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fix urdf.

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This commit is contained in:
Zachary 2021-07-12 17:28:06 +08:00
parent a75fd0e9e4
commit 2b5bea1b20
2 changed files with 19 additions and 19 deletions
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8
mycobot_description/urdf/mycobot/mycobot_with_vision copy.urdf
View file

@ -1,15 +1,15 @@
<?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="$(find mycobot_ros)/urdf/mycobot/mycobot_urdf.urdf" />
<xacro:include filename="$(find mycobot_description)/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"/>
<mesh filename="package://mycobot_description/urdf/mycobot/210110_6000_001_asm.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = "1.5708 0 -1.5708"/>
</visual>
@ -22,7 +22,7 @@
<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"/>
<origin xyz= "0 0 0" rpy = "0 0 0"/>
</joint>
</robot>

30
mycobot_description/urdf/mycobot/mycobot_with_vision.urdf
View file

@ -6,7 +6,7 @@
<visual>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_ros/urdf/mycobot/210110_6000_001_asm.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot/210110_6000_001_asm.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = "1.5708 0 -1.5708"/>
</visual>
@ -16,14 +16,14 @@
<visual>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_ros/urdf/mycobot/joint1.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_ros/urdf/mycobot/joint1.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
</collision>
@ -32,13 +32,13 @@
<link name="joint2">
<visual>
<geometry>
<mesh filename="package://mycobot_ros/urdf/mycobot/joint2.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_ros/urdf/mycobot/joint2.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
</collision>
@ -48,13 +48,13 @@
<link name="joint3">
<visual>
<geometry>
<mesh filename="package://mycobot_ros/urdf/mycobot/joint3.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
</geometry>
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_ros/urdf/mycobot/joint3.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
</geometry>
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
</collision>
@ -65,14 +65,14 @@
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_ros/urdf/mycobot/joint4.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
</geometry>
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_ros/urdf/mycobot/joint4.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
</geometry>
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
</collision>
@ -83,14 +83,14 @@
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_ros/urdf/mycobot/joint5.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_ros/urdf/mycobot/joint5.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
</collision>
@ -101,14 +101,14 @@
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_ros/urdf/mycobot/joint6.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
</geometry>
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_ros/urdf/mycobot/joint6.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
</geometry>
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
</collision>
@ -119,14 +119,14 @@
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_ros/urdf/mycobot/joint7.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_ros/urdf/mycobot/joint7.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
</collision>