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Gepetto
example-robot-data
Commits
2545adcf
Commit
2545adcf
authored
Dec 11, 2019
by
Florent Lamiraux
Committed by
Florent Lamiraux florent@laas.fr
Dec 11, 2019
Browse files
[ur_description] Use meshes from example-robot-data.
parent
3028f018
Changes
8
Hide whitespace changes
Inline
Side-by-side
robots/ur_description/urdf/ur10_joint_limited_robot.urdf
View file @
2545adcf
...
...
@@ -32,7 +32,7 @@
<link
name=
"base_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur10/visual/base.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur10/visual/base.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -40,7 +40,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur10/collision/base.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur10/collision/base.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -60,7 +60,7 @@
<link
name=
"shoulder_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur10/visual/shoulder.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur10/visual/shoulder.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -68,7 +68,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur10/collision/shoulder.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur10/collision/shoulder.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -88,7 +88,7 @@
<link
name=
"upper_arm_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur10/visual/upperarm.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur10/visual/upperarm.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -96,7 +96,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur10/collision/upperarm.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur10/collision/upperarm.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -116,7 +116,7 @@
<link
name=
"forearm_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur10/visual/forearm.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur10/visual/forearm.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -124,7 +124,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur10/collision/forearm.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur10/collision/forearm.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -144,7 +144,7 @@
<link
name=
"wrist_1_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur10/visual/wrist1.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur10/visual/wrist1.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -152,7 +152,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur10/collision/wrist1.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur10/collision/wrist1.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -172,7 +172,7 @@
<link
name=
"wrist_2_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur10/visual/wrist2.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur10/visual/wrist2.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -180,7 +180,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur10/collision/wrist2.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur10/collision/wrist2.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -200,7 +200,7 @@
<link
name=
"wrist_3_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur10/visual/wrist3.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur10/visual/wrist3.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -208,7 +208,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur10/collision/wrist3.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur10/collision/wrist3.stl"
/>
</geometry>
</collision>
<inertial>
...
...
robots/ur_description/urdf/ur10_robot.urdf
View file @
2545adcf
...
...
@@ -32,7 +32,7 @@
<link
name=
"base_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur10/visual/base.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur10/visual/base.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -40,7 +40,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur10/collision/base.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur10/collision/base.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -60,7 +60,7 @@
<link
name=
"shoulder_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur10/visual/shoulder.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur10/visual/shoulder.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -68,7 +68,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur10/collision/shoulder.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur10/collision/shoulder.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -88,7 +88,7 @@
<link
name=
"upper_arm_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur10/visual/upperarm.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur10/visual/upperarm.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -96,7 +96,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur10/collision/upperarm.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur10/collision/upperarm.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -116,7 +116,7 @@
<link
name=
"forearm_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur10/visual/forearm.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur10/visual/forearm.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -124,7 +124,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur10/collision/forearm.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur10/collision/forearm.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -144,7 +144,7 @@
<link
name=
"wrist_1_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur10/visual/wrist1.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur10/visual/wrist1.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -152,7 +152,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur10/collision/wrist1.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur10/collision/wrist1.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -172,7 +172,7 @@
<link
name=
"wrist_2_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur10/visual/wrist2.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur10/visual/wrist2.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -180,7 +180,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur10/collision/wrist2.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur10/collision/wrist2.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -200,7 +200,7 @@
<link
name=
"wrist_3_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur10/visual/wrist3.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur10/visual/wrist3.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -208,7 +208,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur10/collision/wrist3.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur10/collision/wrist3.stl"
/>
</geometry>
</collision>
<inertial>
...
...
robots/ur_description/urdf/ur3_gripper.urdf
View file @
2545adcf
...
...
@@ -45,7 +45,7 @@
<link
name=
"base_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/visual/base.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/visual/base.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -53,7 +53,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/collision/base.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/collision/base.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -73,7 +73,7 @@
<link
name=
"shoulder_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/visual/shoulder.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/visual/shoulder.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -81,7 +81,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/collision/shoulder.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/collision/shoulder.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -101,7 +101,7 @@
<link
name=
"upper_arm_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/visual/upperarm.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/visual/upperarm.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -109,7 +109,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/collision/upperarm.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/collision/upperarm.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -129,7 +129,7 @@
<link
name=
"forearm_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/visual/forearm.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/visual/forearm.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -137,7 +137,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/collision/forearm.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/collision/forearm.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -157,7 +157,7 @@
<link
name=
"wrist_1_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/visual/wrist1.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/visual/wrist1.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -165,7 +165,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/collision/wrist1.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/collision/wrist1.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -185,7 +185,7 @@
<link
name=
"wrist_2_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/visual/wrist2.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/visual/wrist2.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -193,7 +193,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/collision/wrist2.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/collision/wrist2.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -213,7 +213,7 @@
<link
name=
"wrist_3_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/visual/wrist3.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/visual/wrist3.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -221,7 +221,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/collision/wrist3.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/collision/wrist3.stl"
/>
</geometry>
</collision>
<inertial>
...
