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urdf fix

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This commit is contained in:
Mark Voltov 2024-01-29 22:18:42 +03:00
parent e79e2c5c5e
commit 32f1c2a3e6
24 changed files with 32 additions and 418 deletions
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59
rbs_arm/urdf/rbs_arm_macro.xacro
View file

@ -12,42 +12,42 @@
<child link="${prefix}base_link"/> <child link="${prefix}base_link"/>
</joint> </joint>
<joint name="${prefix}ee_link_joint" type="revolute"> <joint name="${prefix}ee_link_joint" type="revolute">
<limit lower="-3.14000" upper="3.14000" effort="0.00000" velocity="0.00000"/> <limit lower="-1.5708" upper="3.14000" effort="78" velocity="0.52"/>
<origin rpy="-0.00000 0.00000 0.00000" xyz="0.00025 -0.10000 0.09473"/> <origin rpy="-0.00000 0.00000 0.00000" xyz="0.00025 -0.10000 0.09473"/>
<parent link="${prefix}fork.003_link"/> <parent link="${prefix}fork.003_link"/>
<child link="${prefix}ee_link"/> <child link="${prefix}ee_link"/>
<axis xyz="1.00000 0.00000 0.00000"/> <axis xyz="1.00000 0.00000 0.00000"/>
</joint> </joint>
<joint name="${prefix}fork.002_link_joint" type="revolute"> <joint name="${prefix}fork.002_link_joint" type="revolute">
<limit lower="-3.14000" upper="3.14000" effort="0.00000" velocity="0.00000"/> <limit lower="-3.14000" upper="3.14000" effort="78" velocity="0.52"/>
<origin rpy="3.14159 0.00000 -3.14159" xyz="0.00000 0.00000 -0.13300"/> <origin rpy="3.14159 0.00000 -3.14159" xyz="0.00000 0.00000 -0.13300"/>
<parent link="${prefix}main_link"/> <parent link="${prefix}main_link"/>
<child link="${prefix}fork.002_link"/> <child link="${prefix}fork.002_link"/>
<axis xyz="0.00000 0.00000 1.00000"/> <axis xyz="0.00000 0.00000 1.00000"/>
</joint> </joint>
<joint name="${prefix}fork.003_link_joint" type="revolute"> <joint name="${prefix}fork.003_link_joint" type="revolute">
<limit lower="-3.14000" upper="3.14000" effort="0.00000" velocity="0.00000"/> <limit lower="-3.14000" upper="3.14000" effort="78" velocity="0.52"/>
<origin rpy="3.14159 0.00000 -3.14159" xyz="0.00000 0.00000 -0.13300"/> <origin rpy="3.14159 0.00000 -3.14159" xyz="0.00000 0.00000 -0.13300"/>
<parent link="${prefix}main.001_link"/> <parent link="${prefix}main.001_link"/>
<child link="${prefix}fork.003_link"/> <child link="${prefix}fork.003_link"/>
<axis xyz="0.00000 0.00000 1.00000"/> <axis xyz="0.00000 0.00000 1.00000"/>
</joint> </joint>
<joint name="${prefix}fork_link_joint" type="revolute"> <joint name="${prefix}fork_link_joint" type="revolute">
<limit lower="-3.14000" upper="3.14000" effort="0.00000" velocity="0.00000"/> <limit lower="-3.14000" upper="3.14000" effort="78" velocity="0.52"/>
<origin rpy="0.00000 0.00000 -0.00000" xyz="0.00000 -0.00000 0.17833"/> <origin rpy="0.00000 0.00000 -0.00000" xyz="0.00000 -0.00000 0.17833"/>
<parent link="${prefix}base_link"/> <parent link="${prefix}base_link"/>
<child link="${prefix}fork_link"/> <child link="${prefix}fork_link"/>
<axis xyz="0.00000 0.00000 1.00000"/> <axis xyz="0.00000 0.00000 1.00000"/>
</joint> </joint>
<joint name="${prefix}main.001_link_joint" type="revolute"> <joint name="${prefix}main.001_link_joint" type="revolute">
<limit lower="-3.14000" upper="3.14000" effort="0.00000" velocity="0.00000"/> <limit lower="-1.5708" upper="3.14000" effort="78" velocity="0.52"/>
<origin rpy="-0.00000 0.00000 0.00000" xyz="0.00025 -0.10000 0.09400"/> <origin rpy="-0.00000 0.00000 0.00000" xyz="0.00025 -0.10000 0.09400"/>
