rotate the ABB base by 90 degrees, fix a bug in ATI sensor urdf

vcmman · Mar 3, 2015 · 5deae73 · 5deae73
1 parent b1fd26c
commit 5deae73
Show file tree

Hide file tree

Showing 5 changed files with 17 additions and 17 deletions.
diff --git a/examples/IRB140/runPlanning.m b/examples/IRB140/runPlanning.m
@@ -18,7 +18,7 @@
   options.base_offset = [0.0, 0, 0.0]';
 end
 if ~isfield(options,'base_rpy')
-  options.base_rpy = [-pi/2, 0.0, 0]';
+  options.base_rpy = [0, 0.0, 0]';
 end
 
 r=RigidBodyManipulator();

diff --git a/examples/IRB140/urdf/ATI_sensor.urdf b/examples/IRB140/urdf/ATI_sensor.urdf
@@ -22,7 +22,7 @@
         rpy="1.5707963267949 0 0" />
       <geometry>
         <mesh
-          filename="package://IRB140/urdf/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="package://IRB140/urdf/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
@@ -6,7 +6,7 @@
     <inertial>
       <origin
         xyz="-0.0820393251688425 -0.0599247343482246 0.000402028640224033"
-        rpy="0 0 0" />
+        rpy="-1.57079 0 0" />
       <mass
         value="12.409016159487" />
       <inertia
@@ -20,7 +20,7 @@
     <visual>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="-1.57079 0 0" />
       <geometry>
         <mesh
           filename="package://IRB140/urdf/meshes/base_link.stl" />
@@ -34,7 +34,7 @@
     <collision>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="-1.57079 0 0" />
       <geometry>
         <mesh
           filename="package://IRB140/urdf/meshes/base_link.stl" />
@@ -292,7 +292,7 @@
     <child link="link_1"/>
     <limit effort="300" lower="-3.14159265359" upper="3.14159265359" velocity="4.36"/>
     <axis xyz="0 -1 0"/>
-    <origin rpy="0 0 0" xyz="0 -0.1095 0"/>
+    <origin rpy="-1.57079 0 0" xyz="0 0 0.1095"/>
   </joint>
   <joint name="joint2" type="revolute">
     <parent link="link_1"/>

diff --git a/examples/IRB140/urdf/irb_140_robotiq.urdf b/examples/IRB140/urdf/irb_140_robotiq.urdf
@@ -6,12 +6,12 @@
 <robot name="IRB140" xmlns:xacro="http://ros.org/wiki/xacro">
   <link name="base_link">
     <inertial>
-      <origin rpy="0 0 0" xyz="-0.0820393251688425 -0.0599247343482246 0.000402028640224033"/>
+      <origin rpy="-1.57079 0 0" xyz="-0.0820393251688425 -0.0599247343482246 0.000402028640224033"/>
       <mass value="12.409016159487"/>
       <inertia ixx="0.104502176006253" ixy="0.00734284655670482" ixz="1.00520827530156E-05" iyy="0.246486764065977" iyz="0.000843006810157312" izz="0.16727784258504"/>
     </inertial>
     <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <origin rpy="-1.57079 0 0" xyz="0 0 0"/>
       <geometry>
         <mesh filename="package://IRB140/urdf/meshes/base_link.stl"/>
       </geometry>
@@ -20,7 +20,7 @@
       </material>
     </visual>
     <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <origin rpy="-1.57079 0 0" xyz="0 0 0"/>
       <geometry>
         <mesh filename="package://IRB140/urdf/meshes/base_link.stl"/>
       </geometry>
@@ -169,7 +169,7 @@
     <child link="link_1"/>
     <limit effort="300" lower="-3.14159265359" upper="3.14159265359" velocity="4.36"/>
     <axis xyz="0 -1 0"/>
-    <origin rpy="0 0 0" xyz="0 -0.1095 0"/>
+    <origin rpy="-1.57079 0 0" xyz="0 0 0.1095"/>
   </joint>
   <joint name="joint2" type="revolute">
     <parent link="link_1"/>

diff --git a/examples/IRB140/urdf/irb_140_robotiq_ati.urdf b/examples/IRB140/urdf/irb_140_robotiq_ati.urdf
@@ -1052,12 +1052,12 @@
   </gazebo>
   <link name="base_link">
     <inertial>
-      <origin rpy="0 0 0" xyz="-0.0820393251688425 -0.0599247343482246 0.000402028640224033"/>
+      <origin rpy="-1.57079 0 0" xyz="-0.0820393251688425 -0.0599247343482246 0.000402028640224033"/>
       <mass value="12.409016159487"/>
       <inertia ixx="0.104502176006253" ixy="0.00734284655670482" ixz="1.00520827530156E-05" iyy="0.246486764065977" iyz="0.000843006810157312" izz="0.16727784258504"/>
     </inertial>
     <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <origin rpy="-1.57079 0 0" xyz="0 0 0"/>
       <geometry>
         <mesh filename="package://IRB140/urdf/meshes/base_link.stl"/>
       </geometry>
@@ -1066,7 +1066,7 @@
       </material>
     </visual>
     <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <origin rpy="-1.57079 0 0" xyz="0 0 0"/>
       <geometry>
         <mesh filename="package://IRB140/urdf/meshes/base_link.stl"/>
       </geometry>
@@ -1215,7 +1215,7 @@
     <child link="link_1"/>
     <limit effort="300" lower="-3.14159265359" upper="3.14159265359" velocity="4.36"/>
     <axis xyz="0 -1 0"/>
-    <origin rpy="0 0 0" xyz="0 -0.1095 0"/>
+    <origin rpy="-1.57079 0 0" xyz="0 0 0.1095"/>
   </joint>
   <joint name="joint2" type="revolute">
     <parent link="link_1"/>
@@ -1291,7 +1291,7 @@
     <visual>
       <origin rpy="1.5707963267949 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://IRB140/urdf/meshes/ATI_sensor.STL"/>
+        <mesh filename="package://IRB140/urdf/meshes/ATI_sensor.stl"/>
       </geometry>
       <material name="">
         <color rgba="0.75294 0.75294 0.75294 1"/>
@@ -1300,7 +1300,7 @@
     <collision>
       <origin rpy="1.5707963267949 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://IRB140/urdf/meshes/ATI_sensor.STL"/>
+        <mesh filename="package://IRB140/urdf/meshes/ATI_sensor.stl"/>
       </geometry>
     </collision>
   </link>