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parse root transformation and test loading two robots

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This commit is contained in:
yunfeibai
2016-05-11 15:52:50 -07:00
parent 06a2669b32
commit 7929bee128
12 changed files with 879 additions and 37 deletions
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12
data/kuka_iiwa/model.sdf
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@@ -88,7 +88,7 @@
</axis>
</joint>
<link name='lbr_iiwa_link_2'>
<pose frame=''>0 0 0.2025 1.57079632679 0 3.14159265359</pose>
<pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
<inertial>
<pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
<mass>4</mass>
@@ -141,7 +141,7 @@
</axis>
</joint>
<link name='lbr_iiwa_link_3'>
<pose frame=''>0 0.2045 0 1.57079632679 0 3.14159265359</pose>
<pose frame=''>0 -0 0.5645 0 0 0</pose>
<inertial>
<pose frame=''>0 0.03 0.13 0 -0 0</pose>
<mass>3</mass>
@@ -194,7 +194,7 @@
</axis>
</joint>
<link name='lbr_iiwa_link_4'>
<pose frame=''>0 0 0.2155 1.57079632679 0 0</pose>
<pose frame=''>0 -0 0.78 1.5708 0 0</pose>
<inertial>
<pose frame=''>0 0.067 0.034 0 -0 0</pose>
<mass>2.7</mass>
@@ -247,7 +247,7 @@
</axis>
</joint>
<link name='lbr_iiwa_link_5'>
<pose frame=''>0 0.1845 0 -1.57079632679 3.14159265359 0</pose>
<pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
<inertial>
<pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
<mass>1.7</mass>
@@ -300,7 +300,7 @@
</axis>
</joint>
<link name='lbr_iiwa_link_6'>
<pose frame=''>0 0 0.2155 1.57079632679 0 0</pose>
<pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
<inertial>
<pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
<mass>1.8</mass>
@@ -353,7 +353,7 @@
</axis>
</joint>
<link name='lbr_iiwa_link_7'>
<pose frame=''>0 0.081 0 -1.57079632679 3.14159265359 0</pose>
<pose frame=''>0 0 1.261 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.02 0 -0 0</pose>
<mass>0.3</mass>