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Checkpoint: up to link3

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Thomason Zhou 2025-03-10 17:32:31 +09:00
parent 97564b9115
commit b81fc57db4
1 changed files with 5 additions and 5 deletions
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openarm_two_arms/urdf/openarm.xacro
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@ -3,31 +3,31 @@
<xacro:property name="side" value="right"/>
<xacro:property name="prefix" value=""/>
<xacro:property name="pi" value="3.1415926535897927"/>
<!-- <xacro:property name="pi" value="3.1415926535897927"/> -->
<!-- <xacro:property name="zero_pos" value="vertical"/> -->
<xacro:macro name="openarm" params="side prefix">
<xacro:property name="reflect" value ="${(arm_side=='right') ? '1' : '-1'}"/>
<xacro:property name="reflect" value ="${ 1 if side=='right' else -1}"/>
<link name="${prefix}link1">
<visual>
<!--J1 v002/Part__Feature001.-->
<origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/>
<origin rpy="${0 if side=='right' else pi} 0 0" xyz="0.0 0.0 ${reflect*0.0007}"/>
<geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_j1v1_fj2ul1.dae"/>
</geometry>
</visual>
<collision>
<!--bound_obj__right_link1__col_J1_v1__BoundBox/col_J1_v1__BoundBox.-->
<origin rpy="0 0 0" xyz="0.0 0.0 0.0289"/>
<origin rpy="${0 if side=='right' else pi} 0 0" xyz="0.0 0.0 ${reflect*0.0289}"/>
<geometry>
<box size="0.11 0.073 0.0592"/>
</geometry>
</collision>
<inertial>
<mass value="0.5769283920617254"/>
<origin rpy="0 0 0" xyz="0.0 2.52845e-05 0.0229621"/>
<origin rpy="${0 if side=='right' else pi} 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>