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Add rotate mesh for actuator motor

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Thomason Zhou 2025-03-10 22:51:20 +09:00
parent 90f859b54a
commit e00fa98f7b
1 changed files with 2 additions and 2 deletions
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4
openarm_two_arms/urdf/openarm.xacro
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@ -119,7 +119,7 @@
<link name="${prefix}link6"> <link name="${prefix}link6">
<visual> <visual>
<!--J6 right_wrist/Part__Feature006.--> <!--J6 right_wrist/Part__Feature006.-->
<origin rpy="${reflect*-2.1276679791326423} ${rotate -1.5542266826921929} ${rotate}" xyz="-0.0485412 -0.0860404 0.437784"/> <origin rpy="${-2.1276679791326423 * reflect} ${reflect* -1.5542266826921929} 0" xyz="-0.0485412 -0.0860404 0.437784"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/${'full_upper_j6v1_mg9rps.dae' if side=='right' else 'full_upper_j6_leftv005_f8km11.dae'}"/> <mesh filename="package://openarm_two_arms/meshes/${'full_upper_j6v1_mg9rps.dae' if side=='right' else 'full_upper_j6_leftv005_f8km11.dae'}"/>
</geometry> </geometry>
@ -140,7 +140,7 @@
<link name="${prefix}link7"> <link name="${prefix}link7">
<visual> <visual>
<!--J7 right v002/Part__Feature007.--> <!--J7 right v002/Part__Feature007.-->
<origin rpy="0 -0.008758182894510852 0" xyz="0.558839 -0.00358671 -0.0631962"/> <origin rpy="0 ${reflect*-0.008758182894510852} 0" xyz="${reflect*0.558839} -0.00358671 -0.0631962"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/${'full_upper_j7v1_9yzky6.dae' if side=='right' else 'full_upper_j7_leftv005_8ohvh2.dae'}"/> <mesh filename="package://openarm_two_arms/meshes/${'full_upper_j7v1_9yzky6.dae' if side=='right' else 'full_upper_j7_leftv005_8ohvh2.dae'}"/>
</geometry> </geometry>