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scpeters/gist:7d10f7870a6e40c287f0

Created March 26, 2015 22:50
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drcsim issue 492
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gistfile1.diff
$ diff -ru atlas_v4_simple_shapes_after_xacro.urdf atlas_v4_simple_shapes_after_xacro_and_fixes.urdf
--- atlas_v4_simple_shapes_after_xacro.urdf 2015-03-26 12:26:26.571696838 -0700
+++ atlas_v4_simple_shapes_after_xacro_and_fixes.urdf 2015-03-26 12:26:26.571696838 -0700
@@ -1,4 +1,3 @@
-<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from /home/twan/code/drcsim/atlas_description/urdf/atlas_v4_simple_shapes.urdf | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
@@ -7,28 +6,28 @@
<link name="l_clav">
<inertial>
<mass value="4.466"/>
- <origin rpy="0 -0 0" xyz="0 0.048 -0.084"/>
- <inertia ixx="0.011" ixy="0" ixz="0" iyy="0.009" iyz="-0.004" izz="0.004"/>
+ <origin rpy="0 -0 0" xyz="0 -0.048 -0.084"/>
+ <inertia ixx="0.011" ixy="0" ixz="0" iyy="0.009" iyz="0.004" izz="0.004"/>
</inertial>
<visual>
<geometry>
- <mesh filename="package://atlas_description/meshes_unplugged/l_clav.dae" scale="1 1 1"/>
+ <mesh filename="package://atlas_description/meshes_unplugged/r_clav.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
- <origin rpy="0 1.5707963267949 0" xyz="0 0.11 -0.248"/>
+ <origin rpy="0 1.5707963267949 0" xyz="0 -0.11 -0.248"/>
<geometry>
<cylinder length="0.1525" radius="0.0555"/>
</geometry>
</collision>
<collision>
- <origin rpy="0 0 0" xyz="0.005 0.015 -0.08"/>
+ <origin rpy="0 0 0" xyz="0.005 -0.015 -0.08"/>
<geometry>
<cylinder length="0.26" radius="0.067"/>
</geometry>
</collision>
<collision>
- <origin rpy="-1.05 0 0" xyz="0.004 0.064 -0.247"/>
+ <origin rpy="1.05 0 0" xyz="0.004 -0.064 -0.247"/>
<geometry>
<box size="0.1 0.07 0.072"/>
</geometry>
@@ -37,22 +36,22 @@
<link name="l_ufarm">
<inertial>
<mass value="4.386"/>
- <origin rpy="0 -0 0" xyz="0 -0.065 0"/>
+ <origin rpy="0 -0 0" xyz="0 0.065 0"/>
<inertia ixx="0.00656" ixy="0" ixz="0" iyy="0.00358" iyz="0" izz="0.00656"/>
</inertial>
<visual>
<geometry>
- <mesh filename="package://atlas_description/meshes_v3/l_farm.dae" scale="1 1 1"/>
+ <mesh filename="package://atlas_description/meshes_v3/r_farm.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
- <origin rpy="0 1.5708 0" xyz="0.0 0.13 0.004"/>
+ <origin rpy="0 1.5708 0" xyz="0.0 -0.13 0.004"/>
<geometry>
<cylinder length="0.125" radius="0.045"/>
</geometry>
</collision>
<collision>
- <origin rpy="0 0 0" xyz="0.001 0.053 -0.002"/>
+ <origin rpy="0 0 0" xyz="0.001 -0.053 -0.002"/>
<geometry>
<box size="0.135 0.1 0.045"/>
</geometry>
@@ -89,19 +88,18 @@
<inertia ixx="0.00265" ixy="0" ixz="0" iyy="0.00446" iyz="0" izz="0.00446"/>
</inertial>
<visual>
- <origin rpy="0 -0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://atlas_description/meshes_v3/l_hand.dae" scale="1 1 1"/>
+ <mesh filename="package://atlas_description/meshes_v3/r_hand.dae" scale="1 1 1"/>
</geometry>
- </visual>
+ <origin rpy="0 3.14159265359 0" xyz="0 0 0"/></visual>
<collision>
- <origin rpy="1.5707963267949 0 0" xyz="0.001 0.1 0.01"/>
+ <origin rpy="1.5707963267949 0 0" xyz="0.001 -0.1 0.01"/>
<geometry>
<cylinder length="0.05" radius="0.03"/>
