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Link 5 checkpoint

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Thomason Zhou 2025-03-10 18:25:08 +09:00
parent 213a35fb78
commit 45f5e21513
1 changed files with 4 additions and 4 deletions
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openarm_two_arms/urdf/openarm.xacro
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@ -97,22 +97,22 @@
<link name="${prefix}link5"> <link name="${prefix}link5">
<visual> <visual>
<!--J5 v003/Part__Feature005.--> <!--J5 v003/Part__Feature005.-->
<origin rpy="0 -0.008758182894317394 0" xyz="0.303864 0.0 -0.128451"/> <origin rpy="0 ${reflect*-0.008758182894317394} 0" xyz="${reflect*0.303864} 0.0 ${-0.128451 if side=='right' else -0.0689415"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_j5v2_ckk9an.dae"/> <mesh filename="package://openarm_two_arms/meshes/full_upper_j5v2_ckk9an.dae"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<!--bound_obj__right_link5__col_J5_v2__BoundBox/col_J5_v2__BoundBox.--> <!--bound_obj__right_link5__col_J5_v2__BoundBox/col_J5_v2__BoundBox.-->
<origin rpy="0 -0.008758182894316818 0" xyz="-0.0542814 0.00265291 -0.0302022"/> <origin rpy="0 ${reflect*-0.008758182894316818} 0" xyz="${reflect*-0.0542814} 0.00265291 ${reflect*-0.0302022}"/>
<geometry> <geometry>
<box size="0.16827213220625828 0.06430555048399171 0.08257859967140947"/> <box size="0.16827213220625828 0.06430555048399171 0.08257859967140947"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.4086748254352304"/> <mass value="0.4086748254352304"/>
<origin rpy="0 -0.008758182894316905 0" xyz="-0.0831891 0.00251789 -0.0290107"/> <origin rpy="0 ${reflect*-0.008758182894316905} 0" xyz="${reflect*-0.0831891} 0.00251789 ${reflect*-0.0290107}"/>
<inertia ixx="0.00031417157425298747" ixy="-1.1391566029536723e-05" ixz="-1.883474090056124e-05" iyy="0.001221711435313989" iyz="1.46725418421127e-06" izz="0.0010755135067660488"/> <inertia ixx="0.00031417157425298747" ixy="${reflect*-1.1391566029536723e-05}" ixz="${reflect*-1.883474090056124e-05}" iyy="0.001221711435313989" iyz="${reflect*1.46725418421127e-06}" izz="0.0010755135067660488"/>
</inertial> </inertial>
</link> </link>
<link name="${prefix}link6_right_wrist"> <link name="${prefix}link6_right_wrist">