Новая версия urdf и финальная версия Link_Main с отверстием для внешнего подключенния, которая идет в печать

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SIYOU 2024-12-25 21:57:10 +08:00
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34 changed files with 119 additions and 23731 deletions

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Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
base_link,-0.000780731315532182,0.00565701376571108,0.0366488375048939,0,0,0,0.613984774290843,0.00154230278672191,-2.15412632179858E-06,2.10476122644303E-05,0.00146894996430076,7.0186994389379E-07,0.00150672869549504,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/base_link.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/base_link.STL,,asm_start-1,Coordinate System1 <asm_start-1>,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
axis1_fork,-0.00500171716581445,-0.00237578382667501,-0.0659095199092172,0,0,0,0.4931155110004,0.00169213383533945,-9.95103426145579E-07,-1.84043937246943E-05,0.00199553070181316,2.58742657398926E-06,0.00087840903554742,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/axis1_fork.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/axis1_fork.STL,,asmMainFork_221220-2,Coordinate System1 <asmMainFork_221220-2>,Axis1,joint1,revolute,0,0,0.2663,0,0,0,base_link,0,0,-1,0,0,0,0,,,,,,,,
axis2_main,0.000549976803363471,-0.00689586885019988,0.0866341280166462,0,0,0,0.427264100252103,0.00137938090936023,8.91814157920489E-06,-4.05415908892525E-05,0.00158701127873922,3.47714163247768E-05,0.000472551852924255,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/axis2_main.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/axis2_main.STL,,asmMainLink221219-1,Coordinate System1 <asmMainLink221219-1>,Axis2,joint2,revolute,-0.00027,0.132,0,1.5708,0,0,axis1_fork,1,0,0,0,0,0,0,,,,,,,,
axis3_fork,-0.00500171689381246,-0.00237578385532944,-0.0659095202695734,0,0,0,0.493115508126031,0.00169213383504095,-9.95103403834234E-07,-1.84043937522366E-05,0.00199553070159878,2.58742643777825E-06,0.000878409035429165,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/axis3_fork.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/axis3_fork.STL,,asmMainFork_221220-3,Coordinate System1 <asmMainFork_221220-3>,Axis3,joint3,revolute,-9.99999999995011E-05,-0.000199999999999978,-0.1426,-3.14159265358979,0,3.14159265358979,axis2_main,0,0,-1,0,0,0,0,,,,,,,,
axis4_main,0.000549976714161273,-0.0068958686436621,0.0866341278153069,0,0,0,0.427264098134387,0.00137938091192376,8.91814114274195E-06,-4.05415911887159E-05,0.00158701129284512,3.47714153744312E-05,0.000472551864104613,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/axis4_main.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/axis4_main.STL,,asmMainLink221219-2,Coordinate System1 <asmMainLink221219-2>,Axis4,joint4,revolute,-0.000270000000000902,0.131999999999996,0,1.5707963267949,0,0,axis3_fork,1,0,0,0,0,0,0,,,,,,,,
axis5_fork,-0.0050017168948255,-0.00237578385519227,-0.0659095202676269,0,0,0,0.493115508141685,0.00169213403960964,-9.9520604628447E-07,-1.84044295119673E-05,0.00199553060263683,2.58731768474548E-06,0.000878409014719423,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/axis5_fork.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/axis5_fork.STL,,asmMainFork_221220-4,Coordinate System1 <asmMainFork_221220-4>,Axis5,joint4,revolute,0,0,-0.1426,-3.14159265358979,0,3.14159265358979,axis4_main,0,0,-1,0,0,0,0,,,,,,,,
