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feat: 完善车间环境中......

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li-shihao-code
2026-03-05 11:32:17 +08:00
parent 05a2eb439a
commit 9339c971fe
15 changed files with 772 additions and 135 deletions
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models/ack_m.urdf
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<?xml version="1.0" ?>
<robot name="qykj_ackm">
<link name="base_link">
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<origin rpy="0 0 0" xyz="-0.0174221592416108 0 0.0010674027636553"/>
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</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/base_link.stl"/>
</geometry>
<material name="base_material">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/base_link.stl"/>
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</collision>
</link>
<link name="base_footprint">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
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<visual>
<geometry>
<sphere radius="0.001"/>
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</visual>
</link>
<joint name="base_link2base_footprint" type="fixed">
<parent link="base_footprint"/>
<child link="base_link"/>
<origin rpy="0 0 0" xyz="0 0 0.055"/>
</joint>
<link name="left_steering_hinge">
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<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.085506993927856"/>
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<visual>
<origin rpy="0 0 0" xyz="-0.17831 -0.10435 -0.0070129"/>
<geometry>
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/left_front_steer_link.stl"/>
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<material name="steering_hinge_material">
<color rgba="0 0 0 1"/>
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<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/left_front_steer_link.stl"/>
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</link>
<joint name="left_steering_hinge_joint" type="revolute">
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<child link="left_steering_hinge"/>
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<limit effort="8" lower="-0.5" upper="0.5" velocity="800"/>
<dynamics damping="0.5"/>
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<link name="right_steering_hinge">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/right_front_steer_link.stl"/>
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<material name="steering_hinge_material">
<color rgba="0 0 0 1"/>
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<collision>
<origin rpy="0 0 0" xyz="-0.17831 0.10435 -0.0070129"/>
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<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/right_front_steer_link.stl"/>
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</link>
<joint name="right_steering_hinge_joint" type="revolute">
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<parent link="base_link"/>
<child link="right_steering_hinge"/>
<axis xyz="0 0 1"/>
<limit effort="8" lower="-0.5" upper="0.5" velocity="800"/>
<dynamics damping="0.5"/>
</joint>
<link name="left_wheel">
<inertial>
<origin rpy="0 0 0" xyz="0 -0.01 0"/>
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<visual>
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<geometry>
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/left_front_wheel_link.stl"/>
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<material name="wheel_material">
<color rgba="0 0 0 1"/>
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</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.17831 -0.17835 -0.0070129"/>
<geometry>
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/left_front_wheel_link.stl"/>
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</collision>
</link>
<joint name="left_wheel_joint" type="continuous">
<origin rpy="0 0 0" xyz="0 0.074 0"/>
<parent link="left_steering_hinge"/>
<child link="left_wheel"/>
<axis xyz="0 1 0"/>
<limit effort="6" velocity="800"/>
</joint>
<link name="right_wheel">
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<origin rpy="0 0 0" xyz="0 0.01 0"/>
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<visual>
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<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/right_front_wheel_link.stl"/>
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<material name="wheel_material">
<color rgba="0 0 0 1"/>
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</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.17831 0.17835 -0.0070129"/>
<geometry>
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/right_front_wheel_link.stl"/>
</geometry>
</collision>
</link>
<joint name="right_wheel_joint" type="continuous">
<origin rpy="0 0 0" xyz="0 -0.074 0"/>
<parent link="right_steering_hinge"/>
<child link="right_wheel"/>
<axis xyz="0 1 0"/>
<limit effort="6" velocity="800"/>
</joint>
<link name="left_rear_wheel">
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<origin rpy="0 0 0" xyz="0 -0.01 0"/>
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<visual>
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<geometry>
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/left_back_wheel_link.stl"/>
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<material name="wheel_material">
<color rgba="0 0 0 1"/>
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</visual>
<collision>
<origin rpy="0 0 0" xyz="0.11072 -0.18046 -0.0099082"/>
<geometry>
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/left_back_wheel_link.stl"/>
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</collision>
</link>
<joint name="left_rear_wheel_joint" type="continuous">
<origin rpy="0 0 0" xyz="-0.11072 0.18046 0.0099082"/>
<parent link="base_link"/>
<child link="left_rear_wheel"/>
<axis xyz="0 1 0"/>
<limit effort="10" lower="-3.14159" upper="3.14159" velocity="800"/>
</joint>
<link name="right_rear_wheel">
<inertial>
<origin rpy="0 0 0" xyz="0 0.01 0"/>
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<visual>
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<geometry>
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/right_back_wheel_link.stl"/>
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<material name="wheel_material">
<color rgba="0 0 0 1"/>
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</visual>
<collision>
<origin rpy="0 0 0" xyz="0.11072 0.18046 -0.0099082"/>
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<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/right_back_wheel_link.stl"/>
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</link>
<joint name="right_rear_wheel_joint" type="continuous">
<origin rpy="0 0 0" xyz="-0.11072 -0.18046 0.0099082"/>
<parent link="base_link"/>
<child link="right_rear_wheel"/>
<axis xyz="0 1 0"/>
<limit effort="10" lower="-3.14159" upper="3.14159" velocity="800"/>
</joint>
<link name="camera">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/camera.stl"/>
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<material name="camera_material">
<color rgba="0 0 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.21669 0.00063349 -0.142"/>
<geometry>
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/camera.stl"/>
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</collision>
</link>
<joint name="camera_joint" type="fixed">
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<parent link="base_link"/>
<child link="camera"/>
<axis xyz="0 0 0"/>
</joint>
<link name="laser">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/laser_link.stl"/>
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<material name="sensor_material">
<color rgba="0 0 1 1"/>
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</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.092303 -5.3876E-05 -0.2031"/>
<geometry>
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/laser_link.stl"/>
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</collision>
</link>
<joint name="laser_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.092303 5.3876E-05 0.2031"/>
<parent link="base_link"/>
<child link="laser"/>
<axis xyz="0 0 0"/>
</joint>
<link name="imu">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
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<visual>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0035"/>
<parent link="base_link"/>
<child link="imu"/>
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</robot>