カメラスタンドのURDF修正

rt-net · Dec 2, 2024 · 4d9d7ad · 4d9d7ad
1 parent 2bde1b1
commit 4d9d7ad
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Showing 3 changed files with 26 additions and 25 deletions.
diff --git a/crane_plus_description/urdf/camera.urdf.xacro b/crane_plus_description/urdf/camera.urdf.xacro
@@ -7,16 +7,23 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <box size="0.05 0.05 0.05" />
+          <box size="0.03 0.08 0.05" />
         </geometry>
         <material name="black">
           <color rgba="0.2 0.2 0.2 1.0"/>
         </material>
       </visual>
+
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <box size="0.03 0.08 0.05" />
+        </geometry>
+      </collision>
     </link>
 
     <joint name="camera_joint" type="fixed">
-      <origin xyz="0.103 0.1025 0.46" rpy="0 0 0" />
+      <origin xyz="0.10626 0.10253 0.46" rpy="0 0 0" />
       <parent link="${parent}" />
       <child link="camera_link" />
     </joint>

diff --git a/crane_plus_description/urdf/camera_stand.urdf.xacro b/crane_plus_description/urdf/camera_stand.urdf.xacro
@@ -7,7 +7,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <box size="0.02 0.02 0.285" />
+          <box size="0.02 0.285 0.02" />
         </geometry>
         <material name="grey">
           <color rgba="0.8 0.8 0.8 1.0" />
@@ -17,13 +17,13 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <box size="0.02 0.02 0.285" />
+          <box size="0.02 0.285 0.02" />
         </geometry>
       </collision>
     </link>
 
     <joint name="camera_stand_joint1" type="fixed">
-      <origin xyz="-0.05 0.08 0.01" rpy="${radians(90)} 0 0" />
+      <origin xyz="-0.052 0.08 0.01" rpy="0 0 0" />
       <parent link="${parent}" />
       <child link="camera_stand_p1" />
     </joint>
@@ -48,16 +48,16 @@
     </link>
 
     <joint name="camera_stand_joint2" type="fixed">
-      <origin xyz="-0.05 0.1025 0.24" rpy="0 0 0" />
-      <parent link="${parent}" />
+      <origin xyz="0 0.02253 0.23" rpy="0 0 0" />
+      <parent link="camera_stand_p1" />
       <child link="camera_stand_p2" />
     </joint>
 
     <link name="camera_stand_p3">
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <box size="0.02 0.02 0.13" />
+          <box size="0.13 0.02 0.02" />
         </geometry>
         <material name="grey">
           <color rgba="0.8 0.8 0.8 1.0" />
@@ -67,22 +67,22 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <box size="0.02 0.02 0.13" />
+          <box size="0.129 0.02 0.02" />
         </geometry>
       </collision>
     </link>
 
     <joint name="camera_stand_joint3" type="fixed">
-      <origin xyz="0.02 0.1025 0.45" rpy="0 ${radians(90)} 0" />
-      <parent link="${parent}" />
+      <origin xyz="0.075 0 0.21" rpy="0 0 0" />
+      <parent link="camera_stand_p2" />
       <child link="camera_stand_p3" />
     </joint>
 
     <link name="camera_stand_p4">
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <box size="0.02 0.02 0.05" />
+          <box size="0.055 0.02 0.02" />
         </geometry>
         <material name="grey">
           <color rgba="0.8 0.8 0.8 1.0" />
@@ -92,22 +92,22 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <box size="0.02 0.02 0.05" />
+          <box size="0.054 0.019 0.02" />
         </geometry>
       </collision>
     </link>
 
     <joint name="camera_stand_joint4" type="fixed">
-      <origin xyz="-0.015 -0.0525 0.01" rpy="0 ${radians(90)} 0" />
-      <parent link="${parent}" />
+      <origin xyz="0.0375 -0.1325 0" rpy="0 0 0" />
+      <parent link="camera_stand_p1" />
       <child link="camera_stand_p4" />
     </joint>
 
     <link name="camera_stand_p5">
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <box size="0.02 0.02 0.05" />
+          <box size="0.055 0.02 0.02" />
         </geometry>
         <material name="grey">
           <color rgba="0.8 0.8 0.8 1.0" />
@@ -117,14 +117,14 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <box size="0.02 0.02 0.05" />
+          <box size="0.054 0.02 0.02" />
         </geometry>
       </collision>
     </link>
 
     <joint name="camera_stand_joint5" type="fixed">
-      <origin xyz="-0.015 0.2125 0.01" rpy="0 ${radians(90)} 0" />
-      <parent link="${parent}" />
+      <origin xyz="0.0375 0.1325 0" rpy="0 0 0" />
+      <parent link="camera_stand_p1" />
       <child link="camera_stand_p5" />
     </joint>
 

diff --git a/crane_plus_moveit_config/config/crane_plus.srdf b/crane_plus_moveit_config/config/crane_plus.srdf
@@ -39,11 +39,5 @@
     <disable_collisions link1="crane_plus_link2" link2="crane_plus_link3" reason="Adjacent" />
     <disable_collisions link1="crane_plus_link3" link2="crane_plus_link4" reason="Adjacent" />
     <disable_collisions link1="crane_plus_link4" link2="crane_plus_link_hand" reason="Adjacent" />
-    <disable_collisions link1="crane_plus_base" link2="camera_stand_p1" reason="Adjacent" />
-    <disable_collisions link1="crane_plus_base" link2="camera_stand_p4" reason="Adjacent" />
-    <disable_collisions link1="camera_stand_p1" link2="camera_stand_p2" reason="Adjacent" />
-    <disable_collisions link1="camera_stand_p1" link2="camera_stand_p4" reason="Adjacent" />
-    <disable_collisions link1="camera_stand_p1" link2="camera_stand_p5" reason="Adjacent" />
-    <disable_collisions link1="camera_stand_p2" link2="camera_stand_p3" reason="Adjacent" />
 
 </robot>