axis6_main,0.00054997671776411,-0.00689586866930159,0.0866341275726041,0,0,0,0.427264098328958,0.00137938091534402,8.91814114297055E-06,-4.0541590864763E-05,0.00158701130391337,3.47714143450509E-05,0.000472551871795596,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/axis6_main.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/axis6_main.STL,,asmMainLink221219-4,Coordinate System1 <asmMainLink221219-4>,Axis6,joint6,revolute,-0.000270000000000355,0.132000000000009,0,1.5707963267949,0,0,axis5_fork,1,0,0,0,0,0,0,,,,,,,,
axis7_tail,-0.000744079167935645,0.000247906221807259,0.0312529002329407,0,0,0,0.20976072293408,0.000162570374609567,3.88568507884144E-07,-4.26281974342944E-07,0.000237024615700951,2.17085443047188E-05,0.000224679988342896,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/axis7_tail.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/axis7_tail.STL,,AsmTailLink_221214-2,Coordinate System1 <AsmTailLink_221214-2>,Axis7,joint7,revolute,0.000642485214801946,-0.00214900625035641,0.00196355751717808,3.14159265358979,0,0,axis6_main,0,0,1,0,0,0,0,,,,,,,,
1 Link Name Center of Mass X Center of Mass Y Center of Mass Z Center of Mass Roll Center of Mass Pitch Center of Mass Yaw Mass Moment Ixx Moment Ixy Moment Ixz Moment Iyy Moment Iyz Moment Izz Visual X Visual Y Visual Z Visual Roll Visual Pitch Visual Yaw Mesh Filename Color Red Color Green Color Blue Color Alpha Collision X Collision Y Collision Z Collision Roll Collision Pitch Collision Yaw Collision Mesh Filename Material Name SW Components Coordinate System Axis Name Joint Name Joint Type Joint Origin X Joint Origin Y Joint Origin Z Joint Origin Roll Joint Origin Pitch Joint Origin Yaw Parent Joint Axis X Joint Axis Y Joint Axis Z Limit Effort Limit Velocity Limit Lower Limit Upper Calibration rising Calibration falling Dynamics Damping Dynamics Friction Safety Soft Upper Safety Soft Lower Safety K Position Safety K Velocity
2 base_link -0.000780731315532182 0.00565701376571108 0.0366488375048939 0 0 0 0.613984774290843 0.00154230278672191 -2.15412632179858E-06 2.10476122644303E-05 0.00146894996430076 7.0186994389379E-07 0.00150672869549504 0 0 0 0 0 0 package://AsmMainArm221214_body.SLDASM/meshes/base_link.STL 0.752941176470588 0.752941176470588 0.752941176470588 1 0 0 0 0 0 0 package://AsmMainArm221214_body.SLDASM/meshes/base_link.STL asm_start-1 Coordinate System1 <asm_start-1> 0 0 0 0 0 0 0 0 0
3 axis1_fork -0.00500171716581445 -0.00237578382667501 -0.0659095199092172 0 0 0 0.4931155110004 0.00169213383533945 -9.95103426145579E-07 -1.84043937246943E-05 0.00199553070181316 2.58742657398926E-06 0.00087840903554742 0 0 0 0 0 0 package://AsmMainArm221214_body.SLDASM/meshes/axis1_fork.STL 0.752941176470588 0.752941176470588 0.752941176470588 1 0 0 0 0 0 0 package://AsmMainArm221214_body.SLDASM/meshes/axis1_fork.STL asmMainFork_221220-2 Coordinate System1 <asmMainFork_221220-2> Axis1 joint1 revolute 0 0 0.2663 0 0 0 base_link 0 0 -1 0 0 0 0
