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Fix invalid "`" in URDF. #12

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Fix invalid "`" in URDF. #12

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349 changes: 70 additions & 279 deletions robots/hsrb4s.obj.urdf
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349 changes: 70 additions & 279 deletions robots/hsrb4s.urdf
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6 changes: 3 additions & 3 deletions urdf/arm_v0/arm.transmission.xacro
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Expand Up @@ -30,9 +30,9 @@ POSSIBILITY OF SUCH DAMAGE.
<robot xmlns:xacro="http://ros.org/wiki/xacro">

<xacro:macro name="hsrb_arm_transmission" params="prefix">
<hsrb_position_joint_transmission joint="${prefix}_lift_joint" reduction="1"/>
<hsrb_position_joint_transmission joint="${prefix}_flex_joint" reduction="1"/>
<hsrb_position_joint_transmission joint="${prefix}_roll_joint" reduction="1"/>
<xacro:hsrb_position_joint_transmission joint="${prefix}_lift_joint" reduction="1"/>
<xacro:hsrb_position_joint_transmission joint="${prefix}_flex_joint" reduction="1"/>
<xacro:hsrb_position_joint_transmission joint="${prefix}_roll_joint" reduction="1"/>
</xacro:macro>

</robot>
2 changes: 1 addition & 1 deletion urdf/arm_v0/arm.urdf.xacro
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Expand Up @@ -35,7 +35,7 @@ POSSIBILITY OF SUCH DAMAGE.
<!-- arm -->
<xacro:macro name="hsrb_arm" params="prefix parent *origin">
<joint name="${prefix}_lift_joint" type="prismatic">
<insert_block name="origin" />
<xacro:insert_block name="origin" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="0.2" lower="0.0" upper="0.69" />
<parent link="${parent}" />
Expand Down
6 changes: 3 additions & 3 deletions urdf/base_v2/base.transmission.xacro
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Expand Up @@ -29,8 +29,8 @@ POSSIBILITY OF SUCH DAMAGE.
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="hsrb_base_transmission" params="prefix">
<hsrb_velocity_joint_transmission joint="${prefix}_r_drive_wheel_joint" reduction="1"/>
<hsrb_velocity_joint_transmission joint="${prefix}_l_drive_wheel_joint" reduction="1"/>
<hsrb_position_joint_transmission joint="${prefix}_roll_joint" reduction="1"/>
<xacro:hsrb_velocity_joint_transmission joint="${prefix}_r_drive_wheel_joint" reduction="1"/>
<xacro:hsrb_velocity_joint_transmission joint="${prefix}_l_drive_wheel_joint" reduction="1"/>
<xacro:hsrb_position_joint_transmission joint="${prefix}_roll_joint" reduction="1"/>
</xacro:macro>
</robot>
4 changes: 2 additions & 2 deletions urdf/base_v2/base.urdf.xacro
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Expand Up @@ -53,7 +53,7 @@ POSSIBILITY OF SUCH DAMAGE.
<!-- drive wheel -->
<xacro:macro name="hsrb_drive_wheel" params="prefix suffix parent *origin">
<joint name="${prefix}_${suffix}_drive_wheel_joint" type="continuous">
<insert_block name="origin" />
<xacro:insert_block name="origin" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="${drive_wheel_max_effort}" velocity="${drive_wheel_max_velocity}" />
<parent link="${parent}" />
Expand Down Expand Up @@ -86,7 +86,7 @@ POSSIBILITY OF SUCH DAMAGE.
<!-- passive wheel -->
<xacro:macro name="hsrb_passive_wheel" params="prefix suffix parent *origin">
<joint name="${prefix}_${suffix}_passive_wheel_x_frame_joint" type="continuous">
<insert_block name="origin" />
<xacro:insert_block name="origin" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="1.0" velocity="3.0" />
<parent link="${parent}" />
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36 changes: 18 additions & 18 deletions urdf/common.xacro
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Expand Up @@ -33,7 +33,7 @@ POSSIBILITY OF SUCH DAMAGE.

