Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

adding inertial and modifying mesh files access path for gazebo simulators to work #13

Merged
merged 2 commits into from
Mar 3, 2023
Merged

adding inertial and modifying mesh files access path for gazebo simulators to work #13

Show file tree
Hide file tree
Changes from 1 commit
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
435725c
adding inertial and modifying mesh files access path
Robotgir Feb 27, 2023
701a22f
Update kuka_resources/urdf/common_properties.xacro
destogl Mar 3, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
38 changes: 23 additions & 15 deletions kuka_kr10_support/urdf/kr10r1100sixx_macro.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,110 +1,118 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">
<xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
<xacro:include filename="$(find kuka_resources)/urdf/common_properties.xacro"/>

<xacro:macro name="kuka_kr10r1100sixx" params="prefix">
<xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
<link name="${prefix}base_link">
<xacro:default_inertial/>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/visual/base_link.stl" />
<mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1100sixx/visual/base_link.stl" />
</geometry>
<xacro:material_kuka_black />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/collision/base_link.stl" />
<mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1100sixx/collision/base_link.stl" />
</geometry>
</collision>
</link>
<link name="${prefix}link_1">
<xacro:default_inertial/>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/visual/link_1.stl" />
<mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1100sixx/visual/link_1.stl" />
</geometry>
<xacro:material_kuka_orange />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/collision/link_1.stl" />
<mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1100sixx/collision/link_1.stl" />
</geometry>
</collision>
</link>
<link name="${prefix}link_2">
<xacro:default_inertial/>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/visual/link_2.stl"/>
<mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1100sixx/visual/link_2.stl"/>
</geometry>
<xacro:material_kuka_orange />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/collision/link_2.stl" />
<mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1100sixx/collision/link_2.stl" />
</geometry>
</collision>
</link>
<link name="${prefix}link_3">
<xacro:default_inertial/>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/visual/link_3.stl" />
<mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1100sixx/visual/link_3.stl" />
</geometry>
<xacro:material_kuka_orange />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/collision/link_3.stl" />
<mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1100sixx/collision/link_3.stl" />
</geometry>
</collision>
</link>
<link name="${prefix}link_4">
<xacro:default_inertial/>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/visual/link_4.stl" />
<mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1100sixx/visual/link_4.stl" />
</geometry>
<xacro:material_kuka_orange />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/collision/link_4.stl" />
<mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1100sixx/collision/link_4.stl" />
</geometry>
</collision>
</link>
<link name="${prefix}link_5">
<xacro:default_inertial/>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/visual/link_5.stl" />
<mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1100sixx/visual/link_5.stl" />
</geometry>
<xacro:material_kuka_orange />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/collision/link_5.stl" />
<mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1100sixx/collision/link_5.stl" />
</geometry>
</collision>
</link>
<link name="${prefix}link_6">
<xacro:default_inertial/>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/visual/link_6.stl" />
<mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1100sixx/visual/link_6.stl" />
</geometry>
<xacro:material_kuka_pedestal />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/collision/link_6.stl" />
<mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1100sixx/collision/link_6.stl" />
</geometry>
</collision>
</link>
Expand Down
38 changes: 23 additions & 15 deletions kuka_kr10_support/urdf/kr10r1420_macro.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,110 +1,118 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">
<xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
<xacro:include filename="$(find kuka_resources)/urdf/common_properties.xacro"/>

<xacro:macro name="kuka_kr10r1420" params="prefix">
<xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
<link name="${prefix}base_link">
<xacro:default_inertial/>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://kuka_kr10_support/meshes/kr10r1420/visual/base_link.stl" />
<mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1420/visual/base_link.stl" />
</geometry>
<xacro:material_kuka_black />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://kuka_kr10_support/meshes/kr10r1420/collision/base_link.stl" />
<mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1420/collision/base_link.stl" />
</geometry>
</collision>
</link>
<link name="${prefix}link_1">
<xacro:default_inertial/>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://kuka_kr10_support/meshes/kr10r1420/visual/link_1.stl" />
<mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1420/visual/link_1.stl" />
</geometry>
<xacro:material_kuka_orange />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://kuka_kr10_support/meshes/kr10r1420/collision/link_1.stl" />
<mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1420/collision/link_1.stl" />
</geometry>
</collision>
</link>
<link name="${prefix}link_2">
<xacro:default_inertial/>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://kuka_kr10_support/meshes/kr10r1420/visual/link_2.stl"/>
<mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1420/visual/link_2.stl"/>
</geometry>
<xacro:material_kuka_orange />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://kuka_kr10_support/meshes/kr10r1420/collision/link_2.stl" />
<mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1420/collision/link_2.stl" />
</geometry>
</collision>
</link>
<link name="${prefix}link_3">
<xacro:default_inertial/>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://kuka_kr10_support/meshes/kr10r1420/visual/link_3.stl" />
<mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1420/visual/link_3.stl" />
</geometry>
<xacro:material_kuka_orange />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://kuka_kr10_support/meshes/kr10r1420/collision/link_3.stl" />
<mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1420/collision/link_3.stl" />
</geometry>
</collision>
</link>
<link name="${prefix}link_4">
<xacro:default_inertial/>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://kuka_kr10_support/meshes/kr10r1420/visual/link_4.stl" />
<mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1420/visual/link_4.stl" />
</geometry>
<xacro:material_kuka_orange />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://kuka_kr10_support/meshes/kr10r1420/collision/link_4.stl" />
<mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1420/collision/link_4.stl" />
</geometry>
</collision>
</link>
<link name="${prefix}link_5">
<xacro:default_inertial/>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://kuka_kr10_support/meshes/kr10r1420/visual/link_5.stl" />
<mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1420/visual/link_5.stl" />
</geometry>
<xacro:material_kuka_orange />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://kuka_kr10_support/meshes/kr10r1420/collision/link_5.stl" />
<mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1420/collision/link_5.stl" />
</geometry>
</collision>
</link>
<link name="${prefix}link_6">
<xacro:default_inertial/>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://kuka_kr10_support/meshes/kr10r1420/visual/link_6.stl" />
<mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1420/visual/link_6.stl" />
</geometry>
<xacro:material_kuka_pedestal />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://kuka_kr10_support/meshes/kr10r1420/collision/link_6.stl" />
<mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1420/collision/link_6.stl" />
</geometry>
</collision>
</link>
Expand Down
Loading