<parent link="${prefix}fork.002_link"/> <parent link="${prefix}fork.002_link"/>
<child link="${prefix}main.001_link"/> <child link="${prefix}main.001_link"/>
<axis xyz="1.00000 0.00000 0.00000"/> <axis xyz="1.00000 0.00000 0.00000"/>
</joint> </joint>
<joint name="${prefix}main_link_joint" type="revolute"> <joint name="${prefix}main_link_joint" type="revolute">
<limit lower="-3.14000" upper="3.14000" effort="0.00000" velocity="0.00000"/> <limit lower="-1.5708" upper="3.14000" effort="78" velocity="0.52"/>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00025 -0.10000 0.09400"/> <origin rpy="0.00000 0.00000 0.00000" xyz="0.00025 -0.10000 0.09400"/>
<parent link="${prefix}fork_link"/> <parent link="${prefix}fork_link"/>
<child link="${prefix}main_link"/> <child link="${prefix}main_link"/>
@ -66,9 +66,9 @@
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<inertia ixx="0.00476" ixy="-0.00000" ixz="0.00001" iyy="0.00471" iyz="0.00012" izz="0.00129"/> <inertia ixx="0.00503302470272442" ixy="0.000343817346410954" ixz="-4.74990755448368E-06" iyy="0.00337962410057753" iyz="-2.3099255620051E-05" izz="0.00405858207282473"/>
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.00004 -0.00477 0.09651"/> <origin rpy="0.00000 0.00000 0.00000" xyz="-0.000297002857922682 0.0964721185617698 -0.000361033370053684"/>
<mass value="1.00000"/> <mass value="1.88031044620482"/>
</inertial> </inertial>
<visual name="${prefix}base_visual"> <visual name="${prefix}base_visual">
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
@ -86,9 +86,9 @@
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<inertia ixx="0.00329" ixy="-0.00000" ixz="0.00001" iyy="0.00319" iyz="-0.00002" izz="0.00111"/> <inertia ixx="0.00147695259043549" ixy="-2.66894744420299E-05" ixz="-4.40871314563273E-05" iyy="0.00135500487881796" iyz="--3.19001462979333E-05" izz="0.00087582892706912"/>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00003 0.00443 -0.03359"/> <origin rpy="0.00000 0.00000 0.00000" xyz="-9.7531539777207E-06 -0.000888494418875867 0.0342332199538358"/>
<mass value="1.00000"/> <mass value="1.88031044620482"/>
</inertial> </inertial>
<visual name="${prefix}ee_visual"> <visual name="${prefix}ee_visual">
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.00000 0.00000"/> <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.00000 0.00000"/>
@ -106,9 +106,9 @@
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<inertia ixx="0.00320" ixy="-0.00014" ixz="-0.00007" iyy="0.00243" iyz="-0.00122" izz="0.00329"/> <inertia ixx="0.00367804533572758" ixy="1.04277925521833E-05" ixz="-0.00149971410403071" iyy="0.00415208849477534" iyz="-0.00122" izz="0.00329"/>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00582 -0.04787 0.05532"/> <origin rpy="0.00000 0.00000 0.00000" xyz="0.0472051139085306 0.00208890925682996 0.0557265410642575"/>
<mass value="1.00000"/> <mass value="1.12472202892859"/>
</inertial> </inertial>
<visual name="${prefix}fork.002_visual"> <visual name="${prefix}fork.002_visual">
<origin rpy="0.00000 -0.00000 -0.00000" xyz="0.00000 -0.00000 0.00000"/> <origin rpy="0.00000 -0.00000 -0.00000" xyz="0.00000 -0.00000 0.00000"/>
@ -126,9 +126,9 @@
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<inertia ixx="0.00320" ixy="0.00014" ixz="-0.00007" iyy="0.00243" iyz="0.00122" izz="0.00329"/> <inertia ixx="0.00367804533572758" ixy="1.04277925521833E-05" ixz="-0.00149971410403071" iyy="0.00415208849477534" iyz="-0.00122" izz="0.00329"/>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00582 -0.04787 0.05532"/> <origin rpy="0.00000 0.00000 0.00000" xyz="0.0472051139085306 0.00208890925682996 0.0557265410642575"/>