...
robots/ur_description/urdf/ur3_joint_limited_robot.urdf
View file @
2545adcf
...
...
@@ -31,7 +31,7 @@
<link
name=
"base_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/visual/base.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/visual/base.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -39,7 +39,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/collision/base.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/collision/base.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -59,7 +59,7 @@
<link
name=
"shoulder_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/visual/shoulder.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/visual/shoulder.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -67,7 +67,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/collision/shoulder.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/collision/shoulder.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -87,7 +87,7 @@
<link
name=
"upper_arm_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/visual/upperarm.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/visual/upperarm.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -95,7 +95,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/collision/upperarm.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/collision/upperarm.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -115,7 +115,7 @@
<link
name=
"forearm_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/visual/forearm.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/visual/forearm.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -123,7 +123,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/collision/forearm.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/collision/forearm.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -143,7 +143,7 @@
<link
name=
"wrist_1_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/visual/wrist1.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/visual/wrist1.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -151,7 +151,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/collision/wrist1.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/collision/wrist1.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -171,7 +171,7 @@
<link
name=
"wrist_2_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/visual/wrist2.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/visual/wrist2.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -179,7 +179,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/collision/wrist2.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/collision/wrist2.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -199,7 +199,7 @@
<link
name=
"wrist_3_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/visual/wrist3.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/visual/wrist3.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -207,7 +207,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/collision/wrist3.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/collision/wrist3.stl"
/>
</geometry>
</collision>
<inertial>
...
...
robots/ur_description/urdf/ur3_robot.urdf
View file @
2545adcf
...
...
@@ -31,7 +31,7 @@
<link
name=
"base_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/visual/base.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/visual/base.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -39,7 +39,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/collision/base.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/collision/base.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -59,7 +59,7 @@
<link
name=
"shoulder_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/visual/shoulder.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/visual/shoulder.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -67,7 +67,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/collision/shoulder.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/collision/shoulder.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -87,7 +87,7 @@
<link
name=
"upper_arm_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/visual/upperarm.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/visual/upperarm.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -95,7 +95,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/collision/upperarm.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/collision/upperarm.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -115,7 +115,7 @@
<link
name=
"forearm_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/visual/forearm.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/visual/forearm.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -123,7 +123,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/collision/forearm.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/collision/forearm.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -143,7 +143,7 @@
<link
name=
"wrist_1_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/visual/wrist1.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/visual/wrist1.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -151,7 +151,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/collision/wrist1.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/collision/wrist1.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -171,7 +171,7 @@
<link
name=
"wrist_2_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/visual/wrist2.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/visual/wrist2.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -179,7 +179,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/collision/wrist2.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/collision/wrist2.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -199,7 +199,7 @@
<link
name=
"wrist_3_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/visual/wrist3.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/visual/wrist3.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -207,7 +207,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur3/collision/wrist3.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur3/collision/wrist3.stl"
/>
</geometry>
</collision>
<inertial>
...
...
robots/ur_description/urdf/ur5_gripper.urdf
View file @
2545adcf
...
...
@@ -65,7 +65,7 @@
<link
name=
"base_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur5/visual/base.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur5/visual/base.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -73,7 +73,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur5/collision/base.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur5/collision/base.stl"
/>
</geometry>
</collision>
<inertial>
...
...
@@ -93,7 +93,7 @@
<link
name=
"shoulder_link"
>
<visual>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur5/visual/shoulder.dae"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur5/visual/shoulder.dae"
/>
</geometry>
<material
name=
"LightGrey"
>
<color
rgba=
"0.7 0.7 0.7 1.0"
/>
...
...
@@ -101,7 +101,7 @@
</visual>
<collision>
<geometry>
<mesh
filename=
"package://ur_description/meshes/ur5/collision/shoulder.stl"
/>
<mesh
filename=
"package://
example-robot-data/robots/
ur_description/meshes/ur5/collision/shoulder.stl"
/>
</geometry>
</collision>