PR2 / pr2_common

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add new URDF frame for PR2 body (torso) side plates (bolt holes) (ros ticket #4932) #195

Closed ahendrix closed 11 years ago

ahendrix commented 11 years ago

We have to decide on a name for the new frame and choose a coordinate frame orientation.

trac data:

Owner: hsu
Reporter: hsu
Reported at: Fri Dec 10 16:54:47 2010
URL: https://code.ros.org/trac/wg-ros-pkg/ticket/4932

ahendrix commented 11 years ago

[hsu] potential patch:

{{{

Index: urdf/torso_v0/torso.urdf.xacro

--- urdf/torso_v0/torso.urdf.xacro (revision 47229) +++ urdf/torso_v0/torso.urdf.xacro (working copy) @@ -45,6 +45,36 @@

<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0"
izz="0.001" />
+
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0"
izz="0.001" />
+
}}}

ahendrix commented 11 years ago

[hsu] r47236.

ahendrix commented 11 years ago

[hsu] links added, awaiting verification of origin location. For now, it looks slightly offset from the texture location on the default visual torso_lift mesh.