4 axis2_main 0.000549976803363471 -0.00689586885019988 0.0866341280166462 0 0 0 0.427264100252103 0.00137938090936023 8.91814157920489E-06 -4.05415908892525E-05 0.00158701127873922 3.47714163247768E-05 0.000472551852924255 0 0 0 0 0 0 package://AsmMainArm221214_body.SLDASM/meshes/axis2_main.STL 0.752941176470588 0.752941176470588 0.752941176470588 1 0 0 0 0 0 0 package://AsmMainArm221214_body.SLDASM/meshes/axis2_main.STL asmMainLink221219-1 Coordinate System1 <asmMainLink221219-1> Axis2 joint2 revolute -0.00027 0.132 0 1.5708 0 0 axis1_fork 1 0 0 0 0 0 0
5 axis3_fork -0.00500171689381246 -0.00237578385532944 -0.0659095202695734 0 0 0 0.493115508126031 0.00169213383504095 -9.95103403834234E-07 -1.84043937522366E-05 0.00199553070159878 2.58742643777825E-06 0.000878409035429165 0 0 0 0 0 0 package://AsmMainArm221214_body.SLDASM/meshes/axis3_fork.STL 0.752941176470588 0.752941176470588 0.752941176470588 1 0 0 0 0 0 0 package://AsmMainArm221214_body.SLDASM/meshes/axis3_fork.STL asmMainFork_221220-3 Coordinate System1 <asmMainFork_221220-3> Axis3 joint3 revolute -9.99999999995011E-05 -0.000199999999999978 -0.1426 -3.14159265358979 0 3.14159265358979 axis2_main 0 0 -1 0 0 0 0
6 axis4_main 0.000549976714161273 -0.0068958686436621 0.0866341278153069 0 0 0 0.427264098134387 0.00137938091192376 8.91814114274195E-06 -4.05415911887159E-05 0.00158701129284512 3.47714153744312E-05 0.000472551864104613 0 0 0 0 0 0 package://AsmMainArm221214_body.SLDASM/meshes/axis4_main.STL 0.752941176470588 0.752941176470588 0.752941176470588 1 0 0 0 0 0 0 package://AsmMainArm221214_body.SLDASM/meshes/axis4_main.STL asmMainLink221219-2 Coordinate System1 <asmMainLink221219-2> Axis4 joint4 revolute -0.000270000000000902 0.131999999999996 0 1.5707963267949 0 0 axis3_fork 1 0 0 0 0 0 0
7 axis5_fork -0.0050017168948255 -0.00237578385519227 -0.0659095202676269 0 0 0 0.493115508141685 0.00169213403960964 -9.9520604628447E-07 -1.84044295119673E-05 0.00199553060263683 2.58731768474548E-06 0.000878409014719423 0 0 0 0 0 0 package://AsmMainArm221214_body.SLDASM/meshes/axis5_fork.STL 0.752941176470588 0.752941176470588 0.752941176470588 1 0 0 0 0 0 0 package://AsmMainArm221214_body.SLDASM/meshes/axis5_fork.STL asmMainFork_221220-4 Coordinate System1 <asmMainFork_221220-4> Axis5 joint4 revolute 0 0 -0.1426 -3.14159265358979 0 3.14159265358979 axis4_main 0 0 -1 0 0 0 0
8 axis6_main 0.00054997671776411 -0.00689586866930159 0.0866341275726041 0 0 0 0.427264098328958 0.00137938091534402 8.91814114297055E-06 -4.0541590864763E-05 0.00158701130391337 3.47714143450509E-05 0.000472551871795596 0 0 0 0 0 0 package://AsmMainArm221214_body.SLDASM/meshes/axis6_main.STL 0.752941176470588 0.752941176470588 0.752941176470588 1 0 0 0 0 0 0 package://AsmMainArm221214_body.SLDASM/meshes/axis6_main.STL asmMainLink221219-4 Coordinate System1 <asmMainLink221219-4> Axis6 joint6 revolute -0.000270000000000355 0.132000000000009 0 1.5707963267949 0 0 axis5_fork 1 0 0 0 0 0 0
9 axis7_tail -0.000744079167935645 0.000247906221807259 0.0312529002329407 0 0 0 0.20976072293408 0.000162570374609567 3.88568507884144E-07 -4.26281974342944E-07 0.000237024615700951 2.17085443047188E-05 0.000224679988342896 0 0 0 0 0 0 package://AsmMainArm221214_body.SLDASM/meshes/axis7_tail.STL 0.752941176470588 0.752941176470588 0.752941176470588 1 0 0 0 0 0 0 package://AsmMainArm221214_body.SLDASM/meshes/axis7_tail.STL AsmTailLink_221214-2 Coordinate System1 <AsmTailLink_221214-2> Axis7 joint7 revolute 0.000642485214801946 -0.00214900625035641 0.00196355751717808 3.14159265358979 0 0 axis6_main 0 0 1 0 0 0 0

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Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
base_link,0.00078073,-0.036649,-0.005657,0,0,0,0.61398,0.0015423,2.1048E-05,-2.1541E-06,0.0015067,7.0187E-07,0.0014689,0,0,0,0,0,0,package://URDF_new/meshes/base_link.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://URDF_new/meshes/base_link.STL,,asm_start-1,Origin_global,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
axis1_fork,-0.0050017,0.088736,0.0023758,0,0,0,0.49312,0.0016921,-1.8404E-05,9.951E-07,0.00087841,-2.5874E-06,0.0019955,0,0,0,0,0,0,package://URDF_new/meshes/axis1_fork.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://URDF_new/meshes/axis1_fork.STL,,asmMainFork_221220-2,Origin_joint1,Axis1,joint1,revolute,0,0,-0.11165,-1.5708,0,-3.1416,base_link,0,-1,0,0,0,0,0,,,,,,,,
axis2_main,0.00027998,-0.045366,0.0068959,0,0,0,0.42726,0.0013794,-4.0542E-05,-8.9181E-06,0.00047255,-3.4771E-05,0.001587,0,0,0,0,0,0,package://URDF_new/meshes/axis2_main.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://URDF_new/meshes/axis2_main.STL,,asmMainLink221219-1,Origin_joint2,Axis2,joint2,revolute,0,0.15465,0,1.5708,0,0,axis1_fork,-1,0,0,0,0,0,0,,,,,,,,
axis3_fork,-0.0050017,0.088736,0.0023758,0,0,0,0.49312,0.0016921,-1.8404E-05,9.951E-07,0.00087841,-2.5874E-06,0.0019955,0,0,0,0,0,0,package://URDF_new/meshes/axis3_fork.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://URDF_new/meshes/axis3_fork.STL,,asmMainFork_221220-3,Origin_joint3,Axis3,joint3,revolute,-0.00037,-0.11995,0.0002,0,0,-3.1416,axis2_main,0,-1,0,0,0,0,0,,,,,,,,
axis4_main,0.00027998,-0.045366,0.0068959,0,0,0,0.42726,0.0013794,-4.0542E-05,-8.9181E-06,0.00047255,-3.4771E-05,0.001587,0,0,0,0,0,0,package://URDF_new/meshes/axis4_main.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://URDF_new/meshes/axis4_main.STL,,asmMainLink221219-2,Origin_joint4,Axis4,joint4,revolute,0,0.15465,0,1.5708,0,0,axis3_fork,-1,0,0,0,0,0,0,,,,,,,,
axis5_fork,-0.0050017,0.088736,0.0023758,0,0,0,0.49312,0.0016921,-1.8404E-05,9.9521E-07,0.00087841,-2.5873E-06,0.0019955,0,0,0,0,0,0,package://URDF_new/meshes/axis5_fork.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://URDF_new/meshes/axis5_fork.STL,,asmMainFork_221220-4,Origin_joint5,Axis5,joint5,revolute,-0.00027,-0.11995,0,0,0,-3.1416,axis4_main,0,-1,0,0,0,0,0,,,,,,,,
axis6_main,0.00027998,-0.045366,0.0068959,0,0,0,0.42726,0.0013794,-4.0542E-05,-8.9181E-06,0.00047255,-3.4771E-05,0.001587,0,0,0,0,0,0,package://URDF_new/meshes/axis6_main.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://URDF_new/meshes/axis6_main.STL,,asmMainLink221219-4,Origin_joint6,Axis6,joint6,revolute,0,0.15465,0,1.5708,0,0,axis5_fork,-1,0,0,0,0,0,0,,,,,,,,
axis7_tail,1.594E-06,0.085889,0.0021969,0,0,0,0.20976,0.00016257,4.2628E-07,-3.8857E-07,0.00022468,2.1709E-05,0.00023702,0,0,0,0,0,0,package://URDF_new/meshes/axis7_tail.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://URDF_new/meshes/axis7_tail.STL,,AsmTailLink_221214-2,Origin_joint7,Axis7,joint7,revolute,-0.00037,-0.0754,0.0002,0,0,3.1416,axis6_main,0,-1,0,0,0,0,0,,,,,,,,
