Skip to content
Snippets Groups Projects
Commit a959e703 authored by Stefano Nardo's avatar Stefano Nardo Committed by Ugo Albanese
Browse files

Merged in NUIT-254-cannot-add-the-kuka-robot (pull request #57) 

[NUIT-254] Remove whitespaces from tag names of Kuka arm model sdf.

Approved-by: Ugo Albanese
parent 93b3ffd1
No related branches found
No related tags found
No related merge requests found
Hide whitespace changes
Inline Side-by-side
kuka_lbr_iiwa_generic_d6/model.sdf
+ 31
− 31
View file @ a959e703
<sdf version='1.6'> <sdf version='1.6'>
<model name='kuka_lbr_iiwa_14_r820'> <model name='kuka_lbr_iiwa_14_r820'>
<link name='base_link'> <link name='base_link'>
<pose >0 0 0 0 -0 0</pose> <pose>0 0 0 0 -0 0</pose>
<inertial> <inertial>
<pose >-0.1 0 0.07 0 -0 0</pose> <pose>-0.1 0 0.07 0 -0 0</pose>
<mass>5</mass> <mass>5</mass>
<inertia> <inertia>
<ixx>0.05</ixx> <ixx>0.05</ixx>
...@@ -15,7 +15,7 @@ ...@@ -15,7 +15,7 @@
</inertia> </inertia>
</inertial> </inertial>
<collision name='base_link_collision'> <collision name='base_link_collision'>
<pose >0 0 0 0 -0 0</pose> <pose>0 0 0 0 -0 0</pose>
<geometry> <geometry>
<mesh> <mesh>
<scale>1 1 1</scale> <scale>1 1 1</scale>
...@@ -24,7 +24,7 @@ ...@@ -24,7 +24,7 @@
</geometry> </geometry>
</collision> </collision>
<visual name='base_link_visual'> <visual name='base_link_visual'>
<pose >0 0 0 0 -0 0</pose> <pose>0 0 0 0 -0 0</pose>
<geometry> <geometry>
<mesh> <mesh>
<scale>1 1 1</scale> <scale>1 1 1</scale>
...@@ -53,9 +53,9 @@ ...@@ -53,9 +53,9 @@
</axis> </axis>
</joint> </joint>
<link name='link_1'> <link name='link_1'>
<pose >0 0 0 0 -0 0</pose> <pose>0 0 0 0 -0 0</pose>
<inertial> <inertial>
<pose >0 -0.03 0.12 0 -0 0</pose> <pose>0 -0.03 0.12 0 -0 0</pose>
<mass>4</mass> <mass>4</mass>
<inertia> <inertia>
<ixx>0.1</ixx> <ixx>0.1</ixx>
...@@ -67,7 +67,7 @@ ...@@ -67,7 +67,7 @@
</inertia> </inertia>
</inertial> </inertial>
<collision name='link_1_collision'> <collision name='link_1_collision'>
<pose >0 0 0 0 -0 0</pose> <pose>0 0 0 0 -0 0</pose>
<geometry> <geometry>
<mesh> <mesh>
<scale>1 1 1</scale> <scale>1 1 1</scale>
...@@ -76,7 +76,7 @@ ...@@ -76,7 +76,7 @@
</geometry> </geometry>
</collision> </collision>
<visual name='link_1_visual'> <visual name='link_1_visual'>
<pose >0 0 0 0 -0 0</pose> <pose>0 0 0 0 -0 0</pose>
<geometry> <geometry>
<mesh> <mesh>
<scale>1 1 1</scale> <scale>1 1 1</scale>
...@@ -106,9 +106,9 @@ ...@@ -106,9 +106,9 @@
</axis> </axis>
</joint> </joint>
<link name='link_2'> <link name='link_2'>
<pose >-0.000436 0 0.36 0 -0 0</pose> <pose>-0.000436 0 0.36 0 -0 0</pose>
<inertial> <inertial>
<pose >0.0003 0.059 0.042 0 -0 0</pose> <pose>0.0003 0.059 0.042 0 -0 0</pose>
