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Added ai vision model.

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张立军 2021-07-08 10:59:45 +08:00
parent 2ab79e73ea
commit 0b77a58479
3 changed files with 75692 additions and 1 deletions
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75662
urdf/mycobot/210110_6000_001_asm.dae Normal file
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2
urdf/mycobot/mycobot_urdf.urdf
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@ -128,7 +128,7 @@
<joint name="joint2_to_joint1" type="revolute">
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="joint1"/>

29
urdf/mycobot/mycobot_with_vision.urdf Executable file
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@ -0,0 +1,29 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="mycobot_ai" >
<xacro:property name="width" value=".2" />
<xacro:include filename="$(find mycobot_ros)/urdf/mycobot/mycobot_urdf.urdf" />
<link name="env">
<visual>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_ros/urdf/mycobot/210110_6000_001_asm.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = "1.5708 0 -1.5708"/>
</visual>
</link>
<joint name="vision_joint" type="fixed">
<axis xyz="0 0 0"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="joint1"/>
<child link="env"/>
<origin xyz= "0 0 0" rpy = "0 0 0"/>
</joint>
</robot>