qlin/moonshot_franka_description
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minor update and bug fix to description

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qlin960618
2025-02-24 20:19:04 +09:00
parent ab32632cc2
commit d0eb65f6d1
2 changed files with 26 additions and 4 deletions
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28
robots/moonshot_panda/moonshot_panda.urdf.xacro
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@@ -61,16 +61,36 @@
<xacro:arg name="multi_arm" default="true" /> <xacro:arg name="multi_arm" default="true" />
<link name="base"> <link name="base">
<visual name="base_platform_visual_left"> <visual name="base_platform_visual_left_top">
<geometry> <geometry>
<mesh filename="package://moonshot_franka_description/meshes/platform/Franka_platformL.dae" /> <mesh filename="package://moonshot_franka_description/meshes/platform/Franka_platformL_top.dae" />
</geometry> </geometry>
</visual> </visual>
<visual name="base_platform_visual_right"> <visual name="base_platform_visual_right_top">
<geometry> <geometry>
<mesh filename="package://moonshot_franka_description/meshes/platform/Franka_platformR.dae" /> <mesh filename="package://moonshot_franka_description/meshes/platform/Franka_platformR_top.dae" />
</geometry> </geometry>
</visual> </visual>
<visual name="base_platform_visual_left_base">
<geometry>
<mesh filename="package://moonshot_franka_description/meshes/platform/Franka_platformL_base.dae" />
</geometry>
</visual>
<visual name="base_platform_visual_right_base">
<geometry>
<mesh filename="package://moonshot_franka_description/meshes/platform/Franka_platformR_base.dae" />
</geometry>
</visual>
<collision name="base_platform_visual_left_collision">
<geometry>
<mesh filename="package://moonshot_franka_description/meshes/platform/Franka_platformL_base_Convex.stl" />
</geometry>
</collision>
<collision name="base_platform_visual_right_collision">
<geometry>
<mesh filename="package://moonshot_franka_description/meshes/platform/Franka_platformR_base_Convex.stl" />
</geometry>
</collision>
</link> </link>
<!-- The multi robot setup configures 'multi_arm' by default to true s.t. it uses the async threading approach for the hardware interface --> <!-- The multi robot setup configures 'multi_arm' by default to true s.t. it uses the async threading approach for the hardware interface -->

2
scripts/visualize_franka.sh
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@@ -9,6 +9,8 @@ echo
sudo docker run -it -u $(id -u) \ sudo docker run -it -u $(id -u) \
--privileged \ --privileged \
--network host \
--env="QT_X11_NO_MITSHM=1" \
-v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=${DISPLAY} \ -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=${DISPLAY} \
-v $(pwd):/workspaces/src/moonshot_franka_description \ -v $(pwd):/workspaces/src/moonshot_franka_description \
-w /workspaces/src/moonshot_franka_description \ -w /workspaces/src/moonshot_franka_description \