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Gepetto
example-robot-data
Commits
e87be2fb
Commit
e87be2fb
authored
Mar 03, 2021
by
Olivier Stasse
Browse files
Fix ur10_robot
parent
830d1d21
Changes
1
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Inline
Side-by-side
robots/ur_description/urdf/ur10_robot.urdf
View file @
e87be2fb
...
...
@@ -229,7 +229,13 @@
</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>
<joint
name=
"shoulder_pan_joint"
>
...
...
@@ -306,7 +312,14 @@
<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
...
...
@@ -317,7 +330,14 @@
<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 0.0922 0"
/>
<parent
link=
"wrist_3_link"
/>
...
...
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