1 Link Name Center of Mass X Center of Mass Y Center of Mass Z Center of Mass Roll Center of Mass Pitch Center of Mass Yaw Mass Moment Ixx Moment Ixy Moment Ixz Moment Iyy Moment Iyz Moment Izz Visual X Visual Y Visual Z Visual Roll Visual Pitch Visual Yaw Mesh Filename Color Red Color Green Color Blue Color Alpha Collision X Collision Y Collision Z Collision Roll Collision Pitch Collision Yaw Collision Mesh Filename Material Name SW Components Coordinate System Axis Name Joint Name Joint Type Joint Origin X Joint Origin Y Joint Origin Z Joint Origin Roll Joint Origin Pitch Joint Origin Yaw Parent Joint Axis X Joint Axis Y Joint Axis Z Limit Effort Limit Velocity Limit Lower Limit Upper Calibration rising Calibration falling Dynamics Damping Dynamics Friction Safety Soft Upper Safety Soft Lower Safety K Position Safety K Velocity
2 base_link 0.00078073 -0.036649 -0.005657 0 0 0 0.61398 0.0015423 2.1048E-05 -2.1541E-06 0.0015067 7.0187E-07 0.0014689 0 0 0 0 0 0 package://URDF_new/meshes/base_link.STL 0.75294 0.75294 0.75294 1 0 0 0 0 0 0 package://URDF_new/meshes/base_link.STL asm_start-1 Origin_global 0 0 0 0 0 0 0 0 0
3 axis1_fork -0.0050017 0.088736 0.0023758 0 0 0 0.49312 0.0016921 -1.8404E-05 9.951E-07 0.00087841 -2.5874E-06 0.0019955 0 0 0 0 0 0 package://URDF_new/meshes/axis1_fork.STL 0.75294 0.75294 0.75294 1 0 0 0 0 0 0 package://URDF_new/meshes/axis1_fork.STL asmMainFork_221220-2 Origin_joint1 Axis1 joint1 revolute 0 0 -0.11165 -1.5708 0 -3.1416 base_link 0 -1 0 0 0 0 0
4 axis2_main 0.00027998 -0.045366 0.0068959 0 0 0 0.42726 0.0013794 -4.0542E-05 -8.9181E-06 0.00047255 -3.4771E-05 0.001587 0 0 0 0 0 0 package://URDF_new/meshes/axis2_main.STL 0.75294 0.75294 0.75294 1 0 0 0 0 0 0 package://URDF_new/meshes/axis2_main.STL asmMainLink221219-1 Origin_joint2 Axis2 joint2 revolute 0 0.15465 0 1.5708 0 0 axis1_fork -1 0 0 0 0 0 0
5 axis3_fork -0.0050017 0.088736 0.0023758 0 0 0 0.49312 0.0016921 -1.8404E-05 9.951E-07 0.00087841 -2.5874E-06 0.0019955 0 0 0 0 0 0 package://URDF_new/meshes/axis3_fork.STL 0.75294 0.75294 0.75294 1 0 0 0 0 0 0 package://URDF_new/meshes/axis3_fork.STL asmMainFork_221220-3 Origin_joint3 Axis3 joint3 revolute -0.00037 -0.11995 0.0002 0 0 -3.1416 axis2_main 0 -1 0 0 0 0 0
6 axis4_main 0.00027998 -0.045366 0.0068959 0 0 0 0.42726 0.0013794 -4.0542E-05 -8.9181E-06 0.00047255 -3.4771E-05 0.001587 0 0 0 0 0 0 package://URDF_new/meshes/axis4_main.STL 0.75294 0.75294 0.75294 1 0 0 0 0 0 0 package://URDF_new/meshes/axis4_main.STL asmMainLink221219-2 Origin_joint4 Axis4 joint4 revolute 0 0.15465 0 1.5708 0 0 axis3_fork -1 0 0 0 0 0 0
7 axis5_fork -0.0050017 0.088736 0.0023758 0 0 0 0.49312 0.0016921 -1.8404E-05 9.9521E-07 0.00087841 -2.5873E-06 0.0019955 0 0 0 0 0 0 package://URDF_new/meshes/axis5_fork.STL 0.75294 0.75294 0.75294 1 0 0 0 0 0 0 package://URDF_new/meshes/axis5_fork.STL asmMainFork_221220-4 Origin_joint5 Axis5 joint5 revolute -0.00027 -0.11995 0 0 0 -3.1416 axis4_main 0 -1 0 0 0 0 0
8 axis6_main 0.00027998 -0.045366 0.0068959 0 0 0 0.42726 0.0013794 -4.0542E-05 -8.9181E-06 0.00047255 -3.4771E-05 0.001587 0 0 0 0 0 0 package://URDF_new/meshes/axis6_main.STL 0.75294 0.75294 0.75294 1 0 0 0 0 0 0 package://URDF_new/meshes/axis6_main.STL asmMainLink221219-4 Origin_joint6 Axis6 joint6 revolute 0 0.15465 0 1.5708 0 0 axis5_fork -1 0 0 0 0 0 0
9 axis7_tail 1.594E-06 0.085889 0.0021969 0 0 0 0.20976 0.00016257 4.2628E-07 -3.8857E-07 0.00022468 2.1709E-05 0.00023702 0 0 0 0 0 0 package://URDF_new/meshes/axis7_tail.STL 0.75294 0.75294 0.75294 1 0 0 0 0 0 0 package://URDF_new/meshes/axis7_tail.STL AsmTailLink_221214-2 Origin_joint7 Axis7 joint7 revolute -0.00037 -0.0754 0.0002 0 0 3.1416 axis6_main 0 -1 0 0 0 0 0

