Новая версия urdf и финальная версия Link_Main с отверстием для внешнего подключенния, которая идет в печать
This commit is contained in:
SIYOU
parent
ddb412c842
commit
1c69822531
34 changed files with 119 additions and 23731 deletions
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@ -1,9 +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
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||||
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,,,,,,,,,,,,
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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,,,,,,,,
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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,,,,,,,,
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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,,,,,,,,
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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,,,,,,,,
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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,,,,,,,,
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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,,,,,,,,
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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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src/URDF/meshes/axis1_fork.STL
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src/URDF/meshes/axis1_fork.STL
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src/URDF/meshes/axis2_main.STL
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src/URDF/meshes/axis2_main.STL
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src/URDF/meshes/axis3_fork.STL
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src/URDF/meshes/axis3_fork.STL
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src/URDF/meshes/axis4_main.STL
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src/URDF/meshes/axis4_main.STL
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src/URDF/meshes/axis5_fork.STL
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src/URDF/meshes/axis5_fork.STL
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src/URDF/meshes/axis6_main.STL
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src/URDF/meshes/axis6_main.STL
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src/URDF/meshes/axis7_tail.STL
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src/URDF/meshes/axis7_tail.STL
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src/URDF/meshes/base_link.STL
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src/URDF/meshes/base_link.STL
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src/URDF/urdf/URDF_new.csv
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src/URDF/urdf/URDF_new.csv
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@ -0,0 +1,9 @@
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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
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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,,,,,,,,,,,,
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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,,,,,,,,
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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,,,,,,,,
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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,,,,,,,,
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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,,,,,,,,
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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,,,,,,,,
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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,,,,,,,,
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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,,,,,,,,
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@ -3,22 +3,22 @@
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Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
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For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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<robot
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name="AsmMainArm221214_body.SLDASM">
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name="URDF_new">
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<link
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name="base_link">
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<inertial>
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<origin
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xyz="-0.000780731315532182 0.00565701376571108 0.0366488375048939"
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xyz="0.00078073 -0.036649 -0.005657"
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||||
rpy="0 0 0" />
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||||
<mass
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||||
value="0.613984774290843" />
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value="0.61398" />
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||||
<inertia
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ixx="0.00154230278672191"
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ixy="-2.15412632179858E-06"
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ixz="2.10476122644303E-05"
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iyy="0.00146894996430076"
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iyz="7.0186994389379E-07"
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izz="0.00150672869549504" />
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ixx="0.0015423"
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ixy="2.1048E-05"
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ixz="-2.1541E-06"
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iyy="0.0015067"
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iyz="7.0187E-07"
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izz="0.0014689" />
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</inertial>
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<visual>
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<origin
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@ -26,12 +26,12 @@
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://AsmMainArm221214_body.SLDASM/meshes/base_link.STL" />
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filename="package://URDF_new/meshes/base_link.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
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rgba="0.75294 0.75294 0.75294 1" />
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</material>
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</visual>
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<collision>
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://AsmMainArm221214_body.SLDASM/meshes/base_link.STL" />
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filename="package://URDF_new/meshes/base_link.STL" />
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</geometry>
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</collision>
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</link>
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@ -48,17 +48,17 @@
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name="axis1_fork">
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<inertial>
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<origin
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xyz="-0.00500171716581445 -0.00237578382667501 -0.0659095199092172"
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xyz="-0.0050017 0.088736 0.0023758"
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rpy="0 0 0" />
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<mass
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value="0.4931155110004" />
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value="0.49312" />
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<inertia
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ixx="0.00169213383533945"
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ixy="-9.95103426145579E-07"
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||||
ixz="-1.84043937246943E-05"
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||||
iyy="0.00199553070181316"
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||||
iyz="2.58742657398926E-06"
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izz="0.00087840903554742" />
|
||||
ixx="0.0016921"
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ixy="-1.8404E-05"
