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Use stl over dae

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This commit is contained in:
Thomason Zhou 2025-03-11 12:49:23 +09:00
parent db10d87545
commit 3b8f12da9c
29 changed files with 80 additions and 1416 deletions
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106
openarm_two_arms/meshes/left_jaw.dae
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37
openarm_two_arms/urdf/openarm.xacro
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@ -2,6 +2,9 @@
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"> <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:property name="side" value="right"/> <xacro:property name="side" value="right"/>
<xacro:property name="prefix" value=""/> <xacro:property name="prefix" value=""/>
<material name="gray">
<color rgba="${105/255} ${105/255} ${105/255} 1.0"/>
</material>
<!-- <xacro:property name="zero_pos" value="vertical"/> --> <!-- <xacro:property name="zero_pos" value="vertical"/> -->
@ -13,8 +16,9 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/> <origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/link1.dae"/> <mesh filename="package://openarm_two_arms/meshes/link1.stl"/>
</geometry> </geometry>
<material name="gray"/>
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0289"/> <origin rpy="0 0 0" xyz="0.0 0.0 0.0289"/>
@ -32,8 +36,9 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/> <origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/link2.dae"/> <mesh filename="package://openarm_two_arms/meshes/link2.stl"/>
</geometry> </geometry>
<material name="gray"/>
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0371236"/> <origin rpy="0 0 0" xyz="0.0 0.0 0.0371236"/>
@ -51,8 +56,9 @@
<visual> <visual>
<origin rpy="${pi * 0.5} 0 0" xyz="0.0 0.0987 0.02975"/> <origin rpy="${pi * 0.5} 0 0" xyz="0.0 0.0987 0.02975"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/link3.dae"/> <mesh filename="package://openarm_two_arms/meshes/link3.stl"/>
</geometry> </geometry>
<material name="gray"/>
</visual> </visual>
<collision> <collision>
<origin rpy="${pi * 0.5} 0 0" xyz="-0.0164466 -0.00045542 0.02975"/> <origin rpy="${pi * 0.5} 0 0" xyz="-0.0164466 -0.00045542 0.02975"/>
@ -70,8 +76,9 @@
<visual> <visual>
<origin rpy="${pi} -1.5620381439005742 0" xyz="-0.0986962 0.0 0.0621144"/> <origin rpy="${pi} -1.5620381439005742 0" xyz="-0.0986962 0.0 0.0621144"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/link4.dae"/> <mesh filename="package://openarm_two_arms/meshes/link4.stl"/>
</geometry> </geometry>
<material name="gray"/>
</visual> </visual>
<collision> <collision>
<origin rpy="${pi} -1.5620381439005742 0" xyz="0.000266276 -0.0125642 -0.132604"/> <origin rpy="${pi} -1.5620381439005742 0" xyz="0.000266276 -0.0125642 -0.132604"/>
@ -89,8 +96,9 @@
<visual> <visual>
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<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/link5.dae"/> <mesh filename="package://openarm_two_arms/meshes/link5.stl"/>
</geometry> </geometry>
<material name="gray"/>
</visual> </visual>
<collision> <collision>
<origin rpy="0 -0.008758182894316818 0" xyz="-0.0542814 0.00265291 -0.0302022"/> <origin rpy="0 -0.008758182894316818 0" xyz="-0.0542814 0.00265291 -0.0302022"/>
@ -108,8 +116,9 @@
<visual> <visual>
<origin rpy="${-2.1276679791326423*reflect + rotate} ${reflect* -1.5542266826921929} ${rotate}" xyz="${reflect*-0.0485412 + (0 if side=='right' else 0.012)} ${reflect*-0.0860404 +(0 if side=='right' else 0.0018)} ${0.437784- (0 if side=='right' else 0.0023)}"/> <origin rpy="${-2.1276679791326423*reflect + rotate} ${reflect* -1.5542266826921929} ${rotate}" xyz="${reflect*-0.0485412 + (0 if side=='right' else 0.012)} ${reflect*-0.0860404 +(0 if side=='right' else 0.0018)} ${0.437784- (0 if side=='right' else 0.0023)}"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/${'link6_rightarm.dae' if side=='right' else 'link6_leftarm.dae'}"/> <mesh filename="package://openarm_two_arms/meshes/${'link6_rightarm.stl' if side=='right' else 'link6_leftarm.stl'}"/>
