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