<mass value="1.00000"/> <mass value="1.12472202892859"/>
</inertial> </inertial>
<visual name="${prefix}fork.003_visual"> <visual name="${prefix}fork.003_visual">
<origin rpy="-0.00000 0.00000 -0.00000" xyz="0.00000 -0.00000 0.00000"/> <origin rpy="-0.00000 0.00000 -0.00000" xyz="0.00000 -0.00000 0.00000"/>
@ -146,9 +146,9 @@
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<inertia ixx="0.00320" ixy="0.00014" ixz="-0.00007" iyy="0.00243" iyz="0.00122" izz="0.00329"/> <inertia ixx="0.00367804533572758" ixy="1.04277925521833E-05" ixz="-0.00149971410403071" iyy="0.00415208849477534" iyz="-0.00122" izz="0.00329"/>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00582 -0.04787 0.05532"/> <origin rpy="0.00000 0.00000 0.00000" xyz="0.0472051139085306 0.00208890925682996 0.0557265410642575"/>
<mass value="1.00000"/> <mass value="1.12472202892859"/>
</inertial> </inertial>
<visual name="${prefix}fork_visual"> <visual name="${prefix}fork_visual">
<origin rpy="0.00000 0.00000 -0.00000" xyz="-0.00000 0.00000 0.00000"/> <origin rpy="0.00000 0.00000 -0.00000" xyz="-0.00000 0.00000 0.00000"/>
@ -166,9 +166,9 @@
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<inertia ixx="0.00307" ixy="-0.00001" ixz="0.00001" iyy="0.00299" iyz="0.00006" izz="0.00118"/> <inertia ixx="0.00315699373090845" ixy="2.84713820858537E-05" ixz="-7.01601261191721E-05" iyy="0.00343729241263707" iyz="-0.000101485203138902" izz="0.00125534890134052"/>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00001 -0.00520 -0.04713"/> <origin rpy="0.00000 0.00000 0.00000" xyz="0.00186712264682627 -0.000412152188777604 0.0516389446895805"/>
<mass value="1.00000"/> <mass value="1.58688811563124"/>
</inertial> </inertial>
<visual name="${prefix}main.001_visual"> <visual name="${prefix}main.001_visual">
<origin rpy="0.00000 -0.00000 -0.00000" xyz="0.00000 0.00000 0.00000"/> <origin rpy="0.00000 -0.00000 -0.00000" xyz="0.00000 0.00000 0.00000"/>
@ -180,13 +180,18 @@
</link> </link>
<link name="${prefix}main_link"> <link name="${prefix}main_link">
<collision name="${prefix}main_collision"> <collision name="${prefix}main_collision">
<origin rpy="-0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> <origin rpy="0.00000 0.00000 3.14159" xyz="0.00000 0.00000 0.00000"/>
<geometry> <geometry>
<mesh filename="package://rbs_arm/meshes/collision/main.001.stl" scale="0.00100 0.00100 0.00100"/> <mesh filename="package://rbs_arm/meshes/collision/main.stl" scale="0.00100 0.00100 0.00100"/>
</geometry> </geometry>
</collision> </collision>
<inertial>
<inertia ixx="0.00315699373090845" ixy="2.84713820858537E-05" ixz="-7.01601261191721E-05" iyy="0.00343729241263707" iyz="-0.000101485203138902" izz="0.00125534890134052"/>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00186712264682627 -0.000412152188777604 0.0516389446895805"/>
<mass value="1.58688811563124"/>
</inertial>
<visual name="${prefix}main_visual"> <visual name="${prefix}main_visual">
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> <origin rpy="0.00000 -0.00000 -0.00000" xyz="0.00000 0.00000 0.00000"/>
<material name="M_main_link"/> <material name="M_main_link"/>
<geometry> <geometry>
<mesh filename="package://rbs_arm/meshes/visual/main_link.dae" scale="1.00000 1.00000 1.00000"/> <mesh filename="package://rbs_arm/meshes/visual/main_link.dae" scale="1.00000 1.00000 1.00000"/>