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ixz="9.951E-07"
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iyy="0.00087841"
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||||
iyz="-2.5874E-06"
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izz="0.0019955" />
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</inertial>
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<visual>
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<origin
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@ -66,12 +66,12 @@
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://AsmMainArm221214_body.SLDASM/meshes/axis1_fork.STL" />
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filename="package://URDF_new/meshes/axis1_fork.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
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rgba="0.75294 0.75294 0.75294 1" />
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</material>
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</visual>
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<collision>
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@ -80,7 +80,7 @@
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://AsmMainArm221214_body.SLDASM/meshes/axis1_fork.STL" />
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filename="package://URDF_new/meshes/axis1_fork.STL" />
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</geometry>
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</collision>
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</link>
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@ -88,14 +88,14 @@
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name="joint1"
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type="revolute">
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<origin
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xyz="0 0 0.2663"
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rpy="0 0 0" />
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xyz="0 0 -0.11165"
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rpy="-1.5708 0 -3.1416" />
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<parent
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link="base_link" />
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<child
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link="axis1_fork" />
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<axis
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xyz="0 0 -1" />
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xyz="0 -1 0" />
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<limit
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lower="0"
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upper="0"
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@ -106,17 +106,17 @@
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name="axis2_main">
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<inertial>
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<origin
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||||
xyz="0.000549976803363471 -0.00689586885019988 0.0866341280166462"
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xyz="0.00027998 -0.045366 0.0068959"
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rpy="0 0 0" />
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<mass
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||||
value="0.427264100252103" />
|
||||
value="0.42726" />
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<inertia
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||||
ixx="0.00137938090936023"
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ixy="8.91814157920489E-06"
|
||||
ixz="-4.05415908892525E-05"
|
||||
iyy="0.00158701127873922"
|
||||
iyz="3.47714163247768E-05"
|
||||
izz="0.000472551852924255" />
|
||||
ixx="0.0013794"
|
||||
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" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
||||
rgba="0.75294 0.75294 0.75294 1" />
|
||||
</material>
|
||||
</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
|
||||
value="0.493115508126031" />
|
||||
value="0.49312" />
|
||||
<inertia
|
||||
ixx="0.00169213383504095"
|
||||
ixy="-9.95103403834234E-07"
|
||||
ixz="-1.84043937522366E-05"
|
||||
iyy="0.00199553070159878"
|
||||
iyz="2.58742643777825E-06"
|
||||
izz="0.000878409035429165" />
|
||||
ixx="0.0016921"
|
||||
ixy="-1.8404E-05"
|
||||
ixz="9.951E-07"
|
||||
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" />
|
||||
</material>
|
||||
</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
|
||||
value="0.427264098134387" />
|
||||
value="0.42726" />
|
||||
<inertia
|
||||
ixx="0.00137938091192376"
|
||||
ixy="8.91814114274195E-06"
|
||||
ixz="-4.05415911887159E-05"
|
||||
iyy="0.00158701129284512"
|
||||
iyz="3.47714153744312E-05"
|
||||
izz="0.000472551864104613" />
|
||||
ixx="0.0013794"
|
||||
ixy="-4.0542E-05"
|
||||
ixz="-8.9181E-06"
|
||||
iyy="0.00047255"
|
||||
iyz="-3.4771E-05"
|
||||
izz="0.001587" />
|
||||
</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" />
|
||||
</material>
|
||||
</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
|
||||
xyz="-0.0050017168948255 -0.00237578385519227 -0.0659095202676269"
|
||||
xyz="-0.0050017 0.088736 0.0023758"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.493115508141685" />
|
||||
value="0.49312" />
|
||||
<inertia
|
||||
ixx="0.00169213403960964"
|
||||
ixy="-9.9520604628447E-07"
|
||||
ixz="-1.84044295119673E-05"
|
||||
iyy="0.00199553060263683"
|
||||
iyz="2.58731768474548E-06"
|
||||
izz="0.000878409014719423" />
|
||||
ixx="0.0016921"
|
||||
ixy="-1.8404E-05"
|
||||
ixz="9.9521E-07"
|
||||
iyy="0.00087841"
|
||||
iyz="-2.5873E-06"
|
||||
izz="0.0019955" />
|
||||
</inertial>
|
||||
<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" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
||||
rgba="0.75294 0.75294 0.75294 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<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
|
||||
lower="0"
|
||||
upper="0"
|
||||
|
|
@ -338,17 +338,17 @@
|
|||
name="axis6_main">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00054997671776411 -0.00689586866930159 0.0866341275726041"
|
||||
xyz="0.00027998 -0.045366 0.0068959"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.427264098328958" />
|
||||
value="0.42726" />
|
||||
<inertia
|
||||
ixx="0.00137938091534402"
|
||||
ixy="8.91814114297055E-06"
|
||||
ixz="-4.0541590864763E-05"
|
||||
iyy="0.00158701130391337"
|
||||
iyz="3.47714143450509E-05"
|
||||
izz="0.000472551871795596" />
|
||||
ixx="0.0013794"
|
||||
ixy="-4.0542E-05"
|
||||
ixz="-8.9181E-06"
|
||||
iyy="0.00047255"
|
||||
iyz="-3.4771E-05"
|
||||
izz="0.001587" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
|
|
@ -356,12 +356,12 @@
|
|||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://AsmMainArm221214_body.SLDASM/meshes/axis6_main.STL" />
|
||||
filename="package://URDF_new/meshes/axis6_main.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
||||
rgba="0.75294 0.75294 0.75294 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<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"
|
||||
rpy="1.5707963267949 0 0" />
|
||||
xyz="0 0.15465 0"
|
||||
rpy="1.5708 0 0" />
|
||||
<parent
|
||||
link="axis5_fork" />
|
||||
<child
|
||||
link="axis6_main" />
|
||||
<axis
|
||||
xyz="1 0 0" />
|
||||
xyz="-1 0 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="0"
|
||||
|
|
@ -396,17 +396,17 @@
|
|||
name="axis7_tail">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.000744079167935645 0.000247906221807259 0.0312529002329407"
|
||||
xyz="1.594E-06 0.085889 0.0021969"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.20976072293408" />
|
||||
value="0.20976" />
|
||||
<inertia
|
||||
ixx="0.000162570374609567"
|
||||
ixy="3.88568507884144E-07"
|
||||
ixz="-4.26281974342944E-07"
|
||||
iyy="0.000237024615700951"
|
||||
iyz="2.17085443047188E-05"
|
||||
izz="0.000224679988342896" />
|
||||
ixx="0.00016257"
|
||||
ixy="4.2628E-07"
|
||||
ixz="-3.8857E-07"
|
||||
iyy="0.00022468"
|
||||
iyz="2.1709E-05"
|
||||
izz="0.00023702" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
|
|
@ -414,12 +414,12 @@
|
|||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://AsmMainArm221214_body.SLDASM/meshes/axis7_tail.STL" />
|
||||
filename="package://URDF_new/meshes/axis7_tail.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
||||
rgba="0.75294 0.75294 0.75294 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<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"
|
||||
Loading…
Add table
Add a link
Reference in a new issue