</geometry> </geometry>
<material name="gray"/>
</visual> </visual>
<collision> <collision>
<origin rpy="-2.127667979132636 -1.5542266826921927 0" xyz="-0.00260794 -0.00312921 -0.0652641"/> <origin rpy="-2.127667979132636 -1.5542266826921927 0" xyz="-0.00260794 -0.00312921 -0.0652641"/>
@ -127,8 +136,9 @@
<visual> <visual>
<origin rpy="0 ${reflect*-0.008758182894510852 + rotate} 0" xyz="0.558839 ${reflect*-0.00358671 + (0 if side=='right' else -0.007)} ${reflect*-0.0631962 + (0 if side=='right' else 0.071)}"/> <origin rpy="0 ${reflect*-0.008758182894510852 + rotate} 0" xyz="0.558839 ${reflect*-0.00358671 + (0 if side=='right' else -0.007)} ${reflect*-0.0631962 + (0 if side=='right' else 0.071)}"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/${'link7_rightarm.dae' if side=='right' else 'link7_leftarm.dae'}"/> <mesh filename="package://openarm_two_arms/meshes/${'link7_rightarm.stl' if side=='right' else 'link7_leftarm.stl'}"/>
</geometry> </geometry>
<material name="gray"/>
</visual> </visual>
<collision> <collision>
<origin rpy="0 -0.008758182894511114 0" xyz="-0.000318103 0.0022839 0.0340014"/> <origin rpy="0 -0.008758182894511114 0" xyz="-0.000318103 0.0022839 0.0340014"/>
@ -146,8 +156,9 @@
<visual> <visual>
<origin rpy="1.5709195259578714 -0.014065461951077267 0" xyz="0.557948 0.103587 0.019724"/> <origin rpy="1.5709195259578714 -0.014065461951077267 0" xyz="0.557948 0.103587 0.019724"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/link8.dae"/> <mesh filename="package://openarm_two_arms/meshes/link8.stl"/>
</geometry> </geometry>
<material name="gray"/>
</visual> </visual>
<collision> <collision>
<origin rpy="1.5709195259578714 -0.01406546195107726 0" xyz="-0.042694 -0.000543176 0.0110286"/> <origin rpy="1.5709195259578714 -0.01406546195107726 0" xyz="-0.042694 -0.000543176 0.0110286"/>
@ -165,13 +176,14 @@
<visual> <visual>
<origin rpy="0 -0.008758182894469432 0" xyz="0.665265 -0.00286677 -0.0209282"/> <origin rpy="0 -0.008758182894469432 0" xyz="0.665265 -0.00286677 -0.0209282"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/left_jaw.dae"/> <mesh filename="package://openarm_two_arms/meshes/left_jaw.stl"/>
</geometry> </geometry>
<material name="gray"/>
</visual> </visual>
<collision> <collision>
<origin rpy="0 -0.0087581828944695 0" xyz="0.665265 -0.00286677 -0.0209282"/> <origin rpy="0 -0.0087581828944695 0" xyz="0.665265 -0.00286677 -0.0209282"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/left_jaw.dae"/> <mesh filename="package://openarm_two_arms/meshes/left_jaw.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
@ -184,13 +196,14 @@
<visual> <visual>
<origin rpy="0 -0.008758182898001485 0" xyz="0.665265 -0.00286677 -0.175928"/> <origin rpy="0 -0.008758182898001485 0" xyz="0.665265 -0.00286677 -0.175928"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/right_jaw.dae"/> <mesh filename="package://openarm_two_arms/meshes/right_jaw.stl"/>
</geometry> </geometry>
<material name="gray"/>
</visual> </visual>
<collision> <collision>
<origin rpy="0 -0.008758182898001553 0" xyz="0.665265 -0.00286677 -0.175928"/> <origin rpy="0 -0.008758182898001553 0" xyz="0.665265 -0.00286677 -0.175928"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/right_jaw.dae"/> <mesh filename="package://openarm_two_arms/meshes/right_jaw.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>

76
openarm_two_arms/urdf/openarm_two_arms.urdf
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@ -5,13 +5,19 @@
<!-- =================================================================================== --> <!-- =================================================================================== -->
