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Urdf update with collision

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JackM323
2026-07-30 17:23:50 +02:00
parent c5ca79a354
commit 5d598b4d94
1 changed files with 151 additions and 1 deletions
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JackBotUrdf.urdf
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@@ -19,6 +19,12 @@
<color rgba="1 0 0 0.5"/> <color rgba="1 0 0 0.5"/>
</material> </material>
</visual> </visual>
<collision>
<geometry>
<box size="0.160 0.120 0.090"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
</collision>
</link> </link>
<!-- LEG 1 --> <!-- LEG 1 -->
@@ -40,6 +46,12 @@
<color rgba="0 1 0 1"/> <color rgba="0 1 0 1"/>
</material> </material>
</visual> </visual>
<collision>
<geometry>
<cylinder length="0.068" radius="0.005"/>
</geometry>
<origin xyz="0.028 0 0" rpy="0 1.5708 0"/>
</collision>
</link> </link>
<joint name="leg1_coxa_joint" type="revolute"> <joint name="leg1_coxa_joint" type="revolute">
<parent link="base_link"/> <parent link="base_link"/>
@@ -68,6 +80,12 @@
<color rgba="0 0 1 1"/> <color rgba="0 0 1 1"/>
</material> </material>
</visual> </visual>
<collision>
<geometry>
<cylinder length="0.0602" radius="0.005"/>
</geometry>
<origin xyz="0 0 -0.0365" rpy="0 0 0"/>
</collision>
</link> </link>
<joint name="leg1_femur_joint" type="revolute"> <joint name="leg1_femur_joint" type="revolute">
<parent link="leg1_coxa"/> <parent link="leg1_coxa"/>
@@ -95,6 +113,12 @@
<color rgba="0 1 1 1"/> <color rgba="0 1 1 1"/>
</material> </material>
</visual> </visual>
<collision>
<geometry>
<cylinder length="0.07055" radius="0.005"/>
</geometry>
<origin xyz="0.035 0 0" rpy="0 1.5708 0"/>
</collision>
</link> </link>
<joint name="leg1_tibia_joint" type="revolute"> <joint name="leg1_tibia_joint" type="revolute">
<parent link="leg1_femur"/> <parent link="leg1_femur"/>
@@ -122,6 +146,12 @@
<color rgba="1 0 1 1"/> <color rgba="1 0 1 1"/>
</material> </material>
</visual> </visual>
<collision>
<geometry>
<sphere radius="0.01"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
</collision>
</link> </link>
<joint name="leg1_tip_joint" type="fixed"> <joint name="leg1_tip_joint" type="fixed">
<parent link="leg1_tibia"/> <parent link="leg1_tibia"/>
@@ -148,6 +178,12 @@
<color rgba="0 1 0 1"/> <color rgba="0 1 0 1"/>
</material> </material>
</visual> </visual>
<collision>
<geometry>
<cylinder length="0.068" radius="0.005"/>
</geometry>
<origin xyz="0.028 0 0" rpy="0 1.5708 0"/>
</collision>
</link> </link>
<joint name="leg2_coxa_joint" type="revolute"> <joint name="leg2_coxa_joint" type="revolute">
<parent link="base_link"/> <parent link="base_link"/>
@@ -176,6 +212,12 @@
<color rgba="0 0 1 1"/> <color rgba="0 0 1 1"/>
</material> </material>
</visual> </visual>
<collision>
<geometry>
<cylinder length="0.0602" radius="0.005"/>
</geometry>
<origin xyz="0 0 -0.0365" rpy="0 0 0"/>
</collision>
</link> </link>
<joint name="leg2_femur_joint" type="revolute"> <joint name="leg2_femur_joint" type="revolute">
<parent link="leg2_coxa"/> <parent link="leg2_coxa"/>
@@ -203,6 +245,12 @@
<color rgba="0 1 1 1"/> <color rgba="0 1 1 1"/>
</material> </material>
</visual> </visual>
<collision>
<geometry>
<cylinder length="0.07055" radius="0.005"/>
</geometry>
<origin xyz="0.035 0 0" rpy="0 1.5708 0"/>
</collision>
</link> </link>
<joint name="leg2_tibia_joint" type="revolute"> <joint name="leg2_tibia_joint" type="revolute">
