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add mini scissor stl file, as well as urdf file.

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modify the Dual_arm.urdf, in line with real arm installation.
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LiuzhengSJ
2026-07-31 16:08:17 +01:00
parent 0c121a7425
commit 8ff29b1cc9
4 changed files with 518 additions and 3 deletions
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kine_ctrl/urdf_rm75/Dual_arm.urdf
+2 -2
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@@ -280,7 +280,7 @@
<joint name="omnipic_base_mount_joint" type="fixed">
<parent link="dual_arm_base_link" />
<child link="omnipic_base_link" />
<origin xyz="0.03 0 0" rpy="1.57 0 1.57" />
<origin xyz="0.03 0 0" rpy="0 -1.57 3.141593" />
</joint>
<link name="scissor_base_link">
<inertial>
@@ -550,6 +550,6 @@
<joint name="scissor_base_mount_joint" type="fixed">
<parent link="dual_arm_base_link" />
<child link="scissor_base_link" />
<origin xyz="-0.030 0 0" rpy="-1.570 0 1.57" />
<origin xyz="-0.030 0 0" rpy="0 1.57 3.141593" />
</joint>
</robot>