added grasp link to urdf
This commit is contained in:
Ian Chuang
parent
fb94505278
commit
a7a77bf2e1
2 changed files with 118 additions and 37 deletions
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@ -4,9 +4,14 @@ Panels:
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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- /RobotModel1/Description Topic1
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- /TF1
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- /TF1/Frames1
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- /TF1/Tree1
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Splitter Ratio: 0.5
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Tree Height: 1096
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Tree Height: 784
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- Class: rviz_common/Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
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@ -59,66 +64,130 @@ Visualization Manager:
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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base:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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base_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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base_link_inertia:
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ag95_base_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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flange:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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forearm_link:
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ag95_body:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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shoulder_link:
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grasp_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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left_finger:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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tool0:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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upper_arm_link:
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left_finger_pad:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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wrist_1_link:
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left_inner_knuckle:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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wrist_2_link:
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left_outer_knuckle:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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wrist_3_link:
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right_finger:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_finger_pad:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_inner_knuckle:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_outer_knuckle:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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world:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Mass Properties:
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Inertia: false
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Mass: false
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Name: RobotModel
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TF Prefix: ""
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Update Interval: 0
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Value: true
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Visual Enabled: true
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- Class: rviz_default_plugins/TF
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Enabled: true
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Frame Timeout: 15
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Frames:
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All Enabled: false
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ag95_base_link:
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Value: false
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ag95_body:
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Value: false
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grasp_link:
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Value: true
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left_finger:
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Value: false
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left_finger_pad:
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Value: false
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left_inner_knuckle:
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Value: false
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left_outer_knuckle:
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Value: false
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right_finger:
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Value: false
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right_finger_pad:
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Value: false
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right_inner_knuckle:
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Value: false
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right_outer_knuckle:
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Value: false
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world:
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Value: false
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: false
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Tree:
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world:
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ag95_base_link:
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ag95_body:
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left_inner_knuckle:
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{}
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left_outer_knuckle:
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left_finger:
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left_finger_pad:
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{}
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right_inner_knuckle:
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{}
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right_outer_knuckle:
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right_finger:
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right_finger_pad:
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{}
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grasp_link:
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{}
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Update Interval: 0
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Fixed Frame: base_link
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Fixed Frame: ag95_base_link
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Frame Rate: 30
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Name: root
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Tools:
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@ -130,6 +199,9 @@ Visualization Manager:
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- Class: rviz_default_plugins/Measure
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Line color: 128; 128; 0
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- Class: rviz_default_plugins/SetInitialPose
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Covariance x: 0.25
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Covariance y: 0.25
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Covariance yaw: 0.06853891909122467
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Topic:
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Depth: 5
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Durability Policy: Volatile
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@ -158,39 +230,39 @@ Visualization Manager:
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Views:
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Current:
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Class: rviz_default_plugins/Orbit
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Distance: 3.493516445159912
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Distance: 0.7534506320953369
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: -0.0457618348300457
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Y: -0.07058511674404144
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Z: 0.49734944105148315
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X: -0.021111639216542244
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Y: 0.01139180175960064
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Z: 0.23576684296131134
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.15039828419685364
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Pitch: 0.08039828389883041
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 0.5353983640670776
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Yaw: 1.2653976678848267
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 1379
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Height: 1016
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd00000004000000000000016a000004f0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000048000004f00000010101000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000110000004f0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000048000004f0000000db01000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000784000004f000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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QMainWindow State: 000000ff00000000fd00000004000000000000016a000003a2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000003a2000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000110000003a2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000003a2000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004b4000003a200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 2560
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X: 0
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Y: 30
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Width: 1850
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X: 70
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Y: 27
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@ -3,7 +3,8 @@
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<xacro:macro name="dh_ag95_gripper"
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params="
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prefix
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prefix
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grasp_link_offset:=0.19
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parent
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*origin"
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>
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@ -279,6 +280,14 @@
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<child link="${prefix}ag95_body" />
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</joint>
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<link name="${prefix}grasp_link"/>
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<joint name="${prefix}grasp_joint" type="fixed">
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<parent link="${prefix}ag95_base_link" />
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<child link="${prefix}grasp_link" />
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<origin xyz="0.0 0.0 ${grasp_link_offset}" rpy="${pi/2} ${-pi/2} 0" />
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</joint>
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<!-- left finger -->
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<xacro:finger_links prefix="${prefix}" fingerprefix="left" />
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Loading…
Add table
Add a link
Reference in a new issue