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  • j2s7s300 refers to jaco v2 7DOF spherical 3fingers

    <?xml version="1.0"?>
    <!-- j2s7s300 refers to jaco v2 7DOF spherical 3fingers -->
    
    
    <robot xmlns:xi="http://www.w3.org/2001/XInclude"
        xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
        xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
        xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
        xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
        xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
        xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
        xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
        xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
        xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
        xmlns:xacro="http://www.ros.org/wiki/xacro" name="j2s7s300">
    
    
      <xacro:include filename="$(find kinova_description)/urdf/j2s7s300.xacro"/>
    
      <link name="root"/>
    
      <!-- for gazebo -->
      <link name="world"/>
      
      <joint name="connect_root_and_world" type="fixed">
        <child link="root" />
        <parent link="world" />
        <origin xyz="0 0 0" rpy="0 0 0" />    
      </joint> 
    
      <xacro:property name="robot_root" value="root" />
    
      <xacro:j2s7s300  base_parent="${robot_root}"/>
    
    </robot>
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  • 原文地址:https://www.cnblogs.com/herd/p/11655974.html
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