<parent link="leg2_femur"/> <parent link="leg2_femur"/>
@@ -230,6 +278,12 @@
<color rgba="1 0 1 1"/> <color rgba="1 0 1 1"/>
</material> </material>
</visual> </visual>
<collision>
<geometry>
<sphere radius="0.01"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
</collision>
</link> </link>
<joint name="leg2_tip_joint" type="fixed"> <joint name="leg2_tip_joint" type="fixed">
<parent link="leg2_tibia"/> <parent link="leg2_tibia"/>
@@ -256,6 +310,12 @@
<color rgba="0 1 0 1"/> <color rgba="0 1 0 1"/>
</material> </material>
</visual> </visual>
<collision>
<geometry>
<cylinder length="0.068" radius="0.005"/>
</geometry>
<origin xyz="0.028 0 0" rpy="0 1.5708 0"/>
</collision>
</link> </link>
<joint name="leg3_coxa_joint" type="revolute"> <joint name="leg3_coxa_joint" type="revolute">
<parent link="base_link"/> <parent link="base_link"/>
@@ -284,6 +344,12 @@
<color rgba="0 0 1 1"/> <color rgba="0 0 1 1"/>
</material> </material>
</visual> </visual>
<collision>
<geometry>
<cylinder length="0.0602" radius="0.005"/>
</geometry>
<origin xyz="0 0 -0.0365" rpy="0 0 0"/>
</collision>
</link> </link>
<joint name="leg3_femur_joint" type="revolute"> <joint name="leg3_femur_joint" type="revolute">
<parent link="leg3_coxa"/> <parent link="leg3_coxa"/>
@@ -311,6 +377,12 @@
<color rgba="0 1 1 1"/> <color rgba="0 1 1 1"/>
</material> </material>
</visual> </visual>
<collision>
<geometry>
<cylinder length="0.07055" radius="0.005"/>
</geometry>
<origin xyz="0.035 0 0" rpy="0 1.5708 0"/>
</collision>
</link> </link>
<joint name="leg3_tibia_joint" type="revolute"> <joint name="leg3_tibia_joint" type="revolute">
<parent link="leg3_femur"/> <parent link="leg3_femur"/>
@@ -338,6 +410,12 @@
<color rgba="1 0 1 1"/> <color rgba="1 0 1 1"/>
</material> </material>
</visual> </visual>
<collision>
<geometry>
<sphere radius="0.01"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
</collision>
</link> </link>
<joint name="leg3_tip_joint" type="fixed"> <joint name="leg3_tip_joint" type="fixed">
<parent link="leg3_tibia"/> <parent link="leg3_tibia"/>
@@ -364,6 +442,12 @@
<color rgba="0 1 0 1"/> <color rgba="0 1 0 1"/>
</material> </material>
</visual> </visual>
<collision>
<geometry>
<cylinder length="0.068" radius="0.005"/>
</geometry>
<origin xyz="0.028 0 0" rpy="0 1.5708 0"/>
</collision>
</link> </link>
<joint name="leg4_coxa_joint" type="revolute"> <joint name="leg4_coxa_joint" type="revolute">
<parent link="base_link"/> <parent link="base_link"/>
@@ -392,6 +476,12 @@
<color rgba="0 0 1 1"/> <color rgba="0 0 1 1"/>
</material> </material>
</visual> </visual>
<collision>
<geometry>
<cylinder length="0.0602" radius="0.005"/>
</geometry>
<origin xyz="0 0 -0.0365" rpy="0 0 0"/>
</collision>
</link> </link>
<joint name="leg4_femur_joint" type="revolute"> <joint name="leg4_femur_joint" type="revolute">
<parent link="leg4_coxa"/> <parent link="leg4_coxa"/>
@@ -419,6 +509,12 @@
<color rgba="0 1 1 1"/> <color rgba="0 1 1 1"/>
</material> </material>
</visual> </visual>
<collision>
<geometry>
<cylinder length="0.07055" radius="0.005"/>
</geometry>
<origin xyz="0.035 0 0" rpy="0 1.5708 0"/>
</collision>
</link> </link>
<joint name="leg4_tibia_joint" type="revolute"> <joint name="leg4_tibia_joint" type="revolute">
<parent link="leg4_femur"/> <parent link="leg4_femur"/>
@@ -446,6 +542,12 @@
<color rgba="1 0 1 1"/> <color rgba="1 0 1 1"/>
</material> </material>
</visual> </visual>
<collision>
<geometry>
