diff options
Diffstat (limited to 'data/kuka_iiwa/kuka_world.sdf')
| -rw-r--r-- | data/kuka_iiwa/kuka_world.sdf | 64 |
1 files changed, 32 insertions, 32 deletions
diff --git a/data/kuka_iiwa/kuka_world.sdf b/data/kuka_iiwa/kuka_world.sdf index d48d51382..3292b4b2e 100644 --- a/data/kuka_iiwa/kuka_world.sdf +++ b/data/kuka_iiwa/kuka_world.sdf @@ -6,9 +6,9 @@ <child>lbr_iiwa_link_0</child> </joint> <link name='lbr_iiwa_link_0'> - <pose frame=''>0 0 0 0 -0 0</pose> + <pose>0 0 0 0 -0 0</pose> <inertial> - <pose frame=''>-0.1 0 0.07 0 -0 0</pose> + <pose>-0.1 0 0.07 0 -0 0</pose> <mass>0.01</mass> <inertia> <ixx>0.05</ixx> @@ -20,7 +20,7 @@ </inertia> </inertial> <collision name='lbr_iiwa_link_0_collision'> - <pose frame=''>0 0 0 0 -0 0</pose> + <pose>0 0 0 0 -0 0</pose> <geometry> <mesh> <scale>1 1 1</scale> @@ -29,7 +29,7 @@ </geometry> </collision> <visual name='lbr_iiwa_link_0_visual'> - <pose frame=''>0 0 0 0 -0 0</pose> + <pose>0 0 0 0 -0 0</pose> <geometry> <mesh> <scale>1 1 1</scale> @@ -39,9 +39,9 @@ </visual> </link> <link name='lbr_iiwa_link_1'> - <pose frame=''>0 0 0.1575 0 -0 0</pose> + <pose>0 0 0.1575 0 -0 0</pose> <inertial> - <pose frame=''>0 -0.03 0.12 0 -0 0</pose> + <pose>0 -0.03 0.12 0 -0 0</pose> <mass>4</mass> <inertia> <ixx>0.1</ixx> @@ -53,7 +53,7 @@ </inertia> </inertial> <collision name='lbr_iiwa_link_1_collision'> - <pose frame=''>0 0 0 0 -0 0</pose> + <pose>0 0 0 0 -0 0</pose> <geometry> <mesh> <scale>1 1 1</scale> @@ -62,7 +62,7 @@ </geometry> </collision> <visual name='lbr_iiwa_link_1_visual'> - <pose frame=''>0 0 0 0 -0 0</pose> + <pose>0 0 0 0 -0 0</pose> <geometry> <mesh> <scale>1 1 1</scale> @@ -92,9 +92,9 @@ </axis> </joint> <link name='lbr_iiwa_link_2'> - <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose> + <pose>0 0 0.36 1.5708 -0 -3.14159</pose> <inertial> - <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose> + <pose>0.0003 0.059 0.042 0 -0 0</pose> <mass>4</mass> <inertia> <ixx>0.05</ixx> @@ -106,7 +106,7 @@ </inertia> </inertial> <collision name='lbr_iiwa_link_2_collision'> - <pose frame=''>0 0 0 0 -0 0</pose> + <pose>0 0 0 0 -0 0</pose> <geometry> <mesh> <scale>1 1 1</scale> @@ -115,7 +115,7 @@ </geometry> </collision> <visual name='lbr_iiwa_link_2_visual'> - <pose frame=''>0 0 0 0 -0 0</pose> + <pose>0 0 0 0 -0 0</pose> <geometry> <mesh> <scale>1 1 1</scale> @@ -145,9 +145,9 @@ </axis> </joint> <link name='lbr_iiwa_link_3'> - <pose frame=''>0 -0 0.5645 0 0 0</pose> + <pose>0 -0 0.5645 0 0 0</pose> <inertial> - <pose frame=''>0 0.03 0.13 0 -0 0</pose> + <pose>0 0.03 0.13 0 -0 0</pose> <mass>3</mass> <inertia> <ixx>0.08</ixx> @@ -159,7 +159,7 @@ </inertia> </inertial> <collision name='lbr_iiwa_link_3_collision'> - <pose frame=''>0 0 0 0 -0 0</pose> + <pose>0 0 0 0 -0 0</pose> <geometry> <mesh> <scale>1 1 1</scale> @@ -168,7 +168,7 @@ </geometry> </collision> <visual name='lbr_iiwa_link_3_visual'> - <pose frame=''>0 0 0 0 -0 0</pose> + <pose>0 0 0 0 -0 0</pose> <geometry> <mesh> <scale>1 1 1</scale> @@ -198,9 +198,9 @@ </axis> </joint> <link name='lbr_iiwa_link_4'> - <pose frame=''>0 -0 0.78 1.5708 0 0</pose> + <pose>0 -0 0.78 1.5708 0 0</pose> <inertial> - <pose frame=''>0 0.067 0.034 0 -0 0</pose> + <pose>0 0.067 0.034 0 -0 0</pose> <mass>2.7</mass> <inertia> <ixx>0.03</ixx> @@ -212,7 +212,7 @@ </inertia> </inertial> <collision name='lbr_iiwa_link_4_collision'> - <pose frame=''>0 0 0 0 -0 0</pose> + <pose>0 0 0 0 -0 0</pose> <geometry> <mesh> <scale>1 1 1</scale> @@ -221,7 +221,7 @@ </geometry> </collision> <visual name='lbr_iiwa_link_4_visual'> - <pose frame=''>0 0 0 0 -0 0</pose> + <pose>0 0 0 0 -0 0</pose> <geometry> <mesh> <scale>1 1 1</scale> @@ -251,9 +251,9 @@ </axis> </joint> <link name='lbr_iiwa_link_5'> - <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose> + <pose>0 -0 0.9645 0 -0 -3.14159</pose> <inertial> - <pose frame=''>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> <inertia> <ixx>0.02</ixx> @@ -265,7 +265,7 @@ </inertia> </inertial> <collision name='lbr_iiwa_link_5_collision'> - <pose frame=''>0 0 0 0 -0 0</pose> + <pose>0 0 0 0 -0 0</pose> <geometry> <mesh> <scale>1 1 1</scale> @@ -274,7 +274,7 @@ </geometry> </collision> <visual name='lbr_iiwa_link_5_visual'> - <pose frame=''>0 0 0 0 -0 0</pose> + <pose>0 0 0 0 -0 0</pose> <geometry> <mesh> <scale>1 1 1</scale> @@ -304,9 +304,9 @@ </axis> </joint> <link name='lbr_iiwa_link_6'> - <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose> + <pose>0 0 1.18 1.5708 -0 -3.14159</pose> <inertial> - <pose frame=''>0 0.0006 0.0004 0 -0 0</pose> + <pose>0 0.0006 0.0004 0 -0 0</pose> <mass>1.8</mass> <inertia> <ixx>0.005</ixx> @@ -318,7 +318,7 @@ </inertia> </inertial> <collision name='lbr_iiwa_link_6_collision'> - <pose frame=''>0 0 0 0 -0 0</pose> + <pose>0 0 0 0 -0 0</pose> <geometry> <mesh> <scale>1 1 1</scale> @@ -327,7 +327,7 @@ </geometry> </collision> <visual name='lbr_iiwa_link_6_visual'> - <pose frame=''>0 0 0 0 -0 0</pose> + <pose>0 0 0 0 -0 0</pose> <geometry> <mesh> <scale>1 1 1</scale> @@ -357,9 +357,9 @@ </axis> </joint> <link name='lbr_iiwa_link_7'> - <pose frame=''>0 0 1.261 0 0 0</pose> + <pose>0 0 1.261 0 0 0</pose> <inertial> - <pose frame=''>0 0 0.02 0 -0 0</pose> + <pose>0 0 0.02 0 -0 0</pose> <mass>0.3</mass> <inertia> <ixx>0.001</ixx> @@ -371,7 +371,7 @@ </inertia> </inertial> <collision name='lbr_iiwa_link_7_collision'> - <pose frame=''>0 0 0 0 -0 0</pose> + <pose>0 0 0 0 -0 0</pose> <geometry> <mesh> <scale>1 1 1</scale> @@ -380,7 +380,7 @@ </geometry> </collision> <visual name='lbr_iiwa_link_7_visual'> - <pose frame=''>0 0 0 0 -0 0</pose> + <pose>0 0 0 0 -0 0</pose> <geometry> <mesh> <scale>1 1 1</scale> |