add IRB140 package in examples/IRB140 directory

ckguo · Feb 13, 2015 · 199e5c2 · 199e5c2
1 parent 9d6efd2
commit 199e5c2
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Showing 7 changed files with 1,317 additions and 1,014 deletions.
diff --git a/examples/IRB140/package.xml b/examples/IRB140/package.xml
diff --git a/examples/IRB140/runPlanning.m b/examples/IRB140/runPlanning.m
@@ -22,7 +22,7 @@
 end
 
 r=RigidBodyManipulator();
-r = addRobotFromURDF(r,'irb_140.urdf',options.base_offset,options.base_rpy);
+r = addRobotFromURDF(r,'urdf/irb_140.urdf',options.base_offset,options.base_rpy);
 if (options.visualize)
   v=r.constructVisualizer();
 end

diff --git a/examples/IRB140/urdf/ATI_sensor.urdf b/examples/IRB140/urdf/ATI_sensor.urdf
@@ -22,7 +22,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="../meshes/ATI_sensor.STL" />
+          filename="package://IRB140/urdf/meshes/ATI_sensor.STL" />
       </geometry>
       <material
         name="">
@@ -36,7 +36,7 @@
         rpy="1.5707963267949 0 0" />
       <geometry>
         <mesh
-          filename="../meshes/ATI_sensor.STL" />
+          filename="package://IRB140/urdf/meshes/ATI_sensor.STL" />
       </geometry>
     </collision>
   </link>

diff --git a/examples/IRB140/urdf/irb_140.urdf b/examples/IRB140/urdf/irb_140.urdf
@@ -23,7 +23,7 @@
         rpy="0 0 0" />
 <!--<geometry>
         <mesh
-          filename="meshes/base_link.stl" />
+          filename="package://IRB140/urdf/meshes/base_link.stl" />
       </geometry>-->
       <material
         name="">
@@ -37,7 +37,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/base_link.stl" />
+          filename="package://IRB140/urdf/meshes/base_link.stl" />
       </geometry>
     </collision>
   </link>
@@ -63,7 +63,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/link1.stl" />
+          filename="package://IRB140/urdf/meshes/link1.stl" />
       </geometry>
       <material
         name="">
@@ -77,7 +77,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/link1.stl" />
+          filename="package://IRB140/urdf/meshes/link1.stl" />
       </geometry>
     </collision>
   </link>
@@ -103,7 +103,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/link2.stl" />
+          filename="package://IRB140/urdf/meshes/link2.stl" />
       </geometry>
       <material
         name="">
@@ -117,7 +117,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/link2.stl" />
+          filename="package://IRB140/urdf/meshes/link2.stl" />
       </geometry>
     </collision>
   </link>
@@ -143,7 +143,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/link3.stl" />
+          filename="package://IRB140/urdf/meshes/link3.stl" />
       </geometry>
       <material
         name="">
@@ -157,7 +157,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/link3.stl" />
+          filename="package://IRB140/urdf/meshes/link3.stl" />
       </geometry>
     </collision>
   </link>
@@ -183,7 +183,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/link4.stl" />
+          filename="package://IRB140/urdf/meshes/link4.stl" />
       </geometry>
       <material
         name="">
@@ -197,7 +197,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/link4.stl" />
+          filename="package://IRB140/urdf/meshes/link4.stl" />
       </geometry>
     </collision>
   </link>
@@ -223,7 +223,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/link5.stl" />
+          filename="package://IRB140/urdf/meshes/link5.stl" />
       </geometry>
       <material
         name="">
@@ -237,7 +237,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/link5.stl" />
+          filename="package://IRB140/urdf/meshes/link5.stl" />
       </geometry>
     </collision>
   </link>
@@ -263,7 +263,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/link6.stl" />
+          filename="package://IRB140/urdf/meshes/link6.stl" />
       </geometry>
       <material
         name="">
@@ -277,7 +277,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/link6.stl" />
+          filename="package://IRB140/urdf/meshes/link6.stl" />
       </geometry>
     </collision>
   </link>

diff --git a/examples/IRB140/urdf/irb_140_convhull.urdf b/examples/IRB140/urdf/irb_140_convhull.urdf
@@ -23,7 +23,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/base_link_chull.wrl" />
+          filename="package://IRB140/urdf/meshes/base_link_chull.wrl" />
       </geometry>
       <material
         name="">
@@ -37,7 +37,7 @@
         rpy="0 0 0" />
 <!--<geometry>
         <mesh
-          filename="meshes/base_link_chull.wrl" />
+          filename="package://IRB140/urdf/meshes/base_link_chull.wrl" />
       </geometry>-->
     </collision>
   </link>
@@ -63,7 +63,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/link1_chull.wrl" />
+          filename="package://IRB140/urdf/meshes/link1_chull.wrl" />
       </geometry>
       <material
         name="">
@@ -77,7 +77,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/link1_chull.wrl" />
+          filename="package://IRB140/urdf/meshes/link1_chull.wrl" />
       </geometry>
     </collision>
   </link>
@@ -103,7 +103,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/link2_chull.wrl" />
+          filename="package://IRB140/urdf/meshes/link2_chull.wrl" />
       </geometry>
       <material
         name="">
@@ -117,7 +117,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/link2_chull.wrl" />
+          filename="package://IRB140/urdf/meshes/link2_chull.wrl" />
       </geometry>
     </collision>
   </link>
@@ -143,7 +143,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/link3_chull.wrl" />
+          filename="package://IRB140/urdf/meshes/link3_chull.wrl" />
       </geometry>
       <material
         name="">
@@ -157,7 +157,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/link3_chull.wrl" />
+          filename="package://IRB140/urdf/meshes/link3_chull.wrl" />
       </geometry>
     </collision>
   </link>
@@ -183,7 +183,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/link4_chull.wrl" />
+          filename="package://IRB140/urdf/meshes/link4_chull.wrl" />
       </geometry>
       <material
         name="">
@@ -197,7 +197,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/link4_chull.wrl" />
+          filename="package://IRB140/urdf/meshes/link4_chull.wrl" />
       </geometry>
     </collision>
   </link>
@@ -223,7 +223,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/link5_chull.wrl" />
+          filename="package://IRB140/urdf/meshes/link5_chull.wrl" />
       </geometry>
       <material
         name="">
@@ -237,7 +237,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/link5_chull.wrl" />
+          filename="package://IRB140/urdf/meshes/link5_chull.wrl" />
       </geometry>
     </collision>
   </link>
@@ -263,7 +263,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/link6_chull.wrl" />
+          filename="package://IRB140/urdf/meshes/link6_chull.wrl" />
       </geometry>
       <material
         name="">
@@ -277,7 +277,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/link6_chull.wrl" />
+          filename="package://IRB140/urdf/meshes/link6_chull.wrl" />
       </geometry>
     </collision>
   </link>