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add z1 stl files

This commit is contained in:
Agnel Wang 2023-04-14 11:27:23 +08:00
parent 26ceaa85d0
commit 6e033297dc
19 changed files with 15 additions and 15 deletions
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robots/z1_description/meshes/collision/z1_GripperMover.STL Normal file
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robots/z1_description/meshes/z1_GripperMover.dae → robots/z1_description/meshes/visual/z1_GripperMover.dae
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robots/z1_description/meshes/z1_GripperStator.dae → robots/z1_description/meshes/visual/z1_GripperStator.dae
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robots/z1_description/xacro/robot.xacro
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@ -6,7 +6,6 @@
<xacro:include filename="$(find z1_description)/xacro/gazebo.xacro"/> <xacro:include filename="$(find z1_description)/xacro/gazebo.xacro"/>
<xacro:include filename="$(find z1_description)/xacro/transmission.xacro"/> <xacro:include filename="$(find z1_description)/xacro/transmission.xacro"/>
<!-- <xacro:property name="UnitreeGripper" value="false"/> -->
<xacro:arg name="UnitreeGripper" default="false"/> <xacro:arg name="UnitreeGripper" default="false"/>
<link name="world"/> <link name="world"/>
@ -21,7 +20,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="package://z1_description/meshes/z1_Link00.dae" scale="1 1 1"/> <mesh filename="package://z1_description/meshes/visual/z1_Link00.dae" scale="1 1 1"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
@ -53,7 +52,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="package://z1_description/meshes/z1_Link01.dae" scale="1 1 1"/> <mesh filename="package://z1_description/meshes/visual/z1_Link01.dae" scale="1 1 1"/>
</geometry> </geometry>
</visual> </visual>
<!-- <collision> <!-- <collision>
@ -85,7 +84,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="package://z1_description/meshes/z1_Link02.dae" scale="1 1 1"/> <mesh filename="package://z1_description/meshes/visual/z1_Link02.dae" scale="1 1 1"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
@ -129,7 +128,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="package://z1_description/meshes/z1_Link03.dae" scale="1 1 1"/> <mesh filename="package://z1_description/meshes/visual/z1_Link03.dae" scale="1 1 1"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
@ -167,7 +166,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="package://z1_description/meshes/z1_Link04.dae" scale="1 1 1"/> <mesh filename="package://z1_description/meshes/visual/z1_Link04.dae" scale="1 1 1"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
@ -199,7 +198,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="package://z1_description/meshes/z1_Link05.dae" scale="1 1 1"/> <mesh filename="package://z1_description/meshes/visual/z1_Link05.dae" scale="1 1 1"/>
</geometry> </geometry>
</visual> </visual>
<inertial> <inertial>
@ -225,7 +224,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="package://z1_description/meshes/z1_Link06.dae" scale="1 1 1"/> <mesh filename="package://z1_description/meshes/visual/z1_Link06.dae" scale="1 1 1"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
@ -253,18 +252,15 @@
<link name="gripperStator"> <link name="gripperStator">
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="package://z1_description/meshes/z1_GripperStator.dae" scale="1 1 1"/> <mesh filename="package://z1_description/meshes/visual/z1_GripperStator.dae" scale="1 1 1"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<cylinder length="${motor_height}" radius="${motor_diameter}"/> <mesh filename="package://z1_description/meshes/collision/z1_GripperStator.STL" scale="1 1 1"/>
</geometry> </geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision> </collision>
<inertial> <inertial>
<origin rpy="0 0 0" xyz="${GripperStator_ComX} ${GripperStator_ComY} ${GripperStator_ComZ}"/> <origin rpy="0 0 0" xyz="${GripperStator_ComX} ${GripperStator_ComY} ${GripperStator_ComZ}"/>
<mass value="${GripperStator_Mass}"/> <mass value="${GripperStator_Mass}"/>
@ -286,11 +282,15 @@
<link name="gripperMover"> <link name="gripperMover">
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="package://z1_description/meshes/z1_GripperMover.dae" scale="1 1 1"/> <mesh filename="package://z1_description/meshes/visual/z1_GripperMover.dae" scale="1 1 1"/>
</geometry> </geometry>
</visual> </visual>
<collision>
<geometry>
<mesh filename="package://z1_description/meshes/collision/z1_GripperMover.STL" scale="1 1 1"/>
</geometry>
</collision>
<inertial> <inertial>
<origin rpy="0 0 0" xyz="${GripperMover_ComX} ${GripperMover_ComY} ${GripperMover_ComZ}"/> <origin rpy="0 0 0" xyz="${GripperMover_ComX} ${GripperMover_ComY} ${GripperMover_ComZ}"/>
<mass value="${GripperMover_Mass}"/> <mass value="${GripperMover_Mass}"/>