17
urdf/configs/base_link_inertial.json
View file

@ -1,17 +0,0 @@
{
"name": "Base_Link",
"mass": 1.88031044620482,
"inertial": {
"ixx": 0.00503302470272442,
"ixy": 0.000343817346410954,
"ixz": -4.74990755448368E-06,
"iyy": 0.00337962410057753,
"iyz": -2.3099255620051E-05,
"izz": 0.00405858207282473
},
"cm": [
-0.000297002857922682,
0.0964721185617698,
-0.000361033370053684
]
}

17
urdf/configs/dock_link_inertial.json
View file

@ -1,17 +0,0 @@
{
"name": "Dock_Link",
"mass": 1.88031044620482,
"inertial": {
"ixx": 0.00147695259043549,
"ixy": -2.66894744420299E-05,
"ixz": -4.40871314563273E-05,
"iyy": 0.00135500487881796,
"iyz": -3.19001462979333E-05,
"izz": 0.00087582892706912
},
"cm": [
-9.7531539777207E-06,
-0.000888494418875867,
0.0342332199538358
]
}

17
urdf/configs/fork_1_inertial.json
View file

@ -1,17 +0,0 @@
{
"name": "Fork_1",
"mass": 1.12472202892859,
"inertial": {
"ixx": 0.00367804533572758,
"ixy": 1.04277925521833E-05,
"ixz": -0.00149971410403071,
"iyy": 0.00415208849477534,
"iyz": -5.67049464176624E-06,
"izz": 0.0041832353455649
},
"cm": [
0.0472051139085306,
0.00208890925682996,
0.0557265410642575
]
}

17
urdf/configs/fork_2_inertial.json
View file

@ -1,17 +0,0 @@
{
"name": "Fork_2",
"mass": 1.12472202892859,
"inertial": {
"ixx": 0.00367804533572758,
"ixy": 1.04277925521833E-05,
"ixz": -0.00149971410403071,
"iyy": 0.00415208849477534,
"iyz": -5.67049464176624E-06,
"izz": 0.0041832353455649
},
"cm": [
0.0472051139085306,
0.00208890925682996,
0.0557265410642575
]
}

17
urdf/configs/fork_3_inertial.json
View file

@ -1,17 +0,0 @@
{
"name": "Fork_3",
"mass": 1.12472202892859,
"inertial": {
"ixx": 0.00367804533572758,
"ixy": 1.04277925521833E-05,
"ixz": -0.00149971410403071,
"iyy": 0.00415208849477534,
"iyz": -5.67049464176624E-06,
"izz": 0.0041832353455649
},
"cm": [
0.0472051139085306,
0.00208890925682996,
0.0557265410642575
]
}

17
urdf/configs/joint_1_config.json
View file

@ -1,17 +0,0 @@
{
"parent": "base_link",
"child": "fork_1",
"joint_type": "revolute",
"dynamics":{
"damping": 0,
"friction":0
},
"limit":{
"upper": 360,
"lower": 0,
"effort": 78,
"velocity": 0.52
}
}