<mass>4</mass> <mass>4</mass>
<inertia> <inertia>
<ixx>0.05</ixx> <ixx>0.05</ixx>
...@@ -120,7 +120,7 @@ ...@@ -120,7 +120,7 @@
</inertia> </inertia>
</inertial> </inertial>
<collision name='link_2_collision'> <collision name='link_2_collision'>
<pose >0 0 0 0 -0 0</pose> <pose>0 0 0 0 -0 0</pose>
<geometry> <geometry>
<mesh> <mesh>
<scale>1 1 1</scale> <scale>1 1 1</scale>
...@@ -129,7 +129,7 @@ ...@@ -129,7 +129,7 @@
</geometry> </geometry>
</collision> </collision>
<visual name='link_2_visual'> <visual name='link_2_visual'>
<pose >0 0 0 0 -0 0</pose> <pose>0 0 0 0 -0 0</pose>
<geometry> <geometry>
<mesh> <mesh>
<scale>1 1 1</scale> <scale>1 1 1</scale>
...@@ -159,9 +159,9 @@ ...@@ -159,9 +159,9 @@
</joint> </joint>
<link name='link_3'> <link name='link_3'>
<pose >-0.000436 0 0.36 0 -0 0</pose> <pose>-0.000436 0 0.36 0 -0 0</pose>
<inertial> <inertial>
<pose >0 0.03 0.13 0 -0 0</pose> <pose>0 0.03 0.13 0 -0 0</pose>
<mass>3</mass> <mass>3</mass>
<inertia> <inertia>
<ixx>0.08</ixx> <ixx>0.08</ixx>
...@@ -173,7 +173,7 @@ ...@@ -173,7 +173,7 @@
</inertia> </inertia>
</inertial> </inertial>
<collision name='link_3_collision'> <collision name='link_3_collision'>
<pose >0 0 0 0 -0 0</pose> <pose>0 0 0 0 -0 0</pose>
<geometry> <geometry>
<mesh> <mesh>
<scale>1 1 1</scale> <scale>1 1 1</scale>
...@@ -182,7 +182,7 @@ ...@@ -182,7 +182,7 @@
</geometry> </geometry>
</collision> </collision>
<visual name='link_3_visual'> <visual name='link_3_visual'>
<pose >0 0 0 0 -0 0</pose> <pose>0 0 0 0 -0 0</pose>
<geometry> <geometry>
<mesh> <mesh>
<scale>1 1 1</scale> <scale>1 1 1</scale>
...@@ -213,9 +213,9 @@ ...@@ -213,9 +213,9 @@
<link name='link_4'> <link name='link_4'>
<pose >0 0 0.78 0 -0 0</pose> <pose>0 0 0.78 0 -0 0</pose>
<inertial> <inertial>
<pose >0 0.067 0.034 0 -0 0</pose> <pose>0 0.067 0.034 0 -0 0</pose>
<mass>2.7</mass> <mass>2.7</mass>
<inertia> <inertia>
<ixx>0.03</ixx> <ixx>0.03</ixx>
...@@ -227,7 +227,7 @@ ...@@ -227,7 +227,7 @@
</inertia> </inertia>
</inertial> </inertial>
<collision name='link_4_collision'> <collision name='link_4_collision'>
<pose >0 0 0 0 -0 0</pose> <pose>0 0 0 0 -0 0</pose>
<geometry> <geometry>
<mesh> <mesh>
<scale>1 1 1</scale> <scale>1 1 1</scale>
...@@ -236,7 +236,7 @@ ...@@ -236,7 +236,7 @@
</geometry> </geometry>
</collision> </collision>
<visual name='link_4_visual'> <visual name='link_4_visual'>
<pose >0 0 0 0 -0 0</pose> <pose>0 0 0 0 -0 0</pose>
<geometry> <geometry>
<mesh> <mesh>
<scale>1 1 1</scale> <scale>1 1 1</scale>
...@@ -265,9 +265,9 @@ ...@@ -265,9 +265,9 @@
</axis> </axis>
</joint> </joint>
<link name='link_5'> <link name='link_5'>
<pose >0 0 0.78 0 -0 0</pose> <pose>0 0 0.78 0 -0 0</pose>
