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Commit 99961421 authored by ipa-fxm's avatar ipa-fxm
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regenerate urdf files

parent e2210138
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ur_description/urdf/ur10_joint_limited_robot.urdf
+ 18
− 12
View file @ 99961421
......@@ -230,49 +230,55 @@
</link>
<transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_pan_joint"/>
<joint name="shoulder_pan_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="shoulder_pan_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="shoulder_lift_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_lift_joint"/>
<joint name="shoulder_lift_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="shoulder_lift_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="elbow_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="elbow_joint"/>
<joint name="elbow_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="elbow_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_1_joint"/>
<joint name="wrist_1_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="wrist_1_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_2_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_2_joint"/>
<joint name="wrist_2_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="wrist_2_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_3_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_3_joint"/>
<joint name="wrist_3_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="wrist_3_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
......
ur_description/urdf/ur10_robot.urdf
+ 18
− 12
View file @ 99961421
......@@ -230,49 +230,55 @@
</link>
<transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_pan_joint"/>
<joint name="shoulder_pan_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="shoulder_pan_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="shoulder_lift_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_lift_joint"/>
<joint name="shoulder_lift_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="shoulder_lift_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="elbow_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="elbow_joint"/>
<joint name="elbow_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="elbow_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_1_joint"/>
<joint name="wrist_1_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="wrist_1_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_2_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_2_joint"/>
<joint name="wrist_2_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="wrist_2_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_3_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_3_joint"/>
<joint name="wrist_3_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="wrist_3_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
......
ur_description/urdf/ur5_joint_limited_robot.urdf
+ 18
− 12
View file @ 99961421
......@@ -230,49 +230,55 @@
</link>
<transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_pan_joint"/>
<joint name="shoulder_pan_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="shoulder_pan_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="shoulder_lift_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_lift_joint"/>
<joint name="shoulder_lift_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="shoulder_lift_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="elbow_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="elbow_joint"/>
<joint name="elbow_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="elbow_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_1_joint"/>
<joint name="wrist_1_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="wrist_1_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_2_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_2_joint"/>
<joint name="wrist_2_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="wrist_2_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_3_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_3_joint"/>
<joint name="wrist_3_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="wrist_3_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
......
ur_description/urdf/ur5_robot.urdf
+ 18
− 12
View file @ 99961421
......@@ -230,49 +230,55 @@
</link>
<transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_pan_joint"/>
<joint name="shoulder_pan_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="shoulder_pan_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="shoulder_lift_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_lift_joint"/>
<joint name="shoulder_lift_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="shoulder_lift_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="elbow_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="elbow_joint"/>
<joint name="elbow_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="elbow_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_1_joint"/>
<joint name="wrist_1_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="wrist_1_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_2_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_2_joint"/>
<joint name="wrist_2_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="wrist_2_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_3_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_3_joint"/>
<joint name="wrist_3_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="wrist_3_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
......
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