17
urdf/configs/joint_2_config.json
View file

@ -1,17 +0,0 @@
{
"parent": "fork_1",
"child": "link_1",
"joint_type": "revolute",
"dynamics":{
"damping": 0,
"friction":0
},
"limit":{
"upper": 180,
"lower": 90,
"effort": 78,
"velocity": 0.52
}
}

17
urdf/configs/joint_3_config.json
View file

@ -1,17 +0,0 @@
{
"parent": "link_1",
"child": "fork_2",
"joint_type": "revolute",
"dynamics":{
"damping": 0,
"friction":0
},
"limit":{
"upper": 360,
"lower": 0,
"effort": 78,
"velocity": 0.52
}
}

17
urdf/configs/joint_4_config.json
View file

@ -1,17 +0,0 @@
{
"parent": "fork_2",
"child": "link_2",
"joint_type": "revolute",
"dynamics":{
"damping": 0,
"friction":0
},
"limit":{
"upper": 180 ,
"lower": 90,
"effort": 78,
"velocity": 0.52
}
}

17
urdf/configs/joint_5_config.json
View file

@ -1,17 +0,0 @@
{
"parent": "link_2",
"child": "fork_3",
"joint_type": "revolute",
"dynamics":{
"damping": 0,
"friction":0
},
"limit":{
"upper": 360,
"lower": 0,
"effort": 78,
"velocity": 0.52
}
}

17
urdf/configs/joint_6_config.json
View file

@ -1,17 +0,0 @@
{
"parent": "fork_3",
"child": "dock_link",
"joint_type": "revolute",
"dynamics":{
"damping": 0,
"friction":0
},
"limit":{
"upper": 180,
"lower": 90,
"effort": 78,
"velocity": 0.52
}
}

17
urdf/configs/link_1_inertial.json
View file

@ -1,17 +0,0 @@
{
"name": "Link_1",
"mass": 1.58688811563124,
"inertial": {
"ixx": 0.00315699373090845,
"ixy": 2.84713820858537E-05,
"ixz": -7.01601261191721E-05,
"iyy": 0.00343729241263707,
"iyz": -0.000101485203138902,
"izz": 0.00125534890134052
},
"cm": [
0.00186712264682627,
-0.000412152188777604,
0.0516389446895805
]
}

17
urdf/configs/link_2_inertial.json
View file

@ -1,17 +0,0 @@
{
"name": "Link_2",
"mass": 1.58688811563124,
"inertial": {
"ixx": 0.00315699373090845,
"ixy": 2.84713820858537E-05,
"ixz": -7.01601261191721E-05,
"iyy": 0.00343729241263707,
"iyz": -0.000101485203138902,
"izz": 0.00125534890134052
},
"cm": [
0.00186712264682627,
-0.000412152188777604,
0.0516389446895805
]
}

17
urdf/configs/link_inertial_config.json
View file

@ -1,17 +0,0 @@
{
"name": "link_name",
"mass": 0,
"inertial": {
"ixx": 0.0,
"ixy": 0.0,
"ixz": 0.0,
"iyy": 0.0,
"iyz": 0.0,
"izz": 0.0
},
"cm": [
0.0,
0.0,
0.0
]
}

17
urdf/configs/sample_joint_config.json
View file

@ -1,17 +0,0 @@
{
"parent": "link_name",
"child": "link_name",
"joint_type": "joint_type",
"dynamics":{
"damping": 0,
"friction":0
},
"limit":{
"upper": 0,
"lower": -0,
"effort": 1,
"velocity": 1
}
}