<inertial> <inertial>
<pose >0.0001 0.021 0.076 0 -0 0</pose> <pose>0.0001 0.021 0.076 0 -0 0</pose>
<mass>1.7</mass> <mass>1.7</mass>
<inertia> <inertia>
<ixx>0.02</ixx> <ixx>0.02</ixx>
...@@ -279,7 +279,7 @@ ...@@ -279,7 +279,7 @@
</inertia> </inertia>
</inertial> </inertial>
<collision name='link_5_collision'> <collision name='link_5_collision'>
<pose >0 0 0 0 -0 0</pose> <pose>0 0 0 0 -0 0</pose>
<geometry> <geometry>
<mesh> <mesh>
<scale>1 1 1</scale> <scale>1 1 1</scale>
...@@ -288,7 +288,7 @@ ...@@ -288,7 +288,7 @@
</geometry> </geometry>
</collision> </collision>
<visual name='link_5_visual'> <visual name='link_5_visual'>
<pose >0 0 0 0 -0 0</pose> <pose>0 0 0 0 -0 0</pose>
<geometry> <geometry>
<mesh> <mesh>
<scale>1 1 1</scale> <scale>1 1 1</scale>
...@@ -319,7 +319,7 @@ ...@@ -319,7 +319,7 @@
</axis> </axis>
</joint> </joint>
<link name='link_6'> <link name='link_6'>
<pose >0 0 1.18 0 -0 0</pose> <pose>0 0 1.18 0 -0 0</pose>
<inertial> <inertial>
<pose>0 0.0006 0.0004 0 -0 0</pose> <pose>0 0.0006 0.0004 0 -0 0</pose>
<mass>1.8</mass> <mass>1.8</mass>
...@@ -333,7 +333,7 @@ ...@@ -333,7 +333,7 @@
</inertia> </inertia>
</inertial> </inertial>
<collision name='link_6_collision'> <collision name='link_6_collision'>
<pose >0 0 0 0 -0 0</pose> <pose>0 0 0 0 -0 0</pose>
<geometry> <geometry>
<mesh> <mesh>
<scale>1 1 1</scale> <scale>1 1 1</scale>
...@@ -342,7 +342,7 @@ ...@@ -342,7 +342,7 @@
</geometry> </geometry>
</collision> </collision>
<visual name='link_6_visual'> <visual name='link_6_visual'>
<pose >0 0 0 0 -0 0</pose> <pose>0 0 0 0 -0 0</pose>
<geometry> <geometry>
<mesh> <mesh>
<scale>1 1 1</scale> <scale>1 1 1</scale>
...@@ -359,9 +359,9 @@ ...@@ -359,9 +359,9 @@
</axis> </axis>
</joint> </joint>
<link name='link_7'> <link name='link_7'>
<pose >0 0 1.18 0 -0 0</pose> <pose>0 0 1.18 0 -0 0</pose>
<inertial> <inertial>
<pose >0 0 0.02 0 -0 0</pose> <pose>0 0 0.02 0 -0 0</pose>
<mass>0.3</mass> <mass>0.3</mass>
<inertia> <inertia>
<ixx>0.001</ixx> <ixx>0.001</ixx>
...@@ -373,7 +373,7 @@ ...@@ -373,7 +373,7 @@
</inertia> </inertia>
</inertial> </inertial>
<collision name='link_7_collision'> <collision name='link_7_collision'>
<pose >0 0 0 0 -0 0</pose> <pose>0 0 0 0 -0 0</pose>
<geometry> <geometry>
<mesh> <mesh>
<scale>1 1 1</scale> <scale>1 1 1</scale>
...@@ -382,7 +382,7 @@ ...@@ -382,7 +382,7 @@
</geometry> </geometry>
</collision> </collision>
<visual name='link_7_visual'> <visual name='link_7_visual'>
<pose >0 0 0 0 -0 0</pose> <pose>0 0 0 0 -0 0</pose>
<geometry> <geometry>
<mesh> <mesh>
<scale>1 1 1</scale> <scale>1 1 1</scale>
......
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment