From 67905efd0ff6e8563f3ef225d173f98bd762c356 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Mon, 9 Dec 2019 08:51:02 -0800
Subject: [PATCH] also enable simplified convex decomposition collision meshes
 for xarm6_robot.urdf

---
 .../gym/pybullet_data/xarm/xarm6_robot.urdf        | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm6_robot.urdf b/examples/pybullet/gym/pybullet_data/xarm/xarm6_robot.urdf
index c09cb1a72..642c54293 100644
--- a/examples/pybullet/gym/pybullet_data/xarm/xarm6_robot.urdf
+++ b/examples/pybullet/gym/pybullet_data/xarm/xarm6_robot.urdf
@@ -45,7 +45,7 @@
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/>
+        <mesh filename="package://xarm_description/meshes/xarm6/collision/base_vhacd.obj"/>
       </geometry>
       <origin rpy="0 0 0" xyz="0 0 0"/>
     </collision>
@@ -65,7 +65,7 @@
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://xarm_description/meshes/xarm6/visual/link1.stl"/>
+        <mesh filename="package://xarm_description/meshes/xarm6/collision/link1_vhacd.obj"/>
       </geometry>
       <origin rpy="0 0 0" xyz="0 0 0"/>
     </collision>
@@ -93,7 +93,7 @@
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://xarm_description/meshes/xarm6/visual/link2.stl"/>
+        <mesh filename="package://xarm_description/meshes/xarm6/collision/link2_vhacd.obj"/>
       </geometry>
       <origin rpy="0 0 0" xyz="0 0 0"/>
     </collision>
@@ -121,7 +121,7 @@
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://xarm_description/meshes/xarm6/visual/link3.stl"/>
+        <mesh filename="package://xarm_description/meshes/xarm6/collision/link3_vhacd.obj"/>
       </geometry>
       <origin rpy="0 0 0" xyz="0 0 0"/>
     </collision>
@@ -149,7 +149,7 @@
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl"/>
+        <mesh filename="package://xarm_description/meshes/xarm6/collision/link4_vhacd.obj"/>
       </geometry>
       <origin rpy="0 0 0" xyz="0 0 0"/>
     </collision>
@@ -177,7 +177,7 @@
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl"/>
+        <mesh filename="package://xarm_description/meshes/xarm6/collision/link5_vhacd.obj"/>
       </geometry>
       <origin rpy="0 0 0" xyz="0 0 0"/>
     </collision>
@@ -205,7 +205,7 @@
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://xarm_description/meshes/xarm6/visual/link6.stl"/>
+        <mesh filename="package://xarm_description/meshes/xarm6/collision/link6_vhacd.obj"/>
       </geometry>
       <origin rpy="0 0 0" xyz="0 0 0"/>
     </collision>