View file

@ -3,22 +3,22 @@
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="AsmMainArm221214_body.SLDASM">
name="URDF_new">
<link
name="base_link">
<inertial>
<origin
xyz="-0.000780731315532182 0.00565701376571108 0.0366488375048939"
xyz="0.00078073 -0.036649 -0.005657"
rpy="0 0 0" />
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value="0.61398" />
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ixx="0.00154230278672191"
ixy="-2.15412632179858E-06"
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iyz="7.0187E-07"
izz="0.0014689" />
</inertial>
<visual>
<origin
@ -26,12 +26,12 @@
rpy="0 0 0" />
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filename="package://AsmMainArm221214_body.SLDASM/meshes/base_link.STL" />
filename="package://URDF_new/meshes/base_link.STL" />
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name="">
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rgba="0.75294 0.75294 0.75294 1" />
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<collision>
@ -40,7 +40,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://AsmMainArm221214_body.SLDASM/meshes/base_link.STL" />
filename="package://URDF_new/meshes/base_link.STL" />
</geometry>
</collision>
</link>
@ -48,17 +48,17 @@
name="axis1_fork">
<inertial>
<origin
xyz="-0.00500171716581445 -0.00237578382667501 -0.0659095199092172"
xyz="-0.0050017 0.088736 0.0023758"
rpy="0 0 0" />
<mass
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ixy="-9.95103426145579E-07"
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iyy="0.00087841"
iyz="-2.5874E-06"
izz="0.0019955" />
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<visual>
<origin
@ -66,12 +66,12 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://AsmMainArm221214_body.SLDASM/meshes/axis1_fork.STL" />
filename="package://URDF_new/meshes/axis1_fork.STL" />
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name="">
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rgba="0.75294 0.75294 0.75294 1" />
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<collision>
@ -80,7 +80,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://AsmMainArm221214_body.SLDASM/meshes/axis1_fork.STL" />
filename="package://URDF_new/meshes/axis1_fork.STL" />
</geometry>
</collision>
</link>
@ -88,14 +88,14 @@
name="joint1"
type="revolute">
<origin
xyz="0 0 0.2663"
rpy="0 0 0" />
xyz="0 0 -0.11165"
rpy="-1.5708 0 -3.1416" />
<parent
link="base_link" />
<child
link="axis1_fork" />
<axis
xyz="0 0 -1" />
xyz="0 -1 0" />
<limit
lower="0"
upper="0"
@ -106,17 +106,17 @@
name="axis2_main">
<inertial>
<origin
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rpy="0 0 0" />
<mass
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ixy="-4.0542E-05"
ixz="-8.9181E-06"
iyy="0.00047255"
iyz="-3.4771E-05"
izz="0.001587" />
</inertial>
<visual>
<origin
@ -124,12 +124,12 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://AsmMainArm221214_body.SLDASM/meshes/axis2_main.STL" />
filename="package://URDF_new/meshes/axis2_main.STL" />
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<material
name="">
<color
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rgba="0.75294 0.75294 0.75294 1" />
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</visual>
<collision>
@ -138,7 +138,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://AsmMainArm221214_body.SLDASM/meshes/axis2_main.STL" />
filename="package://URDF_new/meshes/axis2_main.STL" />
</geometry>
</collision>
</link>
@ -146,14 +146,14 @@
name="joint2"
type="revolute">
<origin
xyz="-0.00027 0.132 0"
xyz="0 0.15465 0"
rpy="1.5708 0 0" />
<parent
link="axis1_fork" />
<child
link="axis2_main" />
<axis
xyz="1 0 0" />
xyz="-1 0 0" />
<limit
lower="0"
upper="0"
@ -164,17 +164,17 @@
name="axis3_fork">
<inertial>
<origin
xyz="-0.00500171689381246 -0.00237578385532944 -0.0659095202695734"
xyz="-0.0050017 0.088736 0.0023758"
rpy="0 0 0" />
<mass
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value="0.49312" />
<inertia
ixx="0.00169213383504095"
ixy="-9.95103403834234E-07"
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iyy="0.00199553070159878"
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izz="0.000878409035429165" />
ixx="0.0016921"
ixy="-1.8404E-05"
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iyy="0.00087841"
iyz="-2.5874E-06"
izz="0.0019955" />
</inertial>
<visual>
<origin
@ -182,12 +182,12 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://AsmMainArm221214_body.SLDASM/meshes/axis3_fork.STL" />
filename="package://URDF_new/meshes/axis3_fork.STL" />
</geometry>
<material
name="">
<color
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
rgba="0.75294 0.75294 0.75294 1" />
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</visual>
<collision>
@ -196,7 +196,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://AsmMainArm221214_body.SLDASM/meshes/axis3_fork.STL" />
filename="package://URDF_new/meshes/axis3_fork.STL" />
</geometry>
</collision>
</link>
@ -204,14 +204,14 @@
name="joint3"
type="revolute">
<origin
xyz="-9.99999999995011E-05 -0.000199999999999978 -0.1426"
rpy="-3.14159265358979 0 3.14159265358979" />
xyz="-0.00037 -0.11995 0.0002"
rpy="0 0 -3.1416" />
<parent
link="axis2_main" />
<child
link="axis3_fork" />
<axis
xyz="0 0 -1" />
xyz="0 -1 0" />
<limit
lower="0"
upper="0"
@ -222,17 +222,17 @@
name="axis4_main">
<inertial>
<origin
xyz="0.000549976714161273 -0.0068958686436621 0.0866341278153069"
xyz="0.00027998 -0.045366 0.0068959"
rpy="0 0 0" />
<mass
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<inertia
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iyy="0.00047255"
iyz="-3.4771E-05"
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</inertial>
<visual>
<origin
@ -240,12 +240,12 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://AsmMainArm221214_body.SLDASM/meshes/axis4_main.STL" />
filename="package://URDF_new/meshes/axis4_main.STL" />
</geometry>
<material
name="">
<color
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
rgba="0.75294 0.75294 0.75294 1" />
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</visual>
<collision>
@ -254,7 +254,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://AsmMainArm221214_body.SLDASM/meshes/axis4_main.STL" />
filename="package://URDF_new/meshes/axis4_main.STL" />
</geometry>
</collision>
</link>
@ -262,14 +262,14 @@
name="joint4"
type="revolute">
<origin
xyz="-0.000270000000000902 0.131999999999996 0"
rpy="1.5707963267949 0 0" />
xyz="0 0.15465 0"
rpy="1.5708 0 0" />
