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
55 lines
1.4 KiB
XML
55 lines
1.4 KiB
XML
<?xml version="0.0" ?>
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<robot name="suction-base.urdf">
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<material name="DarkGrey">
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<color rgba="0.2 0.2 0.2 1.0"/>
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</material>
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<link name="baseLink">
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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="suction/base.obj" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="DarkGrey"/>
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</visual>
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</link>
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<link name="midLink">
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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="suction/mid.obj" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="DarkGrey"/>
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</visual>
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</link>
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<joint name="baseLink-midLink" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0.025"/>
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<parent link="baseLink"/>
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<child link="midLink"/>
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</joint>
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</robot>
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