ZhongyuWang-cart/IK_qp
1
0
Fork 0
forked from ZhengLiu-cart/IK_qp
Code Pull Requests Activity

add urdf file, scissor included.

Browse Source
This commit is contained in:
LiuzhengSJ
2026-07-28 16:06:21 +01:00
parent e1d833812b
commit 9513dfa4ce
6 changed files with 1068 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
kine_ctrl/urdf_rm75/RM75-SCI.urdf
+23 -3
View File
@@ -469,7 +469,7 @@
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/sci.stl"
filename="meshes/scissor.stl"
scale="1 1 1" />
</geometry>
<material name="scissor_material">
@@ -481,7 +481,7 @@
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/sci.stl"
filename="meshes/scissor.stl"
scale="1 1 1" />
</geometry>
</collision>
@@ -491,6 +491,26 @@
<joint name="scissor_fixed_joint" type="fixed">
<parent link="link_7" />
<child link="scissor_link" />
<origin xyz="0 0 0" rpy="3.14159 0 0" />
<origin xyz="0 0 0.165" rpy="0 0 0" />
</joint>
<link name="scissor_tcp"/>
<joint name="scissor_tcp_fixed" type="fixed">
<parent link="scissor_link"/>
<child link="scissor_tcp"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
<link name="camera_tcp"/>
<joint name="camera_tcp_fixed" type="fixed">
<parent link="scissor_link"/>
<child link="camera_tcp"/>
<origin xyz="0.042 0 -0.0755" rpy="0 0 1.57"/>
</joint>
</robot>