</geometry>
</collision>
<collision>
- <origin rpy="0 0 0" xyz="0.001 0.05 0.01"/>
+ <origin rpy="0 0 0" xyz="0.001 -0.05 0.01"/>
<geometry>
<box size="0.13 0.09 0.07"/>
</geometry>
@@ -121,19 +119,18 @@
<inertia ixx="0.00265" ixy="0" ixz="0" iyy="0.00446" iyz="0" izz="0.00446"/>
</inertial>
<visual>
- <origin rpy="0 -0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://atlas_description/meshes_v3/l_larm.dae" scale="1 1 1"/>
+ <mesh filename="package://atlas_description/meshes_v3/r_larm.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
- <origin rpy="1.5707963267949 0 0" xyz="0.001 0.127 0.00"/>
+ <origin rpy="1.5707963267949 0 0" xyz="0.001 -0.127 0.00"/>
<geometry>
<cylinder length="0.125" radius="0.045"/>
</geometry>
</collision>
<collision>
- <origin rpy="0 0 0" xyz="0.001 0.051 0.0"/>
+ <origin rpy="0 0 0" xyz="0.001 -0.051 0.0"/>
<geometry>
<box size="0.135 0.15 0.06"/>
</geometry>
@@ -189,29 +186,29 @@
</inertial>
<visual>
<geometry>
- <mesh filename="package://atlas_description/meshes_unplugged/l_scap.dae" scale="1 1 1"/>
+ <mesh filename="package://atlas_description/meshes_unplugged/r_scap.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
- <origin rpy="-1.5707963267949 0 0" xyz="-0.005 0.115 -0.014"/>
+ <origin rpy="1.5707963267949 0 0" xyz="-0.005 -0.115 -0.014"/>
<geometry>
<cylinder length="0.105" radius="0.057"/>
</geometry>
</collision>
<collision>
- <origin rpy="0 0 0" xyz="-0.005 0.075 -0.015"/>
+ <origin rpy="0 0 0" xyz="-0.005 -0.075 -0.015"/>
<geometry>
<box size="0.16 0.17 0.08"/>
</geometry>
</collision>
<collision>
- <origin rpy="-2.25 0 0" xyz="0.076 0.0615 0.0128"/>
+ <origin rpy="2.25 0 0" xyz="0.076 -0.0615 0.0128"/>
<geometry>
<box size="0.02 0.029 0.018"/>
</geometry>
</collision>
<collision>
- <origin rpy="-1 0 0" xyz="-0.075 -0.015 0.019"/>
+ <origin rpy="1 0 0" xyz="-0.075 0.015 0.019"/>
<geometry>
<box size="0.028 0.090 0.05"/>
</geometry>
@@ -244,28 +241,28 @@
<link name="l_uarm">
<inertial>
<mass value="4.386"/>
- <origin rpy="0 -0 0" xyz="0 -0.065 0"/>
+ <origin rpy="0 -0 0" xyz="0 0.065 0"/>
<inertia ixx="0.00656" ixy="0" ixz="0" iyy="0.00358" iyz="0" izz="0.00656"/>
</inertial>
<visual>
<geometry>
- <mesh filename="package://atlas_description/meshes_unplugged/l_uarm.dae" scale="1 1 1"/>
+ <mesh filename="package://atlas_description/meshes_unplugged/r_uarm.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
- <origin rpy="-1.5708 0 0" xyz="0.0 0.035 0.00"/>
+ <origin rpy="1.5708 0 0" xyz="0.0 -0.035 0.00"/>
<geometry>
<cylinder length="0.11" radius="0.065"/>
</geometry>
</collision>
<collision>
- <origin rpy="0 1.5708 0" xyz="-0.005 0.111 0.017"/>
+ <origin rpy="0 1.5708 0" xyz="-0.005 -0.111 0.017"/>
<geometry>
<cylinder length="0.142" radius="0.047"/>
</geometry>
</collision>
<collision>
- <origin rpy="0 1.5707963267949 0" xyz="-0.001 0.043 0.01"/>
+ <origin rpy="0 1.5707963267949 0" xyz="-0.001 -0.043 0.01"/>
<geometry>
<box size="0.05 0.07 0.15"/>
</geometry>
@@ -500,7 +497,7 @@
<geometry>
<mesh filename="package://atlas_description/meshes_v3/r_hand.dae" scale="1 1 1"/>
</geometry>
- </visual>
+ <origin rpy="0 3.14159265359 0" xyz="0 0 0"/></visual>
<collision>
<origin rpy="1.5707963267949 0 0" xyz="0.001 -0.1 0.01"/>
<geometry>
