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fix URDF xacro files following the URDF conventions #210

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fix URDF xacro files following the URDF conventions #210

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d295808
fix URDF xacro files following the URDF conventions
jacknlliu Aug 14, 2019
5c0996b
Merge branch 'master' into fix-upstream
SalvoVirga Sep 16, 2019
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fix URDF xacro files following the URDF conventions
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@jacknlliu
jacknlliu committed Aug 14, 2019
commit d295808caeb7de88f2051d07e151ae3e7ba3176c
14 changes: 0 additions & 14 deletions iiwa_description/urdf/iiwa.transmission.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -3,85 +3,71 @@
<xacro:macro name="iiwa_transmission" params="hardware_interface">

<transmission name="${robot_name}_tran_1">
<robotNamespace>/${robot_name}</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint_1">
<hardwareInterface>hardware_interface/${hardware_interface}</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_1">
<hardwareInterface>hardware_interface/${hardware_interface}</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>

<transmission name="${robot_name}_tran_2">
<robotNamespace>/${robot_name}</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint_2">
<hardwareInterface>hardware_interface/${hardware_interface}</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_2">
<hardwareInterface>hardware_interface/${hardware_interface}</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>

<transmission name="${robot_name}_tran_3">
<robotNamespace>/${robot_name}</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint_3">
<hardwareInterface>hardware_interface/${hardware_interface}</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_3">
<hardwareInterface>hardware_interface/${hardware_interface}</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>

<transmission name="${robot_name}_tran_4">
<robotNamespace>/${robot_name}</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint_4">
<hardwareInterface>hardware_interface/${hardware_interface}</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_4">
<hardwareInterface>hardware_interface/${hardware_interface}</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>

<transmission name="${robot_name}_tran_5">
<robotNamespace>/${robot_name}</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint_5">
<hardwareInterface>hardware_interface/${hardware_interface}</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_5">
<hardwareInterface>hardware_interface/${hardware_interface}</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>

<transmission name="${robot_name}_tran_6">
<robotNamespace>/${robot_name}</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint_6">
<hardwareInterface>hardware_interface/${hardware_interface}</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_6">
<hardwareInterface>hardware_interface/${hardware_interface}</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>

<transmission name="${robot_name}_tran_7">
<robotNamespace>/${robot_name}</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint_7">
<hardwareInterface>hardware_interface/${hardware_interface}</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_7">
<hardwareInterface>hardware_interface/${hardware_interface}</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
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12 changes: 2 additions & 10 deletions iiwa_description/urdf/iiwa14.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -44,15 +44,14 @@
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa14/collision/link_0.stl"/>
</geometry>
<material name="Grey"/>
</collision>

<self_collision_checking>
<!-- <self_collision_checking>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<capsule radius="0.15" length="0.25"/>
</geometry>
</self_collision_checking>
</self_collision_checking> -->

</link>

Expand Down Expand Up @@ -91,7 +90,6 @@
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa14/collision/link_1.stl"/>
</geometry>
<material name="Orange"/>
</collision>
</link>

Expand Down Expand Up @@ -130,7 +128,6 @@
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa14/collision/link_2.stl"/>
</geometry>
<material name="Orange"/>
</collision>
</link>

Expand Down Expand Up @@ -169,7 +166,6 @@
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa14/collision/link_3.stl"/>
</geometry>
<material name="Orange"/>
</collision>
</link>

Expand Down Expand Up @@ -208,7 +204,6 @@
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa14/collision/link_4.stl"/>
</geometry>
<material name="Orange"/>
</collision>
</link>

Expand Down Expand Up @@ -247,7 +242,6 @@
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa14/collision/link_5.stl"/>
</geometry>
<material name="Orange"/>
</collision>
</link>

Expand Down Expand Up @@ -286,7 +280,6 @@
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa14/collision/link_6.stl"/>
</geometry>
<material name="Orange"/>
</collision>
</link>

Expand Down Expand Up @@ -325,7 +318,6 @@
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa14/collision/link_7.stl"/>
</geometry>
<material name="Grey"/>
</collision>
</link>

Expand Down
12 changes: 2 additions & 10 deletions iiwa_description/urdf/iiwa7.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -44,15 +44,14 @@
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_0.stl"/>
</geometry>
<material name="Grey"/>
</collision>

<self_collision_checking>
<!-- <self_collision_checking>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<capsule radius="0.15" length="0.25"/>
</geometry>
</self_collision_checking>
</self_collision_checking> -->

</link>

Expand Down Expand Up @@ -89,7 +88,6 @@
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_1.stl"/>
</geometry>
<material name="Orange"/>
</collision>
</link>

Expand Down Expand Up @@ -126,7 +124,6 @@
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_2.stl"/>
</geometry>
<material name="Orange"/>
</collision>
</link>

Expand Down Expand Up @@ -164,7 +161,6 @@
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_3.stl"/>
</geometry>
<material name="Orange"/>
</collision>

</link>
Expand Down Expand Up @@ -203,7 +199,6 @@
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_4.stl"/>
</geometry>
<material name="Orange"/>
</collision>
</link>

Expand Down Expand Up @@ -241,7 +236,6 @@
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_5.stl"/>
</geometry>
<material name="Orange"/>
</collision>
</link>

Expand Down Expand Up @@ -279,7 +273,6 @@
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_6.stl"/>
</geometry>
<material name="Orange"/>
</collision>
</link>

Expand Down Expand Up @@ -317,7 +310,6 @@
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_7.stl"/>
</geometry>
<material name="Grey"/>
</collision>
</link>

Expand Down