diff --git a/robots/tiago_description/robots/tiago.urdf b/robots/tiago_description/robots/tiago.urdf
index fdf805531c77864de43db1a4b5d7c3faa61044a4..9bd1074dcca29de46deafd5386f9cc31c98e2787 100644
--- a/robots/tiago_description/robots/tiago.urdf
+++ b/robots/tiago_description/robots/tiago.urdf
@@ -113,14 +113,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/base/base.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/base/base.stl"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/base/base_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/base/base_collision.stl"/>
</geometry>
<material name="White"/>
</collision>
@@ -144,7 +144,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/base/base_ring.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/base/base_ring.stl"/>
</geometry>
<material name="Orange"/>
</visual>
@@ -166,7 +166,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/objects/antenna.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/objects/antenna.stl"/>
</geometry>
<material name="Black"/>
</visual>
@@ -195,7 +195,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/objects/antenna.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/objects/antenna.stl"/>
</geometry>
<material name="Black"/>
</visual>
@@ -265,7 +265,7 @@
<visual>
<origin rpy="-0.0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/wheels/wheel.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/wheel.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -315,7 +315,7 @@
<visual>
<origin rpy="-3.14159265359 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/wheels/wheel.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/wheel.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -365,7 +365,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
</geometry>
<material name="Grey"/>
</visual>
@@ -379,7 +379,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -435,7 +435,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
</geometry>
<material name="Grey"/>
</visual>
@@ -449,7 +449,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -505,7 +505,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
</geometry>
<material name="Grey"/>
</visual>
@@ -519,7 +519,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -575,7 +575,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
</geometry>
<material name="Grey"/>
</visual>
@@ -589,7 +589,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -646,7 +646,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/torso/torso_fix.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/torso/torso_fix.stl" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
@@ -710,28 +710,28 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/torso/torso_lift_with_arm.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/torso/torso_lift_with_arm.stl" scale="1 1 1"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/torso/torso_lift_collision_core.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/torso/torso_lift_collision_core.dae" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/torso/torso_lift_collision_shoulder.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/torso/torso_lift_collision_shoulder.dae" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/torso/torso_lift_collision_neck.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/torso/torso_lift_collision_neck.dae" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</collision>
@@ -765,14 +765,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/head/head_1.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/head/head_1.stl" scale="1 1 1"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin rpy="0 0 0.0" xyz="0.0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/head/head_1_collision.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/head/head_1_collision.dae" scale="1 1 1"/>
</geometry>
<material name="White"/>
</collision>
@@ -813,14 +813,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/head/head_2.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/head/head_2.stl" scale="1 1 1"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/head/head_2_collision.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/head/head_2_collision.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -860,7 +860,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae" />
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae" />
</geometry>
<material name="Grey">
<color rgba="0.5 0.5 0.5 1"/>
@@ -985,14 +985,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_1.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_1.stl" scale="1 1 1"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_1_collision.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_1_collision.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1015,7 +1015,7 @@
<!-- <origin xyz="0 0 0" rpy="${180 * deg_to_rad} ${0 * deg_to_rad} ${-90 * deg_to_rad}" /> -->
<origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_2.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_2.stl" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -1023,7 +1023,7 @@
<!-- <origin xyz="0 0 0" rpy="${180 * deg_to_rad} ${0 * deg_to_rad} ${-90 * deg_to_rad}" /> -->
<origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_2_collision.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_2_collision.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1045,14 +1045,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_3.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_3.stl" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_3_collision.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_3_collision.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1077,14 +1077,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_4.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_4.stl" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_4_collision.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_4_collision.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1141,14 +1141,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_5.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_5.stl" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_5_collision.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_5_collision.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1170,14 +1170,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_6.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_6.stl" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_6_collision.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_6_collision.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1370,14 +1370,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/palm.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/palm.stl" scale="1 1 1"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/palm_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/palm_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1522,14 +1522,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/thumb_abd_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/thumb_abd_collision.stl" scale="1 1 1"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/thumb_abd_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/thumb_abd_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1587,14 +1587,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
</collision>
</link>
@@ -1652,14 +1652,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
</collision>
</link>
@@ -1684,14 +1684,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1749,14 +1749,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
</collision>
</link>
@@ -1814,14 +1814,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
</collision>
</link>
