Commit baf86595 authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Universal Robot.

parent b1703ff7
......@@ -228,6 +228,11 @@
</geometry>
<origin rpy="0 0 0" xyz="-0.01 0 0"/>
</collision>
<inertial>
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link>
<transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
......@@ -305,7 +310,13 @@
<selfCollide>true</selfCollide>
</gazebo>
<!-- ROS base_link to UR 'Base' Coordinates transform -->
<link name="base"/>
<link name="base">
<inertial>
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link>
<joint name="base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180
......@@ -316,7 +327,14 @@
<child link="base"/>
</joint>
<!-- Frame coincident with all-zeros TCP on UR controller -->
<link name="tool0"/>
<link name="tool0">
<inertial>
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link>
<joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
<origin rpy="-1.57079632679 0 0" xyz="0 0.0819 0"/>
<parent link="wrist_3_link"/>
......
......@@ -228,6 +228,11 @@
</geometry>
<origin rpy="0 0 0" xyz="-0.01 0 0"/>
</collision>
<inertial>
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link>
<transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
......@@ -305,7 +310,14 @@
<selfCollide>true</selfCollide>
</gazebo>
<!-- ROS base_link to UR 'Base' Coordinates transform -->
<link name="base"/>
<link name="base">
<inertial>
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link>
<joint name="base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180
......@@ -316,7 +328,14 @@
<child link="base"/>
</joint>
<!-- Frame coincident with all-zeros TCP on UR controller -->
<link name="tool0"/>
<link name="tool0">
<inertial>
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link>
<joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
<origin rpy="-1.57079632679 0 0" xyz="0 0.0819 0"/>
<parent link="wrist_3_link"/>
......
......@@ -238,6 +238,11 @@
</geometry>
<origin rpy="0 0 0" xyz="-0.01 0 0"/>
</collision>
<inertial>
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link>
<transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
......@@ -315,7 +320,13 @@
<selfCollide>true</selfCollide>
</gazebo>
<!-- ROS base_link to UR 'Base' Coordinates transform -->
<link name="base"/>
<link name="base">
<inertial>
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link>
<joint name="base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180
......@@ -326,7 +337,13 @@
<child link="base"/>
</joint>
<!-- Frame coincident with all-zeros TCP on UR controller -->
<link name="tool0"/>
<link name="tool0">
<inertial>
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link>
<joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
<origin rpy="-1.57079632679 0 0" xyz="0 0.0823 0"/>
<parent link="wrist_3_link"/>
......
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