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Commit 7ab06037 authored by ipa-fxm's avatar ipa-fxm
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re-generate urdf-files from latest xacro-files

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ur_description/urdf/ur10_joint_limited_robot.urdf
+ 15
− 8
View file @ 7ab06037
...@@ -35,7 +35,7 @@ ...@@ -35,7 +35,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/Base.dae"/> <mesh filename="package://ur_description/meshes/ur10/collision/base.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
...@@ -60,7 +60,7 @@ ...@@ -60,7 +60,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/Shoulder.dae"/> <mesh filename="package://ur_description/meshes/ur10/collision/shoulder.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
...@@ -85,7 +85,7 @@ ...@@ -85,7 +85,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/UpperArm.dae"/> <mesh filename="package://ur_description/meshes/ur10/collision/upper_arm.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
...@@ -110,7 +110,7 @@ ...@@ -110,7 +110,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/Forearm.dae"/> <mesh filename="package://ur_description/meshes/ur10/collision/forearm.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
...@@ -135,7 +135,7 @@ ...@@ -135,7 +135,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/Wrist1.dae"/> <mesh filename="package://ur_description/meshes/ur10/collision/wrist_1.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
...@@ -160,7 +160,7 @@ ...@@ -160,7 +160,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/Wrist2.dae"/> <mesh filename="package://ur_description/meshes/ur10/collision/wrist_2.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
...@@ -185,7 +185,7 @@ ...@@ -185,7 +185,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/Wrist3.dae"/> <mesh filename="package://ur_description/meshes/ur10/collision/wrist_3.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
...@@ -199,7 +199,14 @@ ...@@ -199,7 +199,14 @@
<child link="ee_link"/> <child link="ee_link"/>
<origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0922 0.0"/> <origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0922 0.0"/>
</joint> </joint>
<link name="ee_link"/> <link name="ee_link">
<collision>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.01 0 0"/>
</collision>
</link>
<transmission name="shoulder_pan_trans"> <transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_pan_joint"/> <joint name="shoulder_pan_joint"/>
......
ur_description/urdf/ur10_robot.urdf
+ 15
− 8
View file @ 7ab06037
...@@ -35,7 +35,7 @@ ...@@ -35,7 +35,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/Base.dae"/> <mesh filename="package://ur_description/meshes/ur10/collision/base.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
...@@ -60,7 +60,7 @@ ...@@ -60,7 +60,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/Shoulder.dae"/> <mesh filename="package://ur_description/meshes/ur10/collision/shoulder.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
...@@ -85,7 +85,7 @@ ...@@ -85,7 +85,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/UpperArm.dae"/> <mesh filename="package://ur_description/meshes/ur10/collision/upper_arm.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
...@@ -110,7 +110,7 @@ ...@@ -110,7 +110,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/Forearm.dae"/> <mesh filename="package://ur_description/meshes/ur10/collision/forearm.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
...@@ -135,7 +135,7 @@ ...@@ -135,7 +135,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/Wrist1.dae"/> <mesh filename="package://ur_description/meshes/ur10/collision/wrist_1.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
...@@ -160,7 +160,7 @@ ...@@ -160,7 +160,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/Wrist2.dae"/> <mesh filename="package://ur_description/meshes/ur10/collision/wrist_2.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
...@@ -185,7 +185,7 @@ ...@@ -185,7 +185,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/Wrist3.dae"/> <mesh filename="package://ur_description/meshes/ur10/collision/wrist_3.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
...@@ -199,7 +199,14 @@ ...@@ -199,7 +199,14 @@
<child link="ee_link"/> <child link="ee_link"/>
<origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0922 0.0"/> <origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0922 0.0"/>
</joint> </joint>
<link name="ee_link"/> <link name="ee_link">
<collision>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.01 0 0"/>
</collision>
</link>
<transmission name="shoulder_pan_trans"> <transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_pan_joint"/> <joint name="shoulder_pan_joint"/>
......
ur_description/urdf/ur5_joint_limited_robot.urdf
+ 15
− 8
View file @ 7ab06037
...@@ -35,7 +35,7 @@ ...@@ -35,7 +35,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/Base.dae"/> <mesh filename="package://ur_description/meshes/ur5/collision/base.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
...@@ -60,7 +60,7 @@ ...@@ -60,7 +60,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/Shoulder.dae"/> <mesh filename="package://ur_description/meshes/ur5/collision/shoulder.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
...@@ -85,7 +85,7 @@ ...@@ -85,7 +85,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/UpperArm.dae"/> <mesh filename="package://ur_description/meshes/ur5/collision/upper_arm.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
...@@ -110,7 +110,7 @@ ...@@ -110,7 +110,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/Forearm.dae"/> <mesh filename="package://ur_description/meshes/ur5/collision/forearm.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
...@@ -135,7 +135,7 @@ ...@@ -135,7 +135,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/Wrist1.dae"/> <mesh filename="package://ur_description/meshes/ur5/collision/wrist_1.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
...@@ -160,7 +160,7 @@ ...@@ -160,7 +160,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/Wrist2.dae"/> <mesh filename="package://ur_description/meshes/ur5/collision/wrist_2.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
...@@ -185,7 +185,7 @@ ...@@ -185,7 +185,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/Wrist3.dae"/> <mesh filename="package://ur_description/meshes/ur5/collision/wrist_3.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
...@@ -199,7 +199,14 @@ ...@@ -199,7 +199,14 @@
<child link="ee_link"/> <child link="ee_link"/>
<origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0823 0.0"/> <origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0823 0.0"/>
</joint> </joint>
<link name="ee_link"/> <link name="ee_link">
<collision>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.01 0 0"/>
</collision>
</link>
<transmission name="shoulder_pan_trans"> <transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_pan_joint"/> <joint name="shoulder_pan_joint"/>
......
ur_description/urdf/ur5_robot.urdf
+ 15
− 8
View file @ 7ab06037
...@@ -35,7 +35,7 @@ ...@@ -35,7 +35,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/Base.dae"/> <mesh filename="package://ur_description/meshes/ur5/collision/base.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
...@@ -60,7 +60,7 @@ ...@@ -60,7 +60,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/Shoulder.dae"/> <mesh filename="package://ur_description/meshes/ur5/collision/shoulder.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
...@@ -85,7 +85,7 @@ ...@@ -85,7 +85,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/UpperArm.dae"/> <mesh filename="package://ur_description/meshes/ur5/collision/upper_arm.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
...@@ -110,7 +110,7 @@ ...@@ -110,7 +110,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/Forearm.dae"/> <mesh filename="package://ur_description/meshes/ur5/collision/forearm.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
...@@ -135,7 +135,7 @@ ...@@ -135,7 +135,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/Wrist1.dae"/> <mesh filename="package://ur_description/meshes/ur5/collision/wrist_1.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
...@@ -160,7 +160,7 @@ ...@@ -160,7 +160,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/Wrist2.dae"/> <mesh filename="package://ur_description/meshes/ur5/collision/wrist_2.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
...@@ -185,7 +185,7 @@ ...@@ -185,7 +185,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/Wrist3.dae"/> <mesh filename="package://ur_description/meshes/ur5/collision/wrist_3.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
...@@ -199,7 +199,14 @@ ...@@ -199,7 +199,14 @@
<child link="ee_link"/> <child link="ee_link"/>
<origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0823 0.0"/> <origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0823 0.0"/>
</joint> </joint>
<link name="ee_link"/> <link name="ee_link">
<collision>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.01 0 0"/>
</collision>
</link>
<transmission name="shoulder_pan_trans"> <transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_pan_joint"/> <joint name="shoulder_pan_joint"/>
......
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