<parent
link="axis3_fork" />
<child
link="axis4_main" />
<axis
xyz="1 0 0" />
xyz="-1 0 0" />
<limit
lower="0"
upper="0"
@ -280,17 +280,17 @@
name="axis5_fork">
<inertial>
<origin
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xyz="-0.0050017 0.088736 0.0023758"
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<visual>
<origin
@ -298,12 +298,12 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://AsmMainArm221214_body.SLDASM/meshes/axis5_fork.STL" />
filename="package://URDF_new/meshes/axis5_fork.STL" />
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<material
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<color
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rgba="0.75294 0.75294 0.75294 1" />
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<collision>
@ -312,22 +312,22 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://AsmMainArm221214_body.SLDASM/meshes/axis5_fork.STL" />
filename="package://URDF_new/meshes/axis5_fork.STL" />
</geometry>
</collision>
</link>
<joint
name="joint4"
name="joint5"
type="revolute">
<origin
xyz="0 0 -0.1426"
rpy="-3.14159265358979 0 3.14159265358979" />
xyz="-0.00027 -0.11995 0"
rpy="0 0 -3.1416" />
<parent
link="axis4_main" />
<child
link="axis5_fork" />
<axis
xyz="0 0 -1" />
xyz="0 -1 0" />
<limit
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upper="0"
@ -338,17 +338,17 @@
name="axis6_main">
<inertial>
<origin
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<visual>
<origin
@ -356,12 +356,12 @@
rpy="0 0 0" />
<geometry>
<mesh
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<collision>
@ -370,7 +370,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://AsmMainArm221214_body.SLDASM/meshes/axis6_main.STL" />
filename="package://URDF_new/meshes/axis6_main.STL" />
</geometry>
</collision>
</link>
@ -378,14 +378,14 @@
name="joint6"
type="revolute">
<origin
xyz="-0.000270000000000355 0.132000000000009 0"
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xyz="0 0.15465 0"
rpy="1.5708 0 0" />
<parent
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<child
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<axis
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xyz="-1 0 0" />
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@ -396,17 +396,17 @@
name="axis7_tail">
<inertial>
<origin
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<visual>
<origin
@ -414,12 +414,12 @@
rpy="0 0 0" />
<geometry>
<mesh
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filename="package://URDF_new/meshes/axis7_tail.STL" />
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<material
name="">
<color
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
rgba="0.75294 0.75294 0.75294 1" />
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<collision>
@ -428,7 +428,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://AsmMainArm221214_body.SLDASM/meshes/axis7_tail.STL" />
filename="package://URDF_new/meshes/axis7_tail.STL" />
</geometry>
</collision>
</link>
@ -436,14 +436,14 @@
name="joint7"
type="revolute">
<origin
xyz="0.000642485214801946 -0.00214900625035641 0.00196355751717808"
rpy="3.14159265358979 0 0" />
xyz="-0.00037 -0.0754 0.0002"
rpy="0 0 3.1416" />
<parent
link="axis6_main" />
<child
link="axis7_tail" />
<axis
xyz="0 0 1" />
xyz="0 -1 0" />
<limit
lower="0"
upper="0"