@@ -1879,14 +1879,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
</collision>
</link>
@@ -1911,14 +1911,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1976,14 +1976,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
</collision>
</link>
@@ -2041,14 +2041,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
</collision>
</link>
@@ -2106,14 +2106,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
</collision>
</link>
@@ -2138,14 +2138,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -2203,14 +2203,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
</collision>
</link>
@@ -2268,14 +2268,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
</collision>
</link>
@@ -2333,14 +2333,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
</collision>
</link>
@@ -2365,14 +2365,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -2430,14 +2430,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
</collision>
</link>
@@ -2495,14 +2495,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
</collision>
</link>
@@ -2560,14 +2560,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
</collision>
</link>
diff --git a/robots/tiago_description/robots/tiago_no_hand.urdf b/robots/tiago_description/robots/tiago_no_hand.urdf
index acaa8d6015dc071ef9ff43c5b369b706a61dc9a9..8b19561c0feda74c7a33fb86edaa6de21824f1b0 100644
--- a/robots/tiago_description/robots/tiago_no_hand.urdf
+++ b/robots/tiago_description/robots/tiago_no_hand.urdf
@@ -113,14 +113,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/base/base.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/base/base.stl"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/base/base_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/base/base_collision.stl"/>
</geometry>
<material name="White"/>
</collision>
@@ -144,7 +144,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/base/base_ring.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/base/base_ring.stl"/>
</geometry>
<material name="Orange"/>
</visual>
@@ -166,7 +166,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/objects/antenna.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/objects/antenna.stl"/>
</geometry>
<material name="Black"/>
</visual>
@@ -195,7 +195,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/objects/antenna.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/objects/antenna.stl"/>
</geometry>
<material name="Black"/>
</visual>
@@ -265,7 +265,7 @@
<visual>
<origin rpy="-0.0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/wheels/wheel.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/wheel.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -315,7 +315,7 @@
<visual>
<origin rpy="-3.14159265359 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/wheels/wheel.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/wheel.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -365,7 +365,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
</geometry>
<material name="Grey"/>
</visual>
@@ -379,7 +379,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -435,7 +435,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
</geometry>
<material name="Grey"/>
</visual>
@@ -449,7 +449,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -505,7 +505,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
</geometry>
<material name="Grey"/>
</visual>
@@ -519,7 +519,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -575,7 +575,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
</geometry>
<material name="Grey"/>
</visual>
@@ -589,7 +589,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -646,7 +646,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/torso/torso_fix.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/torso/torso_fix.stl" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
@@ -710,28 +710,28 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/torso/torso_lift_with_arm.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/torso/torso_lift_with_arm.stl" scale="1 1 1"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/torso/torso_lift_collision_core.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/torso/torso_lift_collision_core.dae" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/torso/torso_lift_collision_shoulder.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/torso/torso_lift_collision_shoulder.dae" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/torso/torso_lift_collision_neck.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/torso/torso_lift_collision_neck.dae" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</collision>
@@ -765,14 +765,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/head/head_1.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/head/head_1.stl" scale="1 1 1"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin rpy="0 0 0.0" xyz="0.0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/head/head_1_collision.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/head/head_1_collision.dae" scale="1 1 1"/>
</geometry>
<material name="White"/>
</collision>
@@ -813,14 +813,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/head/head_2.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/head/head_2.stl" scale="1 1 1"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/head/head_2_collision.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/head/head_2_collision.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -860,7 +860,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae" />
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae" />
</geometry>
<material name="Grey">
<color rgba="0.5 0.5 0.5 1"/>
@@ -985,14 +985,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_1.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_1.stl" scale="1 1 1"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_1_collision.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_1_collision.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1015,7 +1015,7 @@
<!-- <origin xyz="0 0 0" rpy="${180 * deg_to_rad} ${0 * deg_to_rad} ${-90 * deg_to_rad}" /> -->
<origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_2.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_2.stl" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -1023,7 +1023,7 @@
<!-- <origin xyz="0 0 0" rpy="${180 * deg_to_rad} ${0 * deg_to_rad} ${-90 * deg_to_rad}" /> -->
<origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_2_collision.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_2_collision.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1045,14 +1045,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_3.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_3.stl" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_3_collision.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_3_collision.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1077,14 +1077,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_4.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_4.stl" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_4_collision.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_4_collision.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1141,14 +1141,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_5.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_5.stl" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_5_collision.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_5_collision.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1170,14 +1170,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_6.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_6.stl" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_6_collision.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_6_collision.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>