<xacro:property name="pi" value="3.14159265359"/>

<macro name="hsrb_position_joint_transmission" params="joint reduction">
<xacro:macro name="hsrb_position_joint_transmission" params="joint reduction">
<transmission name="${joint}_transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${joint}">
Expand All @@ -44,9 +44,9 @@ POSSIBILITY OF SUCH DAMAGE.
<mechanicalReduction>${reduction}</mechanicalReduction>
</actuator>
</transmission>
</macro>
</xacro:macro>

<macro name="hsrb_effort_joint_transmission" params="joint reduction">
<xacro:macro name="hsrb_effort_joint_transmission" params="joint reduction">
<transmission name="${joint}_transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${joint}">
Expand All @@ -57,9 +57,9 @@ POSSIBILITY OF SUCH DAMAGE.
<mechanicalReduction>${reduction}</mechanicalReduction>
</actuator>
</transmission>
</macro>
</xacro:macro>

<macro name="hsrb_velocity_joint_transmission" params="joint reduction">
<xacro:macro name="hsrb_velocity_joint_transmission" params="joint reduction">
<transmission name="${prefix}_transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${joint}">
Expand All @@ -70,28 +70,28 @@ POSSIBILITY OF SUCH DAMAGE.
<mechanicalReduction>${reduction}</mechanicalReduction>
</actuator>
</transmission>
</macro>
</xacro:macro>

<macro name="gazebo_link" params="name gravity collide friction">
<xacro:macro name="gazebo_link" params="name gravity collide friction">
<gazebo reference="${name}">
<selfCollide>${collide}</selfCollide>
<gravity>${gravity}</gravity>
<mu1>${friction}</mu1>
<mu2>${friction}</mu2>
</gazebo>
</macro>
</xacro:macro>

<macro name="gazebo_link_flat_black" params="name gravity collide friction">
<xacro:macro name="gazebo_link_flat_black" params="name gravity collide friction">
<gazebo reference="${name}">
<selfCollide>${collide}</selfCollide>
<gravity>${gravity}</gravity>
<mu1>${friction}</mu1>
<mu2>${friction}</mu2>
<material value="Gazebo/FlatBlack"/>
</gazebo>
</macro>
</xacro:macro>

<macro name="gazebo_link_caster" params="name">
<xacro:macro name="gazebo_link_caster" params="name">
<gazebo reference="${name}">
<selfCollide>false</selfCollide>
<gravity>true</gravity>
Expand All @@ -100,9 +100,9 @@ POSSIBILITY OF SUCH DAMAGE.
<maxVel>1.0</maxVel>
<material value="Gazebo/FlatBlack"/>
</gazebo>
</macro>
</xacro:macro>

<macro name="gazebo_link_rubber" params="name">
<xacro:macro name="gazebo_link_rubber" params="name">
<gazebo reference="${name}">
<selfCollide>false</selfCollide>
<gravity>true</gravity>
Expand All @@ -116,19 +116,19 @@ POSSIBILITY OF SUCH DAMAGE.
<minDepth>0.00</minDepth>
<material value="Gazebo/FlatBlack"/>
</gazebo>
</macro>
</xacro:macro>

<macro name="gazebo_joint" params="name">
<xacro:macro name="gazebo_joint" params="name">
<gazebo reference="${name}">
<xacro:if value="$(arg implicit_damping)">
<implicitSpringDamper>1</implicitSpringDamper>
</xacro:if>
</gazebo>
</macro>
</xacro:macro>

<macro name="gazebo_joint_mimic" params="name">
<xacro:macro name="gazebo_joint_mimic" params="name">
<gazebo reference="${name}">
</gazebo>
</macro>
</xacro:macro>

