:xacro="http://wiki.ros.org/xacro" tesseract:make_convex="true">
 
   <xacro:include filename="$(find tesseract_support)/urdf/gantry_robot_underslung/gantry_robot_underslung.xacro"/>
 

diff --git a/tesseract_support/urdf/pick_and_place_plan.urdf b/tesseract_support/urdf/pick_and_place_plan.urdf
@@ -3,7 +3,7 @@
 <!-- |    This document was autogenerated by xacro from pick_and_place_plan.xacro      | -->
 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
 <!-- =================================================================================== -->
-<robot name="robot">
+<robot name="robot" tesseract:make_convex="true">
   <!-- Create links -->
   <link name="world"/>
   <link name="base_link"/>

diff --git a/tesseract_support/urdf/pick_and_place_plan.xacro b/tesseract_support/urdf/pick_and_place_plan.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot name="robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
+<robot name="robot" xmlns:xacro="http://www.ros.org/wiki/xacro" tesseract:make_convex="true">
     <!-- Create links -->
     <link name="world"/>
     <link name="base_link"/>

diff --git a/tesseract_support/urdf/puzzle_piece_workcell.urdf b/tesseract_support/urdf/puzzle_piece_workcell.urdf
@@ -3,7 +3,7 @@
 <!-- |    This document was autogenerated by xacro from puzzle_piece_workcell.xacro    | -->
 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
 <!-- =================================================================================== -->
-<robot name="puzzle_piece_workcell">
+<robot name="puzzle_piece_workcell" tesseract:make_convex="true">
   <link name="world"/>
   <link name="table">
     <visual>

diff --git a/tesseract_support/urdf/puzzle_piece_workcell.xacro b/tesseract_support/urdf/puzzle_piece_workcell.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot name="puzzle_piece_workcell" xmlns:xacro="http://wiki.ros.org/xacro">
+<robot name="puzzle_piece_workcell" xmlns:xacro="http://wiki.ros.org/xacro" tesseract:make_convex="true">
   <xacro:include filename="$(find tesseract_support)/urdf/lbr_iiwa_14_r820_macro.xacro" />
 
   <!-- This contains the macro "ses_part_macro" that places the clip wrt the tool tip -->

diff --git a/tesseract_support/urdf/scene_graph_example.urdf b/tesseract_support/urdf/scene_graph_example.urdf
@@ -3,7 +3,7 @@
 <!-- |    This document was autogenerated by xacro from scene_graph_example.xacro      | -->
 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
 <!-- =================================================================================== -->
-<robot name="irb2400_iiwa_cowork">
+<robot name="irb2400_iiwa_cowork" tesseract:make_convex="true">
   <!-- Conversion were obtained from http://www.e-paint.co.uk/Lab_values.asp
        unless otherwise stated. -->
   <!-- Actual colors -->

diff --git a/tesseract_support/urdf/scene_graph_example.xacro b/tesseract_support/urdf/scene_graph_example.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot name="irb2400_iiwa_cowork" xmlns:xacro="http://wiki.ros.org/xacro">
+<robot name="irb2400_iiwa_cowork" xmlns:xacro="http://wiki.ros.org/xacro" tesseract:make_convex="true">
   <xacro:include filename="$(find tesseract_support)/urdf/lbr_iiwa_14_r820_macro.xacro" />
   <xacro:include filename="$(find tesseract_support)/urdf/abb_irb2400.urdf" />
 

diff --git a/tesseract_support/urdf/sia20d.xacro b/tesseract_support/urdf/sia20d.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0" ?>
 
-<robot name="motoman_sia20d" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="motoman_sia20d" xmlns:xacro="http://ros.org/wiki/xacro" tesseract:make_convex="true">
   <xacro:include filename="$(find tesseract_support)/urdf/sia20d_macro.xacro" />
 	<xacro:motoman_sia20d prefix=""/>
 </robot>

diff --git a/tesseract_urdf/CMakeLists.txt b/tesseract_urdf/CMakeLists.txt
@@ -50,7 +50,6 @@ add_library(
   src/capsule.cpp
   src/collision.cpp
   src/cone.cpp
-  src/convex_mesh.cpp
   src/cylinder.cpp
   src/dynamics.cpp
   src/geometry.cpp

diff --git a/tesseract_urdf/include/tesseract_urdf/box.h b/tesseract_urdf/include/tesseract_urdf/box.h
@@ -29,6 +29,7 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <memory>
+#include <string_view>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_geometry/fwd.h>
@@ -41,12 +42,14 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
+static constexpr std::string_view BOX_ELEMENT_NAME = "box";
+
 /**
  * @brief Parse a xml box element
  * @param xml_element The xml element
  * @return Tesseract Geometry Box
  */
-std::shared_ptr<tesseract_geometry::Box> parseBox(const tinyxml2::XMLElement* xml_element, int version);
+std::shared_ptr<tesseract_geometry::Box> parseBox(const tinyxml2::XMLElement* xml_element);
 
 tinyxml2::XMLElement* writeBox(const std::shared_ptr<const tesseract_geometry::Box>& box, tinyxml2::XMLDocument& doc);
 

