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pythongo1/ask

Created Sep 20, 2019
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<!-- real hand base -->
<!-- add collision --> <!-- test other collision -->
<link name="hand_base">
<visual>
<!-- final origin xyz "0 0.052 0" is because the length of thetwo hand_base -->
<!-- the number is to adjust the position of hand base 0.017738 -->
<!-- old <origin xyz="0 0.061515 0.018191" rpy="0 0 0"/> -->
<origin xyz="0 0.061515 0" rpy="0 0 0"/>
<geometry>
<!-- for big a bit --> <!-- <box size="0.05 0.1 0.01"/> -->
<mesh filename="package://rrbot_description/meshes/hand_base_group_version8_final.dae" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin xyz="0 0.061515 0" rpy="0 0 0"/>
<geometry>
<!-- for big a bit --> <!-- <box size="0.05 0.1 0.01"/> -->
<mesh filename="package://rrbot_description/meshes/hand_base_group_version8_final.dae" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="1"/>
<inertia
ixx="0.01" ixy="0.0" ixz="0.0"
iyy="0.01" iyz="0.0"
izz="0.01"/>
</inertial>
</link>
<!-- for finger5 --> <!-- change to continuous -->
<joint name="hand_base_to_finger5" type="continuous">
<parent link="hand_base"/>
<child link="finger5"/>
<!-- old <origin xyz="-0.02861 0.11081 0.00842 " rpy="0 ${2*PI/360*7} ${2*PI/360*6}"/> -->
<origin xyz="-0.03075 0.1099 -0.005841" rpy="0 ${2*PI/360*7} ${2*PI/360*6}"/>
<axis xyz="1 0 0"/> <!-- origin 1 0 0 -->
<limit effort="30" velocity="1"/>
</joint>
<link name="finger5">
<visual>
<origin xyz="0 0.019427 0"/>
<geometry>
<!-- <box size="0.008 0.0355 0.008"/> -->
<mesh filename="package://rrbot_description/meshes/finger5_shell.dae" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin xyz="0 0.019427 0"/>
<geometry>
<!-- <box size="0.008 0.0355 0.008"/> -->
<mesh filename="package://rrbot_description/meshes/finger5_shell.dae" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="1"/>
<inertia
ixx="0.01" ixy="0.0" ixz="0.0"
iyy="0.01" iyz="0.0"
izz="0.01"/>
</inertial>
</link>
<!-- I change fixed to continuous , and the color successfully change... -->
<joint name="finger5_to_finger5_1" type="continuous">
<parent link="finger5"/>
<child link="finger5_1"/>
<origin xyz="0 0.0355 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="30" velocity="1"/>
</joint>
<!-- change for mesh -->
<link name="finger5_1">
<visual>
<origin xyz="0 0.017182 0" rpy="0 0 0"/> <!-- xyz="0 0.018125 0" no rpy -->
<geometry>
<mesh filename="package://rrbot_description/meshes/finger5_end.dae" scale="1 1 1"/>
</geometry> <!-- <box size="0.008 0.03625 0.008"/> -->
<material name="black"/>
</visual>
<collision>
<origin xyz="0 0.017182 0" rpy="0 0 0"/> <!-- xyz="0 0.018125 0" no rpy -->
<geometry>
<mesh filename="package://rrbot_description/meshes/finger5_end.dae" scale="1 1 1"/>
</geometry> <!-- <box size="0.008 0.03625 0.008"/> -->
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="1"/>
<inertia
ixx="0.01" ixy="0.0" ixz="0.0"
iyy="0.01" iyz="0.0"
izz="0.01"/>
</inertial>
</link>
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