</robot>
6 changes: 3 additions & 3 deletions urdf/hand_v0/hand.transmission.xacro
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Expand Up @@ -29,8 +29,8 @@ POSSIBILITY OF SUCH DAMAGE.
-->
<robot xmlns:xacro="http://www.ros.org/wiki.xacro">
<xacro:macro name="hsrb_hand_transmission" params="prefix">
<hsrb_effort_joint_transmission joint="${prefix}_motor_joint" reduction="1"/>
<hsrb_effort_joint_transmission joint="${prefix}_l_spring_proximal_joint" reduction="1"/>
<hsrb_effort_joint_transmission joint="${prefix}_r_spring_proximal_joint" reduction="1"/>
<xacro:hsrb_effort_joint_transmission joint="${prefix}_motor_joint" reduction="1"/>
<xacro:hsrb_effort_joint_transmission joint="${prefix}_l_spring_proximal_joint" reduction="1"/>
<xacro:hsrb_effort_joint_transmission joint="${prefix}_r_spring_proximal_joint" reduction="1"/>
</xacro:macro>
</robot>
20 changes: 10 additions & 10 deletions urdf/hand_v0/hand.urdf.xacro
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Expand Up @@ -59,7 +59,7 @@ POSSIBILITY OF SUCH DAMAGE.
<!-- gripper base -->
<xacro:macro name="hsrb_gripper_base" params="prefix parent *origin">
<joint name="${prefix}_palm_joint" type="fixed">
<insert_block name="origin" />
<xacro:insert_block name="origin" />
<parent link="${parent}" />
<child link="${prefix}_palm_link" />
</joint>
Expand Down Expand Up @@ -112,7 +112,7 @@ POSSIBILITY OF SUCH DAMAGE.

<xacro:macro name="hsrb_hand" params="prefix parent *origin">
<xacro:hsrb_gripper_base prefix="${prefix}" parent="${parent}">
<insert_block name="origin" />
<xacro:insert_block name="origin" />
</xacro:hsrb_gripper_base>

<xacro:hsrb_finger_with_vacuum prefix="${prefix}" suffix="l" parent="${prefix}_palm_link">
Expand All @@ -137,8 +137,8 @@ POSSIBILITY OF SUCH DAMAGE.
<!-- gripper finger proximal base -->
<xacro:macro name="hsrb_finger_proximal_base" params="prefix suffix parent *origin *axis">
<joint name="${prefix}_${suffix}_proximal_joint" type="revolute">
<insert_block name="origin" />
<insert_block name="axis" />
<xacro:insert_block name="origin" />
<xacro:insert_block name="axis" />
<limit effort="100.0" velocity="1.0"
lower="${proximal_joint_angle_range_min}"
upper="${proximal_joint_angle_range_max}" />
Expand All @@ -152,7 +152,7 @@ POSSIBILITY OF SUCH DAMAGE.
<xacro:hsrb_gripper_dummy_link name="${prefix}_${suffix}_proximal_link" />

<joint name="${prefix}_${suffix}_spring_proximal_joint" type="revolute">
<insert_block name="axis" />
<xacro:insert_block name="axis" />
<limit effort="100.0" velocity="1.0"
lower="${spring_proximal_joint_angle_range_min}"
upper="${spring_proximal_joint_angle_range_max}" />
Expand All @@ -165,8 +165,8 @@ POSSIBILITY OF SUCH DAMAGE.
<!-- gripper finger distal base -->
<xacro:macro name="hsrb_finger_distal_base" params="prefix suffix parent *origin *axis">
<joint name="${prefix}_${suffix}_mimic_distal_joint" type="revolute">
<insert_block name="origin" />
<insert_block name="axis" />
<xacro:insert_block name="origin" />
<xacro:insert_block name="axis" />
<limit effort="100.0" velocity="1.0"
lower="${-spring_proximal_joint_angle_range_max}"
upper="${-spring_proximal_joint_angle_range_min}" />
Expand All @@ -180,7 +180,7 @@ POSSIBILITY OF SUCH DAMAGE.
<xacro:hsrb_gripper_dummy_link name="${prefix}_${suffix}_mimic_distal_link" />

