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Restore find command

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This commit is contained in:
Thomason Zhou 2025-02-19 17:47:34 +09:00
parent 1e24df2657
commit 004d083ab7
2 changed files with 43 additions and 43 deletions
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40
openarm_grip_description/urdf/openarm_grip.urdf
View File

@ -176,14 +176,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
@ -196,14 +196,14 @@
<visual>
<origin rpy="0 0 0" xyz="-0.0 -0.0 0.00225"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/J2_v1_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/J2_v1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.0 -0.0 0.00225"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/J2_v1_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/J2_v1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
@ -216,14 +216,14 @@
<visual>
<origin rpy="0 0 0" xyz="-0.02975 0.0 -0.0425"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/J3_v1_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/J3_v1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.02975 0.0 -0.0425"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/J3_v1_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/J3_v1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
@ -236,14 +236,14 @@
<visual>
<origin rpy="0 0 0" xyz="0.0 -0.06041 -0.052607"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/J4_v1_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/J4_v1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 -0.06041 -0.052607"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/J4_v1_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/J4_v1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
@ -256,14 +256,14 @@
<visual>
<origin rpy="0 0 0" xyz="-0.029755 -0.298846 -0.0925"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/J5_v1_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/J5_v1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.029755 -0.298846 -0.0925"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/J5_v1_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/J5_v1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
@ -276,14 +276,14 @@
<visual>
<origin rpy="0 0 0" xyz="0.0 -0.167496 -0.118765"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/J6_v1_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/J6_v1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 -0.167496 -0.118765"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/J6_v1_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/J6_v1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
@ -296,14 +296,14 @@
<visual>
<origin rpy="0 0 0" xyz="-0.0355 -0.048796 -0.1425"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/J7_v1_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/J7_v1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.0355 -0.048796 -0.1425"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/J7_v1_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/J7_v1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
@ -316,14 +316,14 @@
<visual>
<origin rpy="0 0 0" xyz="0.0 -0.051826 -0.15765"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/grip_attach_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/grip_attach_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 -0.051826 -0.15765"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/grip_attach_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/grip_attach_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
@ -336,14 +336,14 @@
<visual>
<origin rpy="0 0 0" xyz="0.0775 0.069829 -0.169736"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/left_jaw_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/left_jaw_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0775 0.069829 -0.169736"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/left_jaw_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/left_jaw_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
@ -356,14 +356,14 @@
<visual>
<origin rpy="0 0 0" xyz="-0.0775 0.069829 -0.169736"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/right_jaw_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/right_jaw_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.0775 0.069829 -0.169736"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/right_jaw_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/right_jaw_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>

46
openarm_grip_description/urdf/openarm_grip.xacro
View File

@ -1,9 +1,9 @@
<?xml version="1.0" ?>
<robot name="openarm_grip" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="package://openarm_grip_description/urdf/materials.xacro" />
<xacro:include filename="package://openarm_grip_description/urdf/openarm_grip.trans" />
<xacro:include filename="package://openarm_grip_description/urdf/openarm_grip.gazebo" />
<xacro:include filename="$(find openarm_grip_description)/urdf/materials.xacro" />
<xacro:include filename="$(find openarm_grip_description)/urdf/openarm_grip.trans" />
<xacro:include filename="$(find openarm_grip_description)/urdf/openarm_grip.gazebo" />
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
@ -21,14 +21,14 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
@ -42,14 +42,14 @@
<visual>
<origin xyz="-0.0 -0.0 0.00225" rpy="0 0 0"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/J2_v1_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/J2_v1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.0 -0.0 0.00225" rpy="0 0 0"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/J2_v1_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/J2_v1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
@ -63,14 +63,14 @@
<visual>
<origin xyz="-0.02975 0.0 -0.0425" rpy="0 0 0"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/J3_v1_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/J3_v1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.02975 0.0 -0.0425" rpy="0 0 0"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/J3_v1_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/J3_v1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
@ -84,14 +84,14 @@
<visual>
<origin xyz="0.0 -0.06041 -0.052607" rpy="0 0 0"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/J4_v1_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/J4_v1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="0.0 -0.06041 -0.052607" rpy="0 0 0"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/J4_v1_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/J4_v1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
@ -105,14 +105,14 @@
<visual>
<origin xyz="-0.029755 -0.298846 -0.0925" rpy="0 0 0"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/J5_v1_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/J5_v1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.029755 -0.298846 -0.0925" rpy="0 0 0"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/J5_v1_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/J5_v1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
@ -126,14 +126,14 @@
<visual>
<origin xyz="0.0 -0.167496 -0.118765" rpy="0 0 0"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/J6_v1_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/J6_v1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="0.0 -0.167496 -0.118765" rpy="0 0 0"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/J6_v1_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/J6_v1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
@ -147,14 +147,14 @@
<visual>
<origin xyz="-0.0355 -0.048796 -0.1425" rpy="0 0 0"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/J7_v1_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/J7_v1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.0355 -0.048796 -0.1425" rpy="0 0 0"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/J7_v1_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/J7_v1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
@ -168,14 +168,14 @@
<visual>
<origin xyz="0.0 -0.051826 -0.15765" rpy="0 0 0"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/grip_attach_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/grip_attach_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="0.0 -0.051826 -0.15765" rpy="0 0 0"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/grip_attach_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/grip_attach_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
@ -189,14 +189,14 @@
<visual>
<origin xyz="0.0775 0.069829 -0.169736" rpy="0 0 0"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/left_jaw_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/left_jaw_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="0.0775 0.069829 -0.169736" rpy="0 0 0"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/left_jaw_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/left_jaw_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
@ -210,14 +210,14 @@
<visual>
<origin xyz="-0.0775 0.069829 -0.169736" rpy="0 0 0"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/right_jaw_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/right_jaw_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.0775 0.069829 -0.169736" rpy="0 0 0"/>
<geometry>
<mesh filename="package://openarm_grip_description/meshes/right_jaw_1.stl" scale="0.001 0.001 0.001"/>
<mesh filename="$(find openarm_grip_description)/meshes/right_jaw_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>