diff --git a/tesseract_urdf/include/tesseract_urdf/calibration.h b/tesseract_urdf/include/tesseract_urdf/calibration.h
@@ -29,6 +29,7 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <memory>
+#include <string_view>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_scene_graph/fwd.h>
@@ -41,13 +42,14 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
+static constexpr std::string_view CALIBRATION_ELEMENT_NAME = "calibration";
+
 /**
  * @brief Parse a xml calibration element
  * @param xml_element The xml element
  * @return Tesseract JointCalibration
  */
-std::shared_ptr<tesseract_scene_graph::JointCalibration> parseCalibration(const tinyxml2::XMLElement* xml_element,
-                                                                          int version);
+std::shared_ptr<tesseract_scene_graph::JointCalibration> parseCalibration(const tinyxml2::XMLElement* xml_element);
 
 tinyxml2::XMLElement*
 writeCalibration(const std::shared_ptr<const tesseract_scene_graph::JointCalibration>& calibration,

diff --git a/tesseract_urdf/include/tesseract_urdf/capsule.h b/tesseract_urdf/include/tesseract_urdf/capsule.h
@@ -29,6 +29,7 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <memory>
+#include <string_view>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_geometry/fwd.h>
@@ -41,12 +42,14 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
+static constexpr std::string_view CAPSULE_ELEMENT_NAME = "tesseract:capsule";
+
 /**
  * @brief Parse a xml capsule element
  * @param xml_element The xml element
  * @return Tesseract Geometry Capsule
  */
-std::shared_ptr<tesseract_geometry::Capsule> parseCapsule(const tinyxml2::XMLElement* xml_element, int version);
+std::shared_ptr<tesseract_geometry::Capsule> parseCapsule(const tinyxml2::XMLElement* xml_element);
 
 tinyxml2::XMLElement* writeCapsule(const std::shared_ptr<const tesseract_geometry::Capsule>& capsule,
                                    tinyxml2::XMLDocument& doc);

diff --git a/tesseract_urdf/include/tesseract_urdf/collision.h b/tesseract_urdf/include/tesseract_urdf/collision.h
@@ -29,7 +29,7 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <memory>
-#include <vector>
+#include <string_view>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_common/fwd.h>
@@ -43,16 +43,18 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
+static constexpr std::string_view COLLISION_ELEMENT_NAME = "collision";
+
 /**
  * @brief Parse xml element collision
  * @param xml_element The xml element
  * @param locator The Tesseract resource locator
- * @param version The version number
+ * @param make_convex_meshes Flag to indicate if the meshes should be converted to convex hulls
  * @return A Collision object
  */
 std::shared_ptr<tesseract_scene_graph::Collision> parseCollision(const tinyxml2::XMLElement* xml_element,
                                                                  const tesseract_common::ResourceLocator& locator,
-                                                                 int version);
+                                                                 bool make_convex_meshes);
 
 /**
  * @brief writeCollision Write collision object to URDF XML

diff --git a/tesseract_urdf/include/tesseract_urdf/cone.h b/tesseract_urdf/include/tesseract_urdf/cone.h
@@ -29,6 +29,7 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <memory>
+#include <string_view>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_geometry/fwd.h>
@@ -41,12 +42,14 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
+static constexpr std::string_view CONE_ELEMENT_NAME = "tesseract:cone";
+
 /**
  * @brief Parse a xml cone element
  * @param xml_element The xml element
  * @return Tesseract Geometry Cone
  */
-std::shared_ptr<tesseract_geometry::Cone> parseCone(const tinyxml2::XMLElement* xml_element, int version);
+std::shared_ptr<tesseract_geometry::Cone> parseCone(const tinyxml2::XMLElement* xml_element);
 
 tinyxml2::XMLElement* writeCone(const std::shared_ptr<const tesseract_geometry::Cone>& cone,
                                 tinyxml2::XMLDocument& doc);

diff --git a/tesseract_urdf/include/tesseract_urdf/convex_mesh.h b/tesseract_urdf/include/tesseract_urdf/convex_mesh.h
diff --git a/tesseract_urdf/include/tesseract_urdf/cylinder.h b/tesseract_urdf/include/tesseract_urdf/cylinder.h
@@ -29,6 +29,7 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <memory>
+#include <string_view>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_geometry/fwd.h>
@@ -41,12 +42,14 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
+static constexpr std::string_view CYLINDER_ELEMENT_NAME = "cylinder";
+
 /**
  * @brief Parse a xml cylinder element
  * @param xml_element The xml element
  * @return Tesseract Geometry Cylinder
  */
-std::shared_ptr<tesseract_geometry::Cylinder> parseCylinder(const tinyxml2::XMLElement* xml_element, int version);
+std::shared_ptr<tesseract_geometry::Cylinder> parseCylinder(const tinyxml2::XMLElement* xml_element);
 
 tinyxml2::XMLElement* writeCylinder(const std::shared_ptr<const tesseract_geometry::Cylinder>& cylinder,
                                     tinyxml2::XMLDocument& doc);