<joint name="${prefix}_${suffix}_distal_joint" type="revolute">
<insert_block name="axis" />
<xacro:insert_block name="axis" />
<limit effort="100.0" velocity="1.0"
lower="${-proximal_joint_angle_range_max}"
upper="${-proximal_joint_angle_range_min}" />
Expand All @@ -194,7 +194,7 @@ POSSIBILITY OF SUCH DAMAGE.
<!-- finger with vacuum -->
<xacro:macro name="hsrb_finger_with_vacuum" params="prefix suffix parent *origin">
<xacro:hsrb_finger_proximal_base prefix="${prefix}" suffix="${suffix}" parent="${parent}">
<insert_block name="origin" />
<xacro:insert_block name="origin" />
<axis xyz="1.0 0.0 0.0" />
</xacro:hsrb_finger_proximal_base>

Expand Down Expand Up @@ -302,7 +302,7 @@ POSSIBILITY OF SUCH DAMAGE.
<!-- finger without vacuum -->
<xacro:macro name="hsrb_finger_without_vacuum" params="prefix suffix parent *origin">
<xacro:hsrb_finger_proximal_base prefix="${prefix}" suffix="${suffix}" parent="${parent}">
<insert_block name="origin" />
<xacro:insert_block name="origin" />
<axis xyz="-1.0 0.0 0.0" />
</xacro:hsrb_finger_proximal_base>

Expand Down
4 changes: 2 additions & 2 deletions urdf/head_v2/head.transmission.xacro
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Expand Up @@ -30,8 +30,8 @@ POSSIBILITY OF SUCH DAMAGE.
<robot xmlns:xacro="http://ros.org/wiki/xacro">

<xacro:macro name="hsrb_head_transmission" params="prefix">
<hsrb_position_joint_transmission joint="${prefix}_pan_joint" reduction="1"/>
<hsrb_position_joint_transmission joint="${prefix}_tilt_joint" reduction="1"/>
<xacro:hsrb_position_joint_transmission joint="${prefix}_pan_joint" reduction="1"/>
<xacro:hsrb_position_joint_transmission joint="${prefix}_tilt_joint" reduction="1"/>
</xacro:macro>

</robot>
2 changes: 1 addition & 1 deletion urdf/head_v2/head.urdf.xacro
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Expand Up @@ -39,7 +39,7 @@ POSSIBILITY OF SUCH DAMAGE.
<!-- head -->
<xacro:macro name="hsrb_head" params="prefix parent *origin">
<joint name="${prefix}_pan_joint" type="revolute">
<insert_block name="origin" />
<xacro:insert_block name="origin" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="1.0" lower="-3.84" upper="1.75" />
<parent link="${parent}" />
Expand Down
2 changes: 1 addition & 1 deletion urdf/sensors/ft_sensor.urdf.xacro
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Expand Up @@ -32,7 +32,7 @@ POSSIBILITY OF SUCH DAMAGE.

<xacro:macro name="ft_sensor" params="prefix robot_namespace parent joint_name *origin">
<joint name="${prefix}_ft_sensor_frame_joint" type="fixed">
<insert_block name="origin"/>
<xacro:insert_block name="origin"/>
<parent link="${parent}"/>
<child link="${prefix}_ft_sensor_frame"/>
</joint>
Expand Down
2 changes: 1 addition & 1 deletion urdf/sensors/imu.urdf.xacro
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Expand Up @@ -33,7 +33,7 @@ POSSIBILITY OF SUCH DAMAGE.
<!-- imu sensor -->
<xacro:macro name="imu_sensor" params="prefix parent robot_namespace *origin">
<joint name="${prefix}_imu_frame_joint" type="fixed">
<insert_block name="origin" />
<xacro:insert_block name="origin" />
<parent link="${parent}" />
<child link="${prefix}_imu_frame" />
</joint>
Expand Down
2 changes: 1 addition & 1 deletion urdf/sensors/laser.urdf.xacro
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Expand Up @@ -34,7 +34,7 @@ POSSIBILITY OF SUCH DAMAGE.
<!-- range sensor -->
<xacro:macro name="laser" params="prefix robot_namespace parent *origin">
<joint name="${prefix}_range_sensor_joint" type="fixed">
<insert_block name="origin" />
<xacro:insert_block name="origin" />
<parent link="${parent}" />
<child link="${prefix}_range_sensor_link" />
</joint>
Expand Down
2 changes: 1 addition & 1 deletion urdf/sensors/rgb_sensor.urdf.xacro
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Expand Up @@ -32,7 +32,7 @@ POSSIBILITY OF SUCH DAMAGE.

