in the IRB140 with robotiq hand and ATI sensor, use the new IRB140 urdf

vcmman · Feb 17, 2015 · 833e236 · 833e236
1 parent 8dae51b
commit 833e236
Show file tree

Hide file tree

Showing 2 changed files with 62 additions and 52 deletions.
diff --git a/examples/IRB140/urdf/irb_140_robotiq.urdf b/examples/IRB140/urdf/irb_140_robotiq.urdf
@@ -12,10 +12,9 @@
     </inertial>
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-      <!--<geometry>
-        <mesh
-          filename="package://IRB140/urdf/meshes/base_link.stl" />
-      </geometry>-->
+      <geometry>
+        <mesh filename="package://IRB140/urdf/meshes/base_link.stl"/>
+      </geometry>
       <material name="">
         <color rgba="0.890196078431373 0.411764705882353 0.125490196078431 1"/>
       </material>
@@ -27,6 +26,12 @@
       </geometry>
     </collision>
   </link>
+  <collision_filter_group name="base">
+    <member link="base_link"/>
+  </collision_filter_group>
+  <collision_filter_group name="ignore_base">
+    <member link="link_1"/>
+  </collision_filter_group>
   <link name="link_1">
     <inertial>
       <origin rpy="0 0 0" xyz="0.0281052735195531 -0.263404021764231 0.0438145912936454"/>
@@ -197,7 +202,7 @@
   <joint name="joint6" type="revolute">
     <parent link="link_5"/>
     <child link="link_6"/>
-    <limit effort="300" lower="-6.98131701" upper="-6.98131701" velocity="7.33"/>
+    <limit effort="300" lower="-6.98131701" upper="6.98131701" velocity="7.33"/>
     <axis xyz="1 0 0"/>
     <origin rpy="0 0 0" xyz="0.065 0 0"/>
   </joint>
@@ -334,7 +339,7 @@
       <geometry>
         <cylinder length=".02858" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -349,7 +354,7 @@
       <geometry>
         <cylinder length=".05398" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -364,7 +369,7 @@
       <geometry>
         <cylinder length=".01473" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -379,7 +384,7 @@
       <geometry>
         <cylinder length=".02222" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -394,7 +399,7 @@
       <geometry>
         <cylinder length=".03810" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -409,7 +414,7 @@
       <geometry>
         <cylinder length=".01270" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -424,7 +429,7 @@
       <geometry>
         <cylinder length=".015236" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -666,7 +671,7 @@
       <geometry>
         <cylinder length=".02858" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -681,7 +686,7 @@
       <geometry>
         <cylinder length=".05398" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -696,7 +701,7 @@
       <geometry>
         <cylinder length=".01473" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -711,7 +716,7 @@
       <geometry>
         <cylinder length=".02222" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -726,7 +731,7 @@
       <geometry>
         <cylinder length=".03810" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -741,7 +746,7 @@
       <geometry>
         <cylinder length=".01270" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -756,7 +761,7 @@
       <geometry>
         <cylinder length=".015236" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -998,7 +1003,7 @@
       <geometry>
         <cylinder length=".02858" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -1013,7 +1018,7 @@
       <geometry>
         <cylinder length=".05398" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -1028,7 +1033,7 @@
       <geometry>
         <cylinder length=".01473" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -1043,7 +1048,7 @@
       <geometry>
         <cylinder length=".02222" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -1058,7 +1063,7 @@
       <geometry>
         <cylinder length=".03810" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -1073,7 +1078,7 @@
       <geometry>
         <cylinder length=".01270" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -1088,7 +1093,7 @@
       <geometry>
         <cylinder length=".015236" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>