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This commit is contained in:
Thomason Zhou 2025-03-10 19:27:48 +09:00
parent 184959e49b
commit 749a893c80
1 changed files with 9 additions and 9 deletions
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18
openarm_two_arms/urdf/openarm.xacro
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@ -13,35 +13,35 @@
<link name="${prefix}link1">
<visual>
<!--J1 v002/Part__Feature001.-->
<origin rpy="${0 if side=='right' else pi} 0 0" xyz="0.0 0.0 -0.0007"/>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/>
<geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_j1v1_fj2ul1.dae"/>
</geometry>
</visual>
<collision>
<!--bound_obj__right_link1__col_J1_v1__BoundBox/col_J1_v1__BoundBox.-->
<origin rpy="${0 if side=='right' else pi} 0 0" xyz="0.0 0.0 0.0289"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0289"/>
<geometry>
<box size="0.11 0.073 0.0592"/>
</geometry>
</collision>
<inertial>
<mass value="0.5769283920617254"/>
<origin rpy="${0 if side=='right' else pi} 0 0" xyz="0.0 2.52845e-05 0.0229621"/>
<origin rpy="0 0 0" xyz="0.0 2.52845e-05 0.0229621"/>
<inertia ixx="0.00034035167574060775" ixy="-2.623557985991217e-18" ixz="-6.093726095527621e-18" iyy="0.0004300058300010205" iyz="-5.09829482074806e-07" izz="0.0004802171432001996"/>
</inertial>
</link>
<link name="${prefix}link2">
<visual>
<!--J2 v002/Part__Feature002.-->
<origin rpy="${0 if side=='right' else pi} 0 0" xyz="0.0 0.0 -0.05395"/>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/>
<geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_j2v1_xzm1cu.dae"/>
</geometry>
</visual>
<collision>
<!--bound_obj__right_link2__col_J2_v1__BoundBox/col_J2_v1__BoundBox.-->
<origin rpy="${0 if side=='right' else pi} 0 0" xyz="0.0 0.0 0.0371236"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0371236"/>
<geometry>
<box size="0.0590000000149012 0.08200000000000002 0.0742471498637348"/>
</geometry>
@ -223,7 +223,7 @@
<joint name="${prefix}rev1" type="revolute">
<parent link="${prefix}link1"/>
<child link="${prefix}link2"/>
<origin rpy="${0 if side=='right' else -pi} ${0 if side=='right' else -pi} 0" xyz="0.0 0.0 0.05325"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.05325"/>
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
</joint>
@ -232,7 +232,7 @@
<child link="${prefix}link3"/>
<origin rpy="-1.5707963267948968 0 0" xyz="0.0 -0.02975 0.04475"/>
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="${0.0 if side=='right' else -pi}" upper="${pi if side=='right' else 0.0}" velocity="0.0"/>
<limit effort="0.0" lower="0.0" upper="${pi}" velocity="0.0"/>
</joint>
<joint name="${prefix}rev3" type="revolute">
<parent link="${prefix}link3"/>
@ -244,9 +244,9 @@
<joint name="${prefix}rev4" type="revolute">
<parent link="${prefix}link4"/>
<child link="${prefix}link5"/>
<origin rpy="${-0.20701608758495998 if side=='right' else -3.0383286058327292} -1.5707963267948566 ${-2.937419385117548 if side=='right' else 3.038328605832587}" xyz="0.0297547 0.0 -0.24175"/>
<origin rpy="-0.20701608758495998 -1.5707963267948566 -2.937419385117548" xyz="0.0297547 0.0 -0.24175"/>
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="${-0.3490658503988659 if side=='right' else -2.792526803190927}" upper="${2.792526803190927 if side=='right' else 0.3490658503988659}" velocity="0.0"/>
<limit effort="0.0" lower="-0.3490658503988659" upper="2.792526803190927" velocity="0.0"/>
</joint>
<joint name="${prefix}rev5" type="revolute">
<parent link="${prefix}link5"/>