| Original work Copyright 2018 ROS Industrial (https://rosindustrial.org/) |
| Modified work Copyright 2018 Virtana, Inc (www.virtanatech.com) |
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| Licensed under the Apache License, Version 2.0 (the "License"); |
| you may not use this file except in compliance with the License. |
| You may obtain a copy of the License at |
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| http://www.apache.org/licenses/LICENSE-2.0 |
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| Unless required by applicable law or agreed to in writing, software |
| distributed under the License is distributed on an "AS IS" BASIS, |
| WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express |
| or implied. See the License for the specific language governing |
| permissions and limitations under the License. |
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| Changenotes: |
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| 2018-05-08: Vijay Pradeep (vijay@virtanatech.com) |
| The visual/ mesh files were generated from the dae files in the |
| ros-industrial universal robot repo [1]. Since the collada pyBullet |
| parser is somewhat limited, it is unable to parse the UR collada mesh |
| files. Thus, we imported these collada files into blender and |
| converted them into STL files. We lost material definitions during |
| the conversion, but that's ok. |
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| The URDF was generated by running the xacro xml preprocessor on the |
| URDF included in the ur_description repo already mentioned here. |
| Additional manual tweaking was required to update resource paths and |
| to remove errors caused by missing inertia elements. Varios Gazebo |
| plugin tags were also removed. |
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| [1] - https://github.com/ros-industrial/universal_robot/tree/kinetic-devel/ur_description/meshes/ur5/visual |
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