fly6516
f02a735179
- 新增吸盘模型文件 base.obj - 添加多个测试用例 URDF 文件，包括立方体、圆柱体等简单模型 - 创建 jaka_description 包的 CMakeLists.txt 和 display.launch 文件
18 lines
803 B
Plaintext
18 lines
803 B
Plaintext
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2018-05-08 - Vijay Pradeep:
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These visual/ mesh files were generated from the dae files in
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ros-industrial universal robot repo [1]. Since the collada pyBullet
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parser is somewhat limited, it is unable to parse the UR collada mesh
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files. This, we imported these collada files into blender and
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converted them into STL files. We lost material definitions during
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the conversion, but that's ok.
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The URDF was generated by running the xacro xml preprocessor on the
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URDF included in the ur_description repo already mentioned here.
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Additional manual tweaking was required to update resource paths and
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to remove errors caused by missing inertia elements. Varios Gazebo
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plugin tags were also removed.
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[1] - https://github.com/ros-industrial/universal_robot/tree/kinetic-devel/ur_description/meshes/ur5/visual
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