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This commit is contained in:
Thomason Zhou 2025-03-10 21:40:29 +09:00
parent d630ecb127
commit fdf02a7284
1 changed files with 8 additions and 7 deletions
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15
openarm_two_arms/urdf/openarm.xacro
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@ -8,7 +8,8 @@
<xacro:macro name="openarm" params="side prefix"> <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}"/>
<xacro:property name="rotate" value="${0 if side=='right' else pi}"/>
<link name="${prefix}link1"> <link name="${prefix}link1">
<visual> <visual>
@ -76,28 +77,28 @@
<link name="${prefix}link4"> <link name="${prefix}link4">
<visual> <visual>
<!--J4 v002/Part__Feature004.--> <!--J4 v002/Part__Feature004.-->
<origin rpy="${pi} -1.5620381439005742 ${0 if side=='right' else pi}" xyz="${reflect*-0.0986962} 0.0 0.0621144"/> <origin rpy="${pi} -1.5620381439005742 0" xyz="-0.0986962 0.0 0.0621144"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_j4v1_u1e2xn.dae"/> <mesh filename="package://openarm_two_arms/meshes/full_upper_j4v1_u1e2xn.dae"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<!--bound_obj__right_link4__col_J4_v1__BoundBox/col_J4_v1__BoundBox.--> <!--bound_obj__right_link4__col_J4_v1__BoundBox/col_J4_v1__BoundBox.-->
<origin rpy="${pi} -1.5620381439005742 ${0 if side=='right' else pi}" xyz="${reflect*0.000266276} -0.0125642 -0.132604"/> <origin rpy="${pi} -1.5620381439005742 0" xyz="0.000266276 -0.0125642 -0.132604"/>
<geometry> <geometry>
<box size="0.27584673777150337 0.08211429171582063 0.07186573179325861"/> <box size="0.27584673777150337 0.08211429171582063 0.07186573179325861"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.819475539373447"/> <mass value="0.819475539373447"/>
<origin rpy="${pi} -1.5620381439005742 ${0 if side=='right' else pi}" xyz="${reflect*0.000781326} -0.0019461 -0.132411"/> <origin rpy="${pi} -1.5620381439005742 0" xyz="0.000781326 -0.0019461 -0.132411"/>
<inertia ixx="0.00044078452033976287" ixy="6.020023694043618e-05" ixz="0.00014637459261941218" iyy="0.009208791480530413" iyz="1.5469710436444469e-06" izz="0.009170539316023695"/> <inertia ixx="0.00044078452033976287" ixy="6.020023694043618e-05" ixz="0.00014637459261941218" iyy="0.009208791480530413" iyz="1.5469710436444469e-06" izz="0.009170539316023695"/>
</inertial> </inertial>
</link> </link>
<link name="${prefix}link5"> <link name="${prefix}link5">
<visual> <visual>
<!--J5 v003/Part__Feature005.--> <!--J5 v003/Part__Feature005.-->
<origin rpy="${0 if side=='right' else pi} -0.008758182894317394 0" xyz="0.303864 0.0 ${(reflect*-0.128451) - 0 if side=='right' else 0.006}"/> <origin rpy="0 -0.008758182894317394 0" xyz="0.303864 0.0 -0.128451"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_j5v2_ckk9an.dae"/> <mesh filename="package://openarm_two_arms/meshes/full_upper_j5v2_ckk9an.dae"/>
</geometry> </geometry>
@ -237,7 +238,7 @@
<joint name="${prefix}rev3" type="revolute"> <joint name="${prefix}rev3" type="revolute">
<parent link="${prefix}link3"/> <parent link="${prefix}link3"/>
<child link="${prefix}link4"/> <child link="${prefix}link4"/>
<origin rpy="-1.5707963267949054 0 -1.562038143900564" xyz="-0.0612477 -0.000536432 0.02975"/> <origin rpy="-1.5707963267949054 ${rotate} -1.562038143900564" xyz="-0.0612477 -0.000536432 0.02975"/>
<axis xyz="0 0 ${reflect*1}"/> <axis xyz="0 0 ${reflect*1}"/>
<limit effort="0.0" lower="-3.6651914291880923" upper="0.5235987755982988" velocity="0.0"/> <limit effort="0.0" lower="-3.6651914291880923" upper="0.5235987755982988" velocity="0.0"/>
</joint> </joint>
@ -245,7 +246,7 @@
<parent link="${prefix}link4"/> <parent link="${prefix}link4"/>
<child link="${prefix}link5"/> <child link="${prefix}link5"/>
<origin rpy="-0.20701608758495998 -1.5707963267948566 -2.937419385117548" 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 ${reflect*1}"/> <axis xyz="0 0 1"/>
<limit effort="0.0" lower="-0.3490658503988659" upper="2.792526803190927" velocity="0.0"/> <limit effort="0.0" lower="-0.3490658503988659" upper="2.792526803190927" velocity="0.0"/>
</joint> </joint>
<joint name="${prefix}rev5" type="revolute"> <joint name="${prefix}rev5" type="revolute">