17
urdf/urdf/base_link_inertial.json
View file

@ -1,17 +0,0 @@
{
"name": "Base_Link",
"mass": 1.88031044620482,
"inertial": {
"ixx": 0.00503302470272442,
"ixy": 0.000343817346410954,
"ixz": -4.74990755448368E-06,
"iyy": 0.00337962410057753,
"iyz": -2.3099255620051E-05,
"izz": 0.00405858207282473
},
"cm": [
-0.000297002857922682,
0.0964721185617698,
-0.000361033370053684
]
}

17
urdf/urdf/dock_link_inertial.json
View file

@ -1,17 +0,0 @@
{
"name": "Dock_Link",
"mass": 1.88031044620482,
"inertial": {
"ixx": 0.00147695259043549,
"ixy": -2.66894744420299E-05,
"ixz": -4.40871314563273E-05,
"iyy": 0.00135500487881796,
"iyz": -3.19001462979333E-05,
"izz": 0.00087582892706912
},
"cm": [
-9.7531539777207E-06,
-0.000888494418875867,
0.0342332199538358
]
}

17
urdf/urdf/fork_1_inertial.json
View file

@ -1,17 +0,0 @@
{
"name": "Fork_1",
"mass": 1.12472202892859,
"inertial": {
"ixx": 0.00367804533572758,
"ixy": 1.04277925521833E-05,
"ixz": -0.00149971410403071,
"iyy": 0.00415208849477534,
"iyz": -5.67049464176624E-06,
"izz": 0.0041832353455649
},
"cm": [
0.0472051139085306,
0.00208890925682996,
0.0557265410642575
]
}

17
urdf/urdf/fork_2_inertial.json
View file

@ -1,17 +0,0 @@
{
"name": "Fork_2",
"mass": 1.12472202892859,
"inertial": {
"ixx": 0.00367804533572758,
"ixy": 1.04277925521833E-05,
"ixz": -0.00149971410403071,
"iyy": 0.00415208849477534,
"iyz": -5.67049464176624E-06,
"izz": 0.0041832353455649
},
"cm": [
0.0472051139085306,
0.00208890925682996,
0.0557265410642575
]
}

17
urdf/urdf/fork_3_inertial.json
View file

@ -1,17 +0,0 @@
{
"name": "Fork_3",
"mass": 1.12472202892859,
"inertial": {
"ixx": 0.00367804533572758,
"ixy": 1.04277925521833E-05,
"ixz": -0.00149971410403071,
"iyy": 0.00415208849477534,
"iyz": -5.67049464176624E-06,
"izz": 0.0041832353455649
},
"cm": [
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0.0557265410642575
]
}

17
urdf/urdf/link_1_inertial.json
View file

@ -1,17 +0,0 @@
{
"name": "Link_1",
"mass": 1.58688811563124,
"inertial": {
"ixx": 0.00315699373090845,
"ixy": 2.84713820858537E-05,
"ixz": -7.01601261191721E-05,
"iyy": 0.00343729241263707,
"iyz": -0.000101485203138902,
"izz": 0.00125534890134052
},
"cm": [
0.00186712264682627,
-0.000412152188777604,
0.0516389446895805
]
}

17
urdf/urdf/link_2_inertial.json
View file

@ -1,17 +0,0 @@
{
"name": "Link_2",
"mass": 1.58688811563124,
"inertial": {
"ixx": 0.00315699373090845,
"ixy": 2.84713820858537E-05,
"ixz": -7.01601261191721E-05,
"iyy": 0.00343729241263707,
"iyz": -0.000101485203138902,
"izz": 0.00125534890134052
},
"cm": [
0.00186712264682627,
-0.000412152188777604,
0.0516389446895805
]
}

17
urdf/urdf/link_inertial_config.json
View file

@ -1,17 +0,0 @@
{
"name": "link_name",
"mass": 0,
"inertial": {
"ixx": 0.0,
"ixy": 0.0,
"ixz": 0.0,
"iyy": 0.0,
"iyz": 0.0,
"izz": 0.0
},
"cm": [
0.0,
0.0,
0.0
]
}