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Rename 'world' frame to 'robot_base' in URDF #284

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Rename 'world' frame to 'robot_base' in URDF #284

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2 changes: 1 addition & 1 deletion ur5_moveit_config/config/ur5.srdf
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Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,7 @@
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="moveit_ee" parent_link="ee_link" group="endeffector" />
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="fixed_base" type="fixed" parent_frame="world" child_link="base_link" />
<virtual_joint name="fixed_base" type="fixed" parent_frame="world" child_link="robot_base" />
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="base_link" link2="shoulder_link" reason="Adjacent" />
<disable_collisions link1="ee_link" link2="wrist_1_link" reason="Never" />
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6 changes: 3 additions & 3 deletions ur_description/urdf/ur10_joint_limited_robot.urdf.xacro
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Expand Up @@ -18,10 +18,10 @@
wrist_3_lower_limit="${-pi}" wrist_3_upper_limit="${pi}"
/>

<link name="world" />
<link name="robot_base" />

<joint name="world_joint" type="fixed">
<parent link="world" />
<joint name="robot_base_joint" type="fixed">
<parent link="robot_base" />
<child link = "base_link" />
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</joint>
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6 changes: 3 additions & 3 deletions ur_description/urdf/ur10_robot.urdf.xacro
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Expand Up @@ -11,10 +11,10 @@
<!-- arm -->
<xacro:ur10_robot prefix="" joint_limited="false"/>

<link name="world" />
<link name="robot_base" />

<joint name="world_joint" type="fixed">
<parent link="world" />
<joint name="robot_base_joint" type="fixed">
<parent link="robot_base" />
<child link = "base_link" />
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</joint>
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6 changes: 3 additions & 3 deletions ur_description/urdf/ur3_joint_limited_robot.urdf.xacro
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Expand Up @@ -11,10 +11,10 @@
<!-- arm -->
<xacro:ur3_robot prefix="" joint_limited="true"/>

<link name="world" />
<link name="robot_base" />

<joint name="world_joint" type="fixed">
<parent link="world" />
<joint name="robot_base_joint" type="fixed">
<parent link="robot_base" />
<child link = "base_link" />
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</joint>
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6 changes: 3 additions & 3 deletions ur_description/urdf/ur3_robot.urdf.xacro
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Expand Up @@ -11,10 +11,10 @@
<!-- arm -->
<xacro:ur3_robot prefix="" joint_limited="false"/>

<link name="world" />
<link name="robot_base" />

<joint name="world_joint" type="fixed">
<parent link="world" />
<joint name="robot_base_joint" type="fixed">
<parent link="robot_base" />
<child link = "base_link" />
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</joint>
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6 changes: 3 additions & 3 deletions ur_description/urdf/ur5_joint_limited_robot.urdf.xacro
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Expand Up @@ -11,10 +11,10 @@
<!-- arm -->
<xacro:ur5_robot prefix="" joint_limited="true"/>

<link name="world" />
<link name="robot_base" />

<joint name="world_joint" type="fixed">
<parent link="world" />
<joint name="robot_base_joint" type="fixed">
<parent link="robot_base" />
<child link = "base_link" />
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</joint>
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6 changes: 3 additions & 3 deletions ur_description/urdf/ur5_robot.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -11,10 +11,10 @@
<!-- arm -->
<xacro:ur5_robot prefix="" joint_limited="false"/>

<link name="world" />
<link name="robot_base" />

<joint name="world_joint" type="fixed">
<parent link="world" />
<joint name="robot_base_joint" type="fixed">
<parent link="robot_base" />
<child link = "base_link" />
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</joint>
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