<robot name="openarm_two_arms"> <robot name="openarm_two_arms">
<link name="world"/> <link name="world"/>
<material name="gray">
<color rgba="0.4117647058823529 0.4117647058823529 0.4117647058823529 1.0"/>
</material>
<!-- <xacro:property name="zero_pos" value="vertical"/> --> <!-- <xacro:property name="zero_pos" value="vertical"/> -->
<link name="pedestal_link"> <link name="pedestal_link">
<visual> <visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/> <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/pedestal_link.dae"/> <mesh filename="package://openarm_two_arms/meshes/pedestal_link.stl"/>
</geometry> </geometry>
<material name="gray">
<color rgba="0.4117647058823529 0.4117647058823529 0.4117647058823529 1.0"/>
</material>
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0.489"/> <origin rpy="0 0 0" xyz="0.0 0.0 0.489"/>
@ -29,8 +35,9 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/> <origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/link1.dae"/> <mesh filename="package://openarm_two_arms/meshes/link1.stl"/>
</geometry> </geometry>
<material name="gray"/>
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0289"/> <origin rpy="0 0 0" xyz="0.0 0.0 0.0289"/>
@ -48,8 +55,9 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/> <origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/link2.dae"/> <mesh filename="package://openarm_two_arms/meshes/link2.stl"/>
</geometry> </geometry>
<material name="gray"/>
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0371236"/> <origin rpy="0 0 0" xyz="0.0 0.0 0.0371236"/>
@ -67,8 +75,9 @@
<visual> <visual>
<origin rpy="1.5707963267948966 0 0" xyz="0.0 0.0987 0.02975"/> <origin rpy="1.5707963267948966 0 0" xyz="0.0 0.0987 0.02975"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/link3.dae"/> <mesh filename="package://openarm_two_arms/meshes/link3.stl"/>
</geometry> </geometry>
<material name="gray"/>
</visual> </visual>
<collision> <collision>
<origin rpy="1.5707963267948966 0 0" xyz="-0.0164466 -0.00045542 0.02975"/> <origin rpy="1.5707963267948966 0 0" xyz="-0.0164466 -0.00045542 0.02975"/>
@ -86,8 +95,9 @@
<visual> <visual>
<origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="-0.0986962 0.0 0.0621144"/> <origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="-0.0986962 0.0 0.0621144"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/link4.dae"/> <mesh filename="package://openarm_two_arms/meshes/link4.stl"/>
</geometry> </geometry>
<material name="gray"/>
</visual> </visual>
<collision> <collision>
<origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="0.000266276 -0.0125642 -0.132604"/> <origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="0.000266276 -0.0125642 -0.132604"/>
@ -105,8 +115,9 @@
<visual> <visual>
<origin rpy="0 -0.008758182894317394 0" xyz="0.303864 0.0 -0.128451"/> <origin rpy="0 -0.008758182894317394 0" xyz="0.303864 0.0 -0.128451"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/link5.dae"/> <mesh filename="package://openarm_two_arms/meshes/link5.stl"/>
</geometry> </geometry>
<material name="gray"/>
</visual> </visual>
<collision> <collision>
<origin rpy="0 -0.008758182894316818 0" xyz="-0.0542814 0.00265291 -0.0302022"/> <origin rpy="0 -0.008758182894316818 0" xyz="-0.0542814 0.00265291 -0.0302022"/>
@ -124,8 +135,9 @@
<visual> <visual>
<origin rpy="-2.1276679791326423 -1.5542266826921929 0" xyz="-0.0485412 -0.0860404 0.437784"/> <origin rpy="-2.1276679791326423 -1.5542266826921929 0" xyz="-0.0485412 -0.0860404 0.437784"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/link6_rightarm.dae"/> <mesh filename="package://openarm_two_arms/meshes/link6_rightarm.stl"/>
</geometry> </geometry>
<material name="gray"/>
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<collision> <collision>
<origin rpy="-2.127667979132636 -1.5542266826921927 0" xyz="-0.00260794 -0.00312921 -0.0652641"/> <origin rpy="-2.127667979132636 -1.5542266826921927 0" xyz="-0.00260794 -0.00312921 -0.0652641"/>
