Commit 1f7aabf4 authored by Felix Mauch's avatar Felix Mauch
Browse files

corrected indentation of xacro files

parent 78ee2fc8
......@@ -167,7 +167,7 @@
<link name="${prefix}forearm_link">
<visual>
<origin xyz="0 0 ${elbow_offset}" rpy="${pi/2} 0 ${-pi/2}"/>
<geometry>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/forearm.dae"/>
</geometry>
<material name="LightGrey">
......@@ -223,7 +223,7 @@
<joint name="${prefix}wrist_2_joint" type="revolute">
<parent link="${prefix}wrist_1_link" />
<child link = "${prefix}wrist_2_link" />
<origin xyz="${__kinematics['wrist_2']['x']} ${__kinematics['wrist_2']['y']} ${__kinematics['wrist_2']['z']}" rpy="${__kinematics['wrist_2']['roll']} ${__kinematics['wrist_2']['pitch']} ${__kinematics['wrist_2']['yaw']}" />
<origin xyz="${__kinematics['wrist_2']['x']} ${__kinematics['wrist_2']['y']} ${__kinematics['wrist_2']['z']}" rpy="${__kinematics['wrist_2']['roll']} ${__kinematics['wrist_2']['pitch']} ${__kinematics['wrist_2']['yaw']}" />
<axis xyz="0 0 1" />
<xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/>
......@@ -258,7 +258,7 @@
<joint name="${prefix}wrist_3_joint" type="revolute">
<parent link="${prefix}wrist_2_link" />
<child link = "${prefix}wrist_3_link" />
<origin xyz="${__kinematics['wrist_3']['x']} ${__kinematics['wrist_3']['y']} ${__kinematics['wrist_3']['z']}" rpy="${__kinematics['wrist_3']['roll']} ${__kinematics['wrist_3']['pitch']} ${__kinematics['wrist_3']['yaw']}" />
<origin xyz="${__kinematics['wrist_3']['x']} ${__kinematics['wrist_3']['y']} ${__kinematics['wrist_3']['z']}" rpy="${__kinematics['wrist_3']['roll']} ${__kinematics['wrist_3']['pitch']} ${__kinematics['wrist_3']['yaw']}" />
<axis xyz="0 0 1" />
<xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/>
......
......@@ -8,7 +8,7 @@
<xacro:include filename="$(find ur_description)/urdf/ur.transmission.xacro" />
<xacro:include filename="$(find ur_description)/urdf/ur.gazebo.xacro" />
<xacro:macro name="cylinder_inertial" params="radius length mass *origin">
<xacro:macro name="cylinder_inertial" params="radius length mass *origin">
<inertial>
<mass value="${mass}" />
<xacro:insert_block name="origin" />
......@@ -166,7 +166,7 @@
<link name="${prefix}forearm_link">
<visual>
<origin xyz="0 0 ${elbow_offset}" rpy="${pi/2} 0 ${-pi/2}"/>
<geometry>
<geometry>
<mesh filename="package://ur_description/meshes/ur3/visual/forearm.dae"/>
</geometry>
<material name="LightGrey">
......
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