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Created a realistic texture, changed to dae.

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Ry0 2021-03-13 23:50:13 +09:00
parent 704fdabecb
commit aae1b69d81
15 changed files with 1454 additions and 56238 deletions
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urdf/joint1.dae
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urdf/joint2.dae
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urdf/joint3.dae
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urdf/joint4.dae
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urdf/joint6.dae
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urdf/mycobot_urdf.urdf
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@ -11,9 +11,6 @@
<mesh filename="package://myCobotROS/urdf/joint1.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
<material name = "white">
<color rgba = "0.1 0.1 0.9 1"/>
</material>
</visual>
</link>
@ -24,9 +21,6 @@
<mesh filename="package://myCobotROS/urdf/joint2.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
<material name = "white">
<color rgba = "0.4 0.4 0.4 1"/>
</material>
</visual>
</link>
@ -38,9 +32,6 @@
<mesh filename="package://myCobotROS/urdf/joint3.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
<material name = "white">
<color rgba = "0.4 0.4 0.4 1"/>
</material>
</visual>
</link>
@ -52,9 +43,6 @@
<mesh filename="package://myCobotROS/urdf/joint4.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
<material name = "white">
<color rgba = "0.4 0.4 0.4 1"/>
</material>
</visual>
</link>
@ -68,9 +56,6 @@
<mesh filename="package://myCobotROS/urdf/joint5.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
<material name = "white">
<color rgba = "0.4 0.4 0.4 1"/>
</material>
</visual>
</link>
@ -82,9 +67,6 @@
<mesh filename="package://myCobotROS/urdf/joint6.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
<material name = "white">
<color rgba = "0.4 0.4 0.4 1"/>
</material>
</visual>
</link>
@ -92,13 +74,10 @@
<link name="joint6_flange">
<visual>
<geometry>
<cylinder length="0.005" radius="0.02"/>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://myCobotROS/urdf/joint7.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 1.57075 0 0"/>
<material name = "white">
<color rgba = "0.9 0.9 0.9 1"/>
</material>
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
</visual>
</link>
@ -141,7 +120,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="joint5"/>
<child link="joint6"/>
<origin xyz= "0.0288 0 0.02976" rpy = "0 0 0"/>
<origin xyz= "0.0298 0 0.02876" rpy = "0 0 0"/>
</joint>
<joint name="joint6output_to_joint6" type="revolute">
@ -149,7 +128,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="joint6"/>
<child link="joint6_flange"/>
<origin xyz= "0 0.0456 0.03792 " rpy = "0 0 0"/>
<origin xyz= "0 0.0351 0.03792" rpy = "-1.570795 0 0"/>
</joint>