<sphere radius="0.01"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
</collision>
</link> </link>
<joint name="leg4_tip_joint" type="fixed"> <joint name="leg4_tip_joint" type="fixed">
<parent link="leg4_tibia"/> <parent link="leg4_tibia"/>
@@ -472,6 +574,12 @@
<color rgba="0 1 0 1"/> <color rgba="0 1 0 1"/>
</material> </material>
</visual> </visual>
<collision>
<geometry>
<cylinder length="0.068" radius="0.005"/>
</geometry>
<origin xyz="0.028 0 0" rpy="0 1.5708 0"/>
</collision>
</link> </link>
<joint name="leg5_coxa_joint" type="revolute"> <joint name="leg5_coxa_joint" type="revolute">
<parent link="base_link"/> <parent link="base_link"/>
@@ -500,6 +608,12 @@
<color rgba="0 0 1 1"/> <color rgba="0 0 1 1"/>
</material> </material>
</visual> </visual>
<collision>
<geometry>
<cylinder length="0.0602" radius="0.005"/>
</geometry>
<origin xyz="0 0 -0.0365" rpy="0 0 0"/>
</collision>
</link> </link>
<joint name="leg5_femur_joint" type="revolute"> <joint name="leg5_femur_joint" type="revolute">
<parent link="leg5_coxa"/> <parent link="leg5_coxa"/>
@@ -527,6 +641,12 @@
<color rgba="0 1 1 1"/> <color rgba="0 1 1 1"/>
</material> </material>
</visual> </visual>
<collision>
<geometry>
<cylinder length="0.07055" radius="0.005"/>
</geometry>
<origin xyz="0.035 0 0" rpy="0 1.5708 0"/>
</collision>
</link> </link>
<joint name="leg5_tibia_joint" type="revolute"> <joint name="leg5_tibia_joint" type="revolute">
<parent link="leg5_femur"/> <parent link="leg5_femur"/>
@@ -554,6 +674,12 @@
<color rgba="1 0 1 1"/> <color rgba="1 0 1 1"/>
</material> </material>
</visual> </visual>
<collision>
<geometry>
<sphere radius="0.01"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
</collision>
</link> </link>
<joint name="leg5_tip_joint" type="fixed"> <joint name="leg5_tip_joint" type="fixed">
<parent link="leg5_tibia"/> <parent link="leg5_tibia"/>
@@ -580,6 +706,12 @@
<color rgba="0 1 0 1"/> <color rgba="0 1 0 1"/>
</material> </material>
</visual> </visual>
<collision>
<geometry>
<cylinder length="0.068" radius="0.005"/>
</geometry>
<origin xyz="0.028 0 0" rpy="0 1.5708 0"/>
</collision>
</link> </link>
<joint name="leg6_coxa_joint" type="revolute"> <joint name="leg6_coxa_joint" type="revolute">
<parent link="base_link"/> <parent link="base_link"/>
@@ -608,6 +740,12 @@
<color rgba="0 0 1 1"/> <color rgba="0 0 1 1"/>
</material> </material>
</visual> </visual>
<collision>
<geometry>
<cylinder length="0.0602" radius="0.005"/>
</geometry>
<origin xyz="0 0 -0.0365" rpy="0 0 0"/>
</collision>
</link> </link>
<joint name="leg6_femur_joint" type="revolute"> <joint name="leg6_femur_joint" type="revolute">
<parent link="leg6_coxa"/> <parent link="leg6_coxa"/>
@@ -635,6 +773,12 @@
<color rgba="0 1 1 1"/> <color rgba="0 1 1 1"/>
</material> </material>
</visual> </visual>
<collision>
<geometry>
<cylinder length="0.07055" radius="0.005"/>
</geometry>
<origin xyz="0.035 0 0" rpy="0 1.5708 0"/>
</collision>
</link> </link>
<joint name="leg6_tibia_joint" type="revolute"> <joint name="leg6_tibia_joint" type="revolute">
<parent link="leg6_femur"/> <parent link="leg6_femur"/>
@@ -662,6 +806,12 @@
<color rgba="1 0 1 1"/> <color rgba="1 0 1 1"/>
</material> </material>
</visual> </visual>
<collision>
<geometry>
<sphere radius="0.01"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
</collision>
</link> </link>
<joint name="leg6_tip_joint" type="fixed"> <joint name="leg6_tip_joint" type="fixed">
<parent link="leg6_tibia"/> <parent link="leg6_tibia"/>