<xacro:macro name="rgb_sensor" params="prefix parent robot_namespace *origin baseline">
<joint name="${prefix}_camera_joint" type="fixed">
<insert_block name="origin" />
<xacro:insert_block name="origin" />
<parent link="${parent}" />
<child link="${prefix}_camera_link" />
</joint>
Expand Down
4 changes: 2 additions & 2 deletions urdf/sensors/rgbd_sensor.urdf.xacro
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Expand Up @@ -33,7 +33,7 @@ POSSIBILITY OF SUCH DAMAGE.
<!-- rgbd_sensor -->
<xacro:macro name="rgbd_sensor" params="prefix parent robot_namespace sensor_name *origin">
<joint name="${prefix}_${sensor_name}_joint" type="fixed">
<insert_block name="origin" />
<xacro:insert_block name="origin" />
<parent link="${parent}"/> <child link="${prefix}_${sensor_name}_link"/>
</joint>

Expand Down Expand Up @@ -68,7 +68,7 @@ POSSIBILITY OF SUCH DAMAGE.
<parent link="${prefix}_${sensor_name}_link"/>
<child link="${prefix}_${sensor_name}_gazebo_frame"/>
</joint>
`

<link name="${prefix}_${sensor_name}_gazebo_frame"></link>

<xacro:rgbd_sensor_gazebo
Expand Down
2 changes: 1 addition & 1 deletion urdf/sensors/wide_camera.urdf.xacro
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Expand Up @@ -33,7 +33,7 @@ POSSIBILITY OF SUCH DAMAGE.
<!-- wide rgb camera -->
<xacro:macro name="wide_camera" params="prefix parent robot_namespace rpy *origin">
<joint name="${prefix}_camera_frame_joint" type="fixed">
<insert_block name="origin" />
<xacro:insert_block name="origin" />
<parent link="${parent}" />
<child link="${prefix}_camera_frame" />
</joint>
Expand Down
2 changes: 1 addition & 1 deletion urdf/torso_v0/torso.urdf.xacro
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Expand Up @@ -33,7 +33,7 @@ POSSIBILITY OF SUCH DAMAGE.
<!-- torso -->
<xacro:macro name="hsrb_torso" params="prefix parent mimic_joint *origin">
<joint name="${prefix}_lift_joint" type="prismatic">
<insert_block name="origin" />
<xacro:insert_block name="origin" />
<!-- <origin xyz="0.0 0.0 0.752" rpy="0.0 0.0 0.0" /> -->
<axis xyz="0.0 0.0 1.0" />
<limit effort="100.0" velocity="0.1" lower="0.0" upper="0.345" />
Expand Down
4 changes: 2 additions & 2 deletions urdf/wrist_v0/wrist.transmission.xacro
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Expand Up @@ -30,8 +30,8 @@ POSSIBILITY OF SUCH DAMAGE.
<robot xmlns:xacro="http://ros.org/wiki/xacro">

<xacro:macro name="hsrb_wrist_transmission" params="prefix">
<hsrb_position_joint_transmission joint="${prefix}_flex_joint" reduction="1"/>
<hsrb_position_joint_transmission joint="${prefix}_roll_joint" reduction="1"/>
<xacro:hsrb_position_joint_transmission joint="${prefix}_flex_joint" reduction="1"/>
<xacro:hsrb_position_joint_transmission joint="${prefix}_roll_joint" reduction="1"/>
</xacro:macro>

</robot>