remove all urdf files in IRB140 to IRB140/urdf directory, add a xacro…

… file to generate IRB140 with robotiq hand
vcmman · Feb 13, 2015 · 770e750 · 770e750
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diff --git a/examples/IRB140/ATI_sensor.urdf → examples/IRB140/urdf/ATI_sensor.urdf b/examples/IRB140/ATI_sensor.urdf → examples/IRB140/urdf/ATI_sensor.urdf
diff --git a/examples/IRB140/irb_140.urdf → examples/IRB140/urdf/irb_140.urdf b/examples/IRB140/irb_140.urdf → examples/IRB140/urdf/irb_140.urdf
diff --git a/examples/IRB140/irb_140_convhull.urdf → examples/IRB140/urdf/irb_140_convhull.urdf b/examples/IRB140/irb_140_convhull.urdf → examples/IRB140/urdf/irb_140_convhull.urdf
diff --git a/examples/IRB140/irb_140_robotiq.urdf → examples/IRB140/urdf/irb_140_robotiq.urdf b/examples/IRB140/irb_140_robotiq.urdf → examples/IRB140/urdf/irb_140_robotiq.urdf
diff --git a/examples/IRB140/meshes/ATI_sensor.obj → examples/IRB140/urdf/meshes/ATI_sensor.obj b/examples/IRB140/meshes/ATI_sensor.obj → examples/IRB140/urdf/meshes/ATI_sensor.obj
diff --git a/examples/IRB140/meshes/ATI_sensor.stl → examples/IRB140/urdf/meshes/ATI_sensor.stl b/examples/IRB140/meshes/ATI_sensor.stl → examples/IRB140/urdf/meshes/ATI_sensor.stl
diff --git a/examples/IRB140/meshes/base_link.obj → examples/IRB140/urdf/meshes/base_link.obj b/examples/IRB140/meshes/base_link.obj → examples/IRB140/urdf/meshes/base_link.obj
diff --git a/examples/IRB140/meshes/base_link.stl → examples/IRB140/urdf/meshes/base_link.stl b/examples/IRB140/meshes/base_link.stl → examples/IRB140/urdf/meshes/base_link.stl
diff --git a/examples/IRB140/meshes/link1.obj → examples/IRB140/urdf/meshes/link1.obj b/examples/IRB140/meshes/link1.obj → examples/IRB140/urdf/meshes/link1.obj
diff --git a/examples/IRB140/meshes/link1.stl → examples/IRB140/urdf/meshes/link1.stl b/examples/IRB140/meshes/link1.stl → examples/IRB140/urdf/meshes/link1.stl
diff --git a/examples/IRB140/meshes/link2.obj → examples/IRB140/urdf/meshes/link2.obj b/examples/IRB140/meshes/link2.obj → examples/IRB140/urdf/meshes/link2.obj
diff --git a/examples/IRB140/meshes/link2.stl → examples/IRB140/urdf/meshes/link2.stl b/examples/IRB140/meshes/link2.stl → examples/IRB140/urdf/meshes/link2.stl
diff --git a/examples/IRB140/meshes/link3.obj → examples/IRB140/urdf/meshes/link3.obj b/examples/IRB140/meshes/link3.obj → examples/IRB140/urdf/meshes/link3.obj
diff --git a/examples/IRB140/meshes/link3.stl → examples/IRB140/urdf/meshes/link3.stl b/examples/IRB140/meshes/link3.stl → examples/IRB140/urdf/meshes/link3.stl
diff --git a/examples/IRB140/meshes/link4.obj → examples/IRB140/urdf/meshes/link4.obj b/examples/IRB140/meshes/link4.obj → examples/IRB140/urdf/meshes/link4.obj
diff --git a/examples/IRB140/meshes/link4.stl → examples/IRB140/urdf/meshes/link4.stl b/examples/IRB140/meshes/link4.stl → examples/IRB140/urdf/meshes/link4.stl
diff --git a/examples/IRB140/meshes/link5.obj → examples/IRB140/urdf/meshes/link5.obj b/examples/IRB140/meshes/link5.obj → examples/IRB140/urdf/meshes/link5.obj
diff --git a/examples/IRB140/meshes/link5.stl → examples/IRB140/urdf/meshes/link5.stl b/examples/IRB140/meshes/link5.stl → examples/IRB140/urdf/meshes/link5.stl
diff --git a/examples/IRB140/meshes/link6.obj → examples/IRB140/urdf/meshes/link6.obj b/examples/IRB140/meshes/link6.obj → examples/IRB140/urdf/meshes/link6.obj
diff --git a/examples/IRB140/meshes/link6.stl → examples/IRB140/urdf/meshes/link6.stl b/examples/IRB140/meshes/link6.stl → examples/IRB140/urdf/meshes/link6.stl
diff --git a/examples/IRB140/urdf/xacro/irb_140_robotiq.xacro b/examples/IRB140/urdf/xacro/irb_140_robotiq.xacro
@@ -0,0 +1,11 @@
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="IRB140">
+  <xacro:include filename="../irb_140.urdf" />
+
+  <xacro:include filename="../../../Atlas/urdf/robotiq.urdf" />
+
+  <joint name="robotiq_hand_joint" type="fixed">
+    <origin rpy="0.0 0.0 -1.57079" xyz="0.11904 0 0"/>
+    <parent link="link_6"/>
+    <child link="palm"/>
+  </joint>
+</robot>