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
39 lines
1.0 KiB
XML
39 lines
1.0 KiB
XML
<?xml version="1.0" ?>
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<robot name="movable_obstacle">
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<link name="block_link">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0"/>
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
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</inertial>
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</link>
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<link name="sphere_link">
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<visual>
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<geometry>
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<sphere radius="0.1"/>
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</geometry>
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<origin xyz='0 0 0' rpy='0 0 0'/>
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<material name='block_color'>
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<color rgba="0 0 0 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<sphere radius="0.1"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value=".1"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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</link>
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<joint name="car_wheel" type="prismatic">
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<parent link="block_link"/>
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<child link="sphere_link"/>
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<origin xyz="0.5 0 0.62" rpy="0 0 0"/>
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<axis xyz="0 1 0"/>
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<limit lower="-0.8" upper="0.8" />
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</joint>
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</robot> |