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
102 lines
2.8 KiB
XML
102 lines
2.8 KiB
XML
<?xml version="0.0" ?>
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<robot name="suction-head.urdf">
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<link name="headLink">
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0001"/>
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<inertia_scaling value="3.0"/>
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</contact>
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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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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="head.obj" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="darkgrey">
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<color rgba="0.2 0.2 0.2 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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<mesh filename="head.obj" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<joint name="tipJoint" type="fixed">
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<parent link="headLink"/>
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<child link="tipLink"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.029"/>
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<axis xyz="0 0 1"/>
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<limit effort="150.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.15"/>
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<dynamics damping="10.0" friction="0.0"/>
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</joint>
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<link name="tipLink">
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0001"/>
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<inertia_scaling value="3.0"/>
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</contact>
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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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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="tip.obj" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="blue">
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<color rgba="0.18039216, 0.50588235, 0.77254902 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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<mesh filename="tip.obj" scale="0.001 0.001 0.001"/>
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</geometry> -->
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<geometry>
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<cylinder length="0.028" radius="0.001"/>
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</geometry>
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</collision>
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</link>
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<!-- <link name="asdfLink">
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0001"/>
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<inertia_scaling value="3.0"/>
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</contact>
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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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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.028" radius="0.001"/>
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</geometry>
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</visual>
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</link>
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<joint name="asdfoint" type="fixed">
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<parent link="tipLink"/>
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<child link="asdfLink"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
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<axis xyz="0 0 1"/>
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<limit effort="150.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.15"/>
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<dynamics damping="10.0" friction="0.0"/>
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</joint> -->
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</robot>
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