@ -143,8 +155,9 @@
<visual> <visual>
<origin rpy="0 -0.008758182894510852 0" xyz="0.558839 -0.00358671 -0.0631962"/> <origin rpy="0 -0.008758182894510852 0" xyz="0.558839 -0.00358671 -0.0631962"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/link7_rightarm.dae"/> <mesh filename="package://openarm_two_arms/meshes/link7_rightarm.stl"/>
</geometry> </geometry>
<material name="gray"/>
</visual> </visual>
<collision> <collision>
<origin rpy="0 -0.008758182894511114 0" xyz="-0.000318103 0.0022839 0.0340014"/> <origin rpy="0 -0.008758182894511114 0" xyz="-0.000318103 0.0022839 0.0340014"/>
@ -162,8 +175,9 @@
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<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/link8.dae"/> <mesh filename="package://openarm_two_arms/meshes/link8.stl"/>
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<material name="gray"/>
</visual> </visual>
<collision> <collision>
<origin rpy="1.5709195259578714 -0.01406546195107726 0" xyz="-0.042694 -0.000543176 0.0110286"/> <origin rpy="1.5709195259578714 -0.01406546195107726 0" xyz="-0.042694 -0.000543176 0.0110286"/>
@ -181,13 +195,14 @@
<visual> <visual>
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<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/left_jaw.dae"/> <mesh filename="package://openarm_two_arms/meshes/left_jaw.stl"/>
</geometry> </geometry>
<material name="gray"/>
</visual> </visual>
<collision> <collision>
<origin rpy="0 -0.0087581828944695 0" xyz="0.665265 -0.00286677 -0.0209282"/> <origin rpy="0 -0.0087581828944695 0" xyz="0.665265 -0.00286677 -0.0209282"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/left_jaw.dae"/> <mesh filename="package://openarm_two_arms/meshes/left_jaw.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
@ -200,13 +215,14 @@
<visual> <visual>
<origin rpy="0 -0.008758182898001485 0" xyz="0.665265 -0.00286677 -0.175928"/> <origin rpy="0 -0.008758182898001485 0" xyz="0.665265 -0.00286677 -0.175928"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/right_jaw.dae"/> <mesh filename="package://openarm_two_arms/meshes/right_jaw.stl"/>
</geometry> </geometry>
<material name="gray"/>
</visual> </visual>
<collision> <collision>
<origin rpy="0 -0.008758182898001553 0" xyz="0.665265 -0.00286677 -0.175928"/> <origin rpy="0 -0.008758182898001553 0" xyz="0.665265 -0.00286677 -0.175928"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/right_jaw.dae"/> <mesh filename="package://openarm_two_arms/meshes/right_jaw.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
@ -283,8 +299,9 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/> <origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/link1.dae"/> <mesh filename="package://openarm_two_arms/meshes/link1.stl"/>
</geometry> </geometry>
<material name="gray"/>
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0289"/> <origin rpy="0 0 0" xyz="0.0 0.0 0.0289"/>
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<visual> <visual>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/> <origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/link2.dae"/> <mesh filename="package://openarm_two_arms/meshes/link2.stl"/>
</geometry> </geometry>
<material name="gray"/>
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0371236"/> <origin rpy="0 0 0" xyz="0.0 0.0 0.0371236"/>
@ -321,8 +339,9 @@
<visual> <visual>
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<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/link3.dae"/> <mesh filename="package://openarm_two_arms/meshes/link3.stl"/>
</geometry> </geometry>
<material name="gray"/>
</visual> </visual>
<collision> <collision>
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5
openarm_two_arms/urdf/openarm_two_arms_pedestal.urdf
View File

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