@@ -835,8 +832,8 @@
<safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.6632" soft_upper_limit="10.6632"/>
</joint>
<joint name="l_arm_elx" type="revolute">
- <origin rpy="0 -0 0" xyz="0 0.119 0.0092"/>
- <axis xyz="1 0 0"/>
+ <origin rpy="0 -0 0" xyz="0 -0.119 0.0092"/>
+ <axis xyz="-1.0 -0.0 -0.0"/>
<parent link="l_uarm"/>
<child link="l_larm"/>
<dynamics damping="0.2" friction="0"/>
@@ -844,8 +841,8 @@
<safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10" soft_upper_limit="12.3562"/>
</joint>
<joint name="l_arm_ely" type="revolute">
- <origin rpy="0 -0 0" xyz="0 0.187 -0.016"/>
- <axis xyz="0 1 0"/>
+ <origin rpy="0 -0 0" xyz="0 -0.187 -0.016"/>
+ <axis xyz="-0.0 -1.0 -0.0"/>
<parent link="l_scap"/>
<child link="l_uarm"/>
<dynamics damping="0.2" friction="0"/>
@@ -853,25 +850,26 @@
<safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10" soft_upper_limit="13.1416"/>
</joint>
<joint name="l_arm_shx" type="revolute">
- <origin rpy="0 -0 0" xyz="0 0.11 -0.245"/>
- <axis xyz="1 0 0"/>
+ <origin rpy="0 -0 0" xyz="0 -0.11 -0.245"/>
+ <axis xyz="-1.0 -0.0 -0.0"/>
<parent link="l_clav"/>
<child link="l_scap"/>
<dynamics damping="0.1" friction="0"/>
<limit effort="99" lower="-1.5708" upper="1.5708" velocity="12"/>
<safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.5708" soft_upper_limit="11.5708"/>
</joint>
- <joint name="l_arm_shz" type="revolute">
- <origin rpy="0 -0 0" xyz="0.1406 0.2256 0.4776"/>
+ <joint name="l_arm_shy" type="revolute">
+ <origin rpy="0 0 3.14159265359" xyz="0.1406 0.2256 0.4776"/>
<axis xyz="0 0 1"/>
<parent link="utorso"/>
<child link="l_clav"/>
<dynamics damping="0.1" friction="0"/>
<limit effort="87" lower="-1.5708" upper="0.785398" velocity="12"/>
<safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.5708" soft_upper_limit="10.7854"/>
- </joint>
+ <!-- note, this is opposite of v1 and v3 -->
+ </joint>
<joint name="l_arm_wrx" type="revolute">
- <origin rpy="0 -0 0" xyz="0 0.119 0.0092"/>
+ <origin rpy="0 -0 0" xyz="0 -0.119 0.0092"/>
<axis xyz="1 0 0"/>
<parent link="l_ufarm"/>
<child link="l_lfarm"/>
@@ -880,8 +878,8 @@
<safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.1781" soft_upper_limit="11.1781"/>
</joint>
<joint name="l_arm_wry" type="revolute">
- <origin rpy="0 -0 0" xyz="0 0.187 -0.0092"/>
- <axis xyz="0 1 0"/>
+ <origin rpy="0 3.14159265359 0" xyz="0 -0.187 -0.0092"/>
+ <axis xyz="-0.0 -1.0 -0.0"/>
<parent link="l_larm"/>
<child link="l_ufarm"/>
<dynamics damping="0.1" friction="0"/>
@@ -889,7 +887,7 @@
<safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10" soft_upper_limit="13.1416"/>
</joint>
<joint name="l_arm_wry2" type="revolute">
- <origin rpy="0 0 0" xyz="0 0 0"/>
+ <origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
<axis xyz="0 1 0"/>
<parent link="l_lfarm"/>
<child link="l_hand"/>
@@ -987,7 +985,7 @@
<limit effort="99" lower="-1.5708" upper="1.5708" velocity="12"/>
<safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.5708" soft_upper_limit="11.5708"/>
</joint>
- <joint name="r_arm_shz" type="revolute">
+ <joint name="r_arm_shy" type="revolute">
<origin rpy="0 -0 0" xyz="0.1406 -0.2256 0.4776"/>
<axis xyz="0 0 1"/>
<!-- note, this is opposite of v1 and v3 -->
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