urdf for rviz test
This commit is contained in:
aarizona
parent
8b05ef6852
commit
6708978141
12
app.log
12
app.log
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@ -549,3 +549,15 @@
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2024-11-21 11:30:27,975 - logger - ERROR - Error sending data: Expecting value: line 1 column 1 (char 0) - client_socket.py - 117
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2024-11-21 11:30:27,975 - logger - ERROR - Error sending data: Expecting value: line 1 column 1 (char 0) - client_socket.py - 117
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2024-11-21 11:30:28,025 - logger - ERROR - Error sending data: [Errno 32] Обрыв канала - client_socket.py - 117
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2024-11-21 11:30:28,025 - logger - ERROR - Error sending data: [Errno 32] Обрыв канала - client_socket.py - 117
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2024-11-21 11:30:28,076 - logger - ERROR - Error sending data: [Errno 32] Обрыв канала - client_socket.py - 117
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2024-11-21 11:30:28,076 - logger - ERROR - Error sending data: [Errno 32] Обрыв канала - client_socket.py - 117
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2024-11-21 19:42:14,754 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
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2024-11-21 19:42:14,755 - logger - INFO - None - robot.py - 52
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2024-11-21 19:42:14,755 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
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2024-11-21 19:42:14,755 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
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2024-11-21 19:42:14,755 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 105
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2024-11-21 19:42:14,755 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 105
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2024-11-21 19:42:14,755 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 105
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2024-11-21 19:42:14,755 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 105
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2024-11-21 19:42:15,791 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 136
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2024-11-21 19:42:19,941 - logger - INFO - not_connected - robot.py - 52
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2024-11-21 19:42:20,242 - logger - INFO - trying connect to ('127.0.0.1', 9760) - client_socket.py - 86
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2024-11-21 19:42:22,090 - logger - INFO - connected - robot.py - 52
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@ -0,0 +1,182 @@
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<?xml version="1.0"?>
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<robot name="sample_robot">
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<!-- Materials -->
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<material name="grey">
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<color rgba="0.0 0 0 1.0" />
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</material>
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<material name="red">
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<color rgba="1.0 0.0 0.0 1.0" />
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</material>
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<material name="blue">
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<color rgba="0 0.0 1.0 1.0" />
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</material>
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<material name="lightblue">
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<color rgba="0.0 0.22 1.0 1.0" />
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</material>
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<material name="yellow">
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<color rgba="0.96 0.76 0.13 1.0" />
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</material>
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<material name="orange">
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<color rgba="1.0 0.5 0.0 1.0" />
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</material>
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<material name="black">
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<color rgba="0.15 0.15 0.15 1.0" />
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</material>
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<!-- Links: main serial chain -->
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<link name="base_link">
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<!-- <inertial>
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<mass value="1.0" />
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
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</inertial> -->
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<box size="0.1 0.1 0.1"/>
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</geometry>
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<material name="grey" />
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</visual>
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</link>
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<link name="link_1">
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<!-- <inertial>
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<mass value="1.0" />
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
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</inertial> -->
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<box size="0.1 0.1 0.1"/>
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</geometry>
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<material name="red" />
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</visual>
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</link>
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<link name="link_2">
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<!-- <inertial>
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<mass value="1.0" />
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
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</inertial> -->
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.0" />
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<geometry>
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<box size="0.1 0.1 0.1"/>
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</geometry>
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<material name="blue" />
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</visual>
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</link>
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<link name="link_3">
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<!-- <inertial>
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<mass value="1.0" />
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
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</inertial> -->
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.0" />
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<geometry>
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<box size="0.1 0.1 0.1"/>
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</geometry>
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<material name="lightblue" />
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</visual>
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</link>
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<link name="link_4">
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<!-- <inertial>
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<mass value="1.0" />
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
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</inertial> -->
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.0" />
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<geometry>
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<box size="0.1 0.1 0.1"/>
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</geometry>
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<material name="yellow" />
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</visual>
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</link>
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<link name="link_5">
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<!-- <inertial>
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<mass value="1.0" />
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
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</inertial> -->
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.0" />
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<geometry>
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<box size="0.1 0.1 0.1"/>
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</geometry>
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<material name="orange" />
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</visual>
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</link>
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<link name="link_6">
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<!-- <inertial>
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<mass value="1.0" />
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
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</inertial> -->
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.0" />
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<geometry>
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<box size="0.1 0.1 0.1"/>
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<!-- <box size="0.1 0.1 0.1"/> -->
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</geometry>
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<material name="black" />
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</visual>
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</link>
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<!-- Joints: main serial chain -->
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<joint name="joint_1" type="revolute">
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<limit lower="-2.705" upper="2.705" effort="0" velocity="0" />
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<origin rpy="0 0 0" xyz="0 0 0" />
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<parent link="base_link" />
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<child link="link_1" />
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<axis xyz="0 0 1" />
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</joint>
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<joint name="joint_2" type="revolute">
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<limit lower="-2.444" upper="1.135" effort="0" velocity="0" />
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<parent link="link_1" />
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<child link="link_2" />
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<axis xyz="0 -1 0" />
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<origin rpy="0 0 0" xyz="0.17045 0 0.4946" />
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</joint>
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<joint name="joint_3" type="revolute">
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<limit lower="-1.309" upper="1.919" effort="0" velocity="0" />
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<parent link="link_2" />
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<child link="link_3" />
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<axis xyz="0 -1 0" />
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<origin rpy="0 0 0" xyz="0 -0.001963 0.729921" />
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</joint>
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<joint name="joint_4" type="revolute">
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<limit lower="-3.142" upper="3.142" effort="0" velocity="0" />
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<parent link="link_3" />
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<child link="link_4" />
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<axis xyz="1 0 0" />
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<origin rpy="0 0 0" xyz="0 0 0.098277" />
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</joint>
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<joint name="joint_5" type="revolute">
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<limit lower="-2.007" upper="2.007" effort="0" velocity="0" />
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<parent link="link_4" />
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<child link="link_5" />
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<axis xyz="0 -1 0" />
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<origin rpy="0 0 0" xyz="1.109039 0 0" />
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</joint>
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<joint name="joint_6" type="revolute">
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<limit lower="-6.283" upper="6.283" effort="0" velocity="0" />
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<parent link="link_5" />
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<child link="link_6" />
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<axis xyz="1 0 0" />
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<origin rpy="0 0 0" xyz="0.117 0 0" />
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</joint>
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</robot>
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@ -59,7 +59,7 @@
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
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</inertial> -->
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</inertial> -->
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<visual>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.0" />
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<geometry>
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<mesh filename="../urdf_support/sample/3.stl" />
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<mesh filename="../urdf_support/sample/3.stl" />
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</geometry>
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</geometry>
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@ -87,7 +87,7 @@
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
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</inertial> -->
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</inertial> -->
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<visual>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.0" />
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<origin rpy="0 0 0" xyz="0.5 0 0.0" />
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<geometry>
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<geometry>
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<mesh filename="../urdf_support/sample/5.stl" />
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<mesh filename="../urdf_support/sample/5.stl" />
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</geometry>
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</geometry>
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