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add mycobot urdf collision.

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This commit is contained in:
张立军 2021-06-22 14:51:16 +08:00
parent 3d702c8de0
commit 162022ca12
1 changed files with 46 additions and 6 deletions
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52
urdf/mycobot_urdf.urdf
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@ -10,8 +10,14 @@
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_ros/urdf/joint1.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<origin xyz="0 0 0.036" rpy="0 0 0" />
<geometry>
<cylinder length="0.065" radius="0.045" />
</geometry>
</collision>
</link>
<link name="joint2">
@ -19,8 +25,14 @@
<geometry>
<mesh filename="package://mycobot_ros/urdf/joint2.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<origin xyz="0 0 -0.023" rpy="0 0 -1.5708" />
<geometry>
<cylinder length="0.075" radius="0.024" />
</geometry>
</collision>
</link>
@ -32,6 +44,12 @@
</geometry>
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
</visual>
<collision>
<origin xyz="-0.05 0 0.064" rpy="0 -1.5708 0" />
<geometry>
<cylinder length="0.146" radius="0.024" />
</geometry>
</collision>
</link>
@ -41,14 +59,18 @@
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_ros/urdf/joint4.dae"/>
</geometry>
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
</visual>
<collision>
<origin xyz="-0.05 0 0.0" rpy="0 -1.5708 0" />
<geometry>
<cylinder length="0.128" radius="0.024" />
</geometry>
</collision>
</link>
<link name="joint5">
<link name="joint5">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
@ -56,6 +78,12 @@
</geometry>
<origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
</visual>
<collision>
<origin xyz="0 -0.007 0" rpy="0 -1.5708 1.5708 " />
<geometry>
<cylinder length="0.05" radius="0.024" />
</geometry>
</collision>
</link>
@ -67,6 +95,12 @@
</geometry>
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
</visual>
<collision>
<origin xyz="0 0.005 0" rpy="1.57 0 0" />
<geometry>
<cylinder length="0.058" radius="0.02" />
</geometry>
</collision>
</link>
@ -78,6 +112,12 @@
</geometry>
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<origin xyz="0 0 -0.004" rpy="0 0 0" />
<geometry>
<cylinder length="0.01" radius="0.02" />
</geometry>
</collision>
</link>