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Checkpoint: left arm up to link4

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This commit is contained in:
Thomason Zhou 2025-03-10 21:24:14 +09:00
parent 749a893c80
commit d630ecb127
2 changed files with 12 additions and 12 deletions
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22
openarm_two_arms/urdf/openarm.xacro
View File

@ -8,7 +8,7 @@
<xacro:macro name="openarm" params="side prefix">
<xacro:property name="reflect" value ="${ 1 if side=='right' else -1}"/>
<xacro:property name="reflect" value ="${1 if side=='right' else -1}"/>
<link name="${prefix}link1">
<visual>
@ -55,49 +55,49 @@
<link name="${prefix}link3">
<visual>
<!--J3 v003/Part__Feature003.-->
<origin rpy="1.570796326794897 0 0" xyz="0.0 0.0987 0.02975"/>
<origin rpy="${pi * 0.5} 0 0" xyz="0.0 0.0987 0.02975"/>
<geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_j3v2_5nirfo.dae"/>
</geometry>
</visual>
<collision>
<!--bound_obj__right_link3__col_J3_v2__BoundBox/col_J3_v2__BoundBox.-->
<origin rpy="1.5707963267948968 0 0" xyz="-0.0164466 -0.00045542 0.02975"/>
<origin rpy="${pi * 0.5} 0 0" xyz="-0.0164466 -0.00045542 0.02975"/>
<geometry>
<box size="0.08989101803441879 0.06999999999999983 0.05903276947803012"/>
</geometry>
</collision>
<inertial>
<mass value="0.4201676469910031"/>
<origin rpy="1.5707963267948968 0 0" xyz="-0.00688022 0.0 0.0282752"/>
<origin rpy="${pi * 0.5} 0 0" xyz="-0.00688022 0.0 0.0282752"/>
<inertia ixx="0.00020256001126230057" ixy="6.004247875311213e-06" ixz="1.3304903057525575e-06" iyy="0.0002970624991387495" iyz="5.980157765704868e-07" izz="0.00032889994351244413"/>
</inertial>
</link>
<link name="${prefix}link4">
<visual>
<!--J4 v002/Part__Feature004.-->
<origin rpy="-3.1415926535888543 -1.5620381439005742 0" xyz="-0.0986962 0.0 0.0621144"/>
<origin rpy="${pi} -1.5620381439005742 ${0 if side=='right' else pi}" xyz="${reflect*-0.0986962} 0.0 0.0621144"/>
<geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_j4v1_u1e2xn.dae"/>
</geometry>
</visual>
<collision>
<!--bound_obj__right_link4__col_J4_v1__BoundBox/col_J4_v1__BoundBox.-->
<origin rpy="-3.14159265358886 -1.5620381439005742 0" xyz="0.000266276 -0.0125642 -0.132604"/>
<origin rpy="${pi} -1.5620381439005742 ${0 if side=='right' else pi}" xyz="${reflect*0.000266276} -0.0125642 -0.132604"/>
<geometry>
<box size="0.27584673777150337 0.08211429171582063 0.07186573179325861"/>
</geometry>
</collision>
<inertial>
<mass value="0.819475539373447"/>
<origin rpy="-3.14159265358886 -1.5620381439005742 0" xyz="0.000781326 -0.0019461 -0.132411"/>
<origin rpy="${pi} -1.5620381439005742 ${0 if side=='right' else pi}" xyz="${reflect*0.000781326} -0.0019461 -0.132411"/>
<inertia ixx="0.00044078452033976287" ixy="6.020023694043618e-05" ixz="0.00014637459261941218" iyy="0.009208791480530413" iyz="1.5469710436444469e-06" izz="0.009170539316023695"/>
</inertial>
</link>
<link name="${prefix}link5">
<visual>
<!--J5 v003/Part__Feature005.-->
<origin rpy="0 -0.008758182894317394 0" xyz="0.303864 0.0 -0.128451"/>
<origin rpy="${0 if side=='right' else pi} -0.008758182894317394 0" xyz="0.303864 0.0 ${(reflect*-0.128451) - 0 if side=='right' else 0.006}"/>
<geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_j5v2_ckk9an.dae"/>
</geometry>
@ -224,7 +224,7 @@
<parent link="${prefix}link1"/>
<child link="${prefix}link2"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.05325"/>
<axis xyz="0 0 1"/>
<axis xyz="0 0 ${reflect*1}"/>
<limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
</joint>
<joint name="${prefix}rev2" type="revolute">
@ -238,14 +238,14 @@
<parent link="${prefix}link3"/>
<child link="${prefix}link4"/>
<origin rpy="-1.5707963267949054 0 -1.562038143900564" xyz="-0.0612477 -0.000536432 0.02975"/>
<axis xyz="0 0 1"/>
<axis xyz="0 0 ${reflect*1}"/>
<limit effort="0.0" lower="-3.6651914291880923" upper="0.5235987755982988" velocity="0.0"/>
</joint>
<joint name="${prefix}rev4" type="revolute">
<parent link="${prefix}link4"/>
<child link="${prefix}link5"/>
<origin rpy="-0.20701608758495998 -1.5707963267948566 -2.937419385117548" xyz="0.0297547 0.0 -0.24175"/>
<axis xyz="0 0 1"/>
<axis xyz="0 0 ${reflect*1}"/>
<limit effort="0.0" lower="-0.3490658503988659" upper="2.792526803190927" velocity="0.0"/>
</joint>
<joint name="${prefix}rev5" type="revolute">

2
openarm_two_arms/urdf/openarm_two_arms.urdf.xacro
View File

@ -21,6 +21,6 @@
<joint name="left_fix1" type="fixed">
<parent link="pedestal_link"/>
<child link="left_link1"/>
<origin rpy="3.0186531925068127 -1.5707963267948268 0.12293946108298068" xyz="-0.09 0.0 0.893"/>
<origin rpy="${3.0186531925068127 + pi} -1.5707963267948268 0.12293946108298068" xyz="-0.09 0.0 0.893"/>
</joint>
</robot>