{"action":"created","comment":{"url":"https://api.github.com/repos/ros-industrial/staubli/pulls/comments/35624562","id":35624562,"diff_hunk":"@@ -2,9 +2,15 @@\n <robot xmlns:xacro=\"http://ros.org/wiki/xacro\">\n \n   <!-- RAL 1028 -->\n-  <xacro:property name=\"colour_staubli_yellow\" value=\"1.0 0.608 0 1\" />\n+  <xacro:property name=\"melon_yellow\" value=\"1.0 0.608 0.0 1.0\" />","path":"staubli_resources/urdf/common_colours.xacro","position":5,"original_position":5,"commit_id":"c5ea4303ac6639b3b555c1808686c9c4bf7ca480","original_commit_id":"c5ea4303ac6639b3b555c1808686c9c4bf7ca480","user":{"login":"gavanderhoorn","id":4550046,"avatar_url":"https://avatars.githubusercontent.com/u/4550046?v=3","gravatar_id":"","url":"https://api.github.com/users/gavanderhoorn","html_url":"https://github.com/gavanderhoorn","followers_url":"https://api.github.com/users/gavanderhoorn/followers","following_url":"https://api.github.com/users/gavanderhoorn/following{/other_user}","gists_url":"https://api.github.com/users/gavanderhoorn/gists{/gist_id}","starred_url":"https://api.github.com/users/gavanderhoorn/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/gavanderhoorn/subscriptions","organizations_url":"https://api.github.com/users/gavanderhoorn/orgs","repos_url":"https://api.github.com/users/gavanderhoorn/repos","events_url":"https://api.github.com/users/gavanderhoorn/events{/privacy}","received_events_url":"https://api.github.com/users/gavanderhoorn/received_events","type":"User","site_admin":false},"body":"Also: we cannot remove the `colour_staubli_yellow` (yet), as we do not know if/where it has been used. We should add a `colour_ral_melon_yellow` and an alias called `colour_staubli_yellow` (which has `value=\"${colour_ral_melon_yellow}\"`).\r\n","created_at":"2015-07-28T08:27:11Z","updated_at":"2015-07-28T08:27:11Z","html_url":"https://github.com/ros-industrial/staubli/pull/15#discussion_r35624562","pull_request_url":"https://api.github.com/repos/ros-industrial/staubli/pulls/15","_links":{"self":{"href":"https://api.github.com/repos/ros-industrial/staubli/pulls/comments/35624562"},"html":{"href":"https://github.com/ros-industrial/staubli/pull/15#discussion_r35624562"},"pull_request":{"href":"https://api.github.com/repos/ros-industrial/staubli/pulls/15"}}},"pull_request":{"url":"https://api.github.com/repos/ros-industrial/staubli/pulls/15","id":40343952,"html_url":"https://github.com/ros-industrial/staubli/pull/15","diff_url":"https://github.com/ros-industrial/staubli/pull/15.diff","patch_url":"https://github.com/ros-industrial/staubli/pull/15.patch","issue_url":"https://api.github.com/repos/ros-industrial/staubli/issues/15","number":15,"state":"open","locked":false,"title":"Introducing Gazebo support for RX160/RX160L","user":{"login":"MuriloMartins","id":12897796,"avatar_url":"https://avatars.githubusercontent.com/u/12897796?v=3","gravatar_id":"","url":"https://api.github.com/users/MuriloMartins","html_url":"https://github.com/MuriloMartins","followers_url":"https://api.github.com/users/MuriloMartins/followers","following_url":"https://api.github.com/users/MuriloMartins/following{/other_user}","gists_url":"https://api.github.com/users/MuriloMartins/gists{/gist_id}","starred_url":"https://api.github.com/users/MuriloMartins/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/MuriloMartins/subscriptions","organizations_url":"https://api.github.com/users/MuriloMartins/orgs","repos_url":"https://api.github.com/users/MuriloMartins/repos","events_url":"https://api.github.com/users/MuriloMartins/events{/privacy}","received_events_url":"https://api.github.com/users/MuriloMartins/received_events","type":"User","site_admin":false},"body":"@gavanderhoorn Could you please verify this PR to add support for simulation of Staubli RX160/160L robot sin Gazebo 2.x.\r\n\r\nIt follows the design standards discussed in ros-industrial/abb_experimental#18.\r\n\r\nSome remarks regarding this PR.\r\nFirstly, I had to open the .stl files of some links in meshlab and save them again as .stl so that I could apply colour to those links in Gazebo (the original files were not working).\r\n\r\nAlso, I changed the colours to represent the real robots we have (they are actually yellow, not orange, but that is purely cosmetic).\r\n\r\nLastly, inertia matrices, as well as link masses, at the moment do not represent the actual real robot.\r\n\r\nAlthough maximum speed and torque are documented in the robot manual, inertia matrices and/or COGs are not. I tried to follow [this tutorial](http://gazebosim.org/tutorials?tut=inertia&cat=build_robot) to extract the data from the CAD models, but I got matrices filled with nans for most joints.\r\n\r\nI tested MoveIt with the simulated robot and it works just 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