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Добавлен urdf

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Добавил urdf для манипулятора в версиях с захватом и без
This commit is contained in:
MarkVoltov 2022-08-30 17:01:43 +03:00
parent 6c6de48549
commit a003a61628
43 changed files with 3845 additions and 0 deletions
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src/BOARD/motor_brd_220601.SLDASM
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src/DOCKING_LINK/dokin_link_220706.SLDASM
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src/GEAR_BOX/_asm_motor_and_reducer_220216.SLDASM
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src/LINK/asm_start_link_220707.SLDASM
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src/LINK/assemb_link_220316.SLDASM
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src/MOTOR/asm_motor_new_220213.SLDASM
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src/MOTOR/asm_motor_new_stator_220601.SLDASM
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src/arm_assembly_220318.SLDASM
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src/arm_grip_assembly.SLDASM Normal file
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src/console.log Normal file
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Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
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Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
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Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
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Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
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Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
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Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
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Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
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Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
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Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
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Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
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Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
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Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------
Level: Info
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
Line: 179
-----------------------

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urdf/no_grip/_arm_assembly_/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 2.8.3)
project(_arm_assembly_)
find_package(catkin REQUIRED)
catkin_package()
find_package(roslaunch)
foreach(dir config launch meshes urdf)
install(DIRECTORY ${dir}/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
endforeach(dir)

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urdf/no_grip/_arm_assembly_/config/joint_names__arm_assembly_.yaml Normal file
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controller_joint_names: ['', 'rot_1', 'rot_2', 'rot_3', 'rot_4', 'rot_5', 'rot_6', ]

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urdf/no_grip/_arm_assembly_/export.log Normal file
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urdf/no_grip/_arm_assembly_/launch/display.launch Normal file
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<launch>
<arg
name="model" />
<param
name="robot_description"
textfile="$(find _arm_assembly_)/urdf/_arm_assembly_.urdf" />
<node
name="joint_state_publisher_gui"
pkg="joint_state_publisher_gui"
type="joint_state_publisher_gui" />
<node
name="robot_state_publisher"
pkg="robot_state_publisher"
type="robot_state_publisher" />
<node
name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find _arm_assembly_)/urdf.rviz" />
</launch>

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urdf/no_grip/_arm_assembly_/launch/gazebo.launch Normal file
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<launch>
<include
file="$(find gazebo_ros)/launch/empty_world.launch" />
<node
name="tf_footprint_base"
pkg="tf"
type="static_transform_publisher"
args="0 0 0 0 0 0 base_link base_footprint 40" />
<node
name="spawn_model"
pkg="gazebo_ros"
type="spawn_model"
args="-file $(find _arm_assembly_)/urdf/_arm_assembly_.urdf -urdf -model _arm_assembly_"
output="screen" />
<node
name="fake_joint_calibration"
pkg="rostopic"
type="rostopic"
args="pub /calibrated std_msgs/Bool true" />
</launch>

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urdf/no_grip/_arm_assembly_/meshes/base_link.STL Normal file
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urdf/no_grip/_arm_assembly_/package.xml Normal file
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<package format="2">
<name>_arm_assembly_</name>
<version>1.0.0</version>
<description>
<p>URDF Description package for _arm_assembly_</p>
<p>This package contains configuration data, 3D models and launch files
for _arm_assembly_ robot</p>
</description>
<author>TODO</author>
<maintainer email="TODO@email.com" />
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<depend>roslaunch</depend>
<depend>robot_state_publisher</depend>
<depend>rviz</depend>
<depend>joint_state_publisher_gui</depend>
<depend>gazebo</depend>
<export>
<architecture_independent />
</export>
</package>

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urdf/no_grip/_arm_assembly_/urdf/_arm_assembly_.csv Normal file
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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,"0,040604","0,15063","-0,11851",0,0,0,"1,8803","0,005025","-0,00034445","8,8215E-05","0,0033796","-9,9286E-06","0,0040666",0,0,0,0,0,0,package://_arm_assembly_/meshes/base_link.STL,"0,75294","0,75294","0,75294",1,0,0,0,0,0,0,package://_arm_assembly_/meshes/base_link.STL,,asm_start_link_220707-1,Origin_global,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
link_1,"-0,0020889","0,11823","-0,047205",0,0,0,"1,1247","0,0041521","5,6707E-06","1,0427E-05","0,0041832","0,0014997","0,003678",0,0,0,0,0,0,package://_arm_assembly_/meshes/link_1.STL,"0,75294","0,75294","0,75294",1,0,0,0,0,0,0,package://_arm_assembly_/meshes/link_1.STL,,asm_fork_220606-4,Origin_rot_1,Axis_rot_1,rot_1,continuous,"0,040343","0,1189","0,19302","1,5708",0,"1,4749",base_link,0,1,0,,,,,,,,,,,,
link_2,"0,0018671","-0,00041216","0,051639",0,0,0,"1,5869","0,003157","2,8471E-05","7,016E-05","0,0034373","-0,00010149","0,0012553",0,0,0,0,0,0,package://_arm_assembly_/meshes/link_2.STL,"0,75294","0,75294","0,75294",1,0,0,0,0,0,0,package://_arm_assembly_/meshes/link_2.STL,,assemb_link_220316-1,Origin_rot_2,Axis_rot_2,rot_2,continuous,0,"0,1775","-0,11","-1,5708",0,0,link_1,1,0,0,0,0,"-3,1415","1,57075",,,,,,,,
link_3,"-0,0020889","0,11823","-0,047205",0,0,0,"1,1247","0,0041521","5,6707E-06","1,0427E-05","0,0041832","0,0014997","0,003678",0,0,0,0,0,0,package://_arm_assembly_/meshes/link_3.STL,"0,75294","0,75294","0,75294",1,0,0,0,0,0,0,package://_arm_assembly_/meshes/link_3.STL,,asm_fork_220606-1,Origin_rot_3,Axis_rot_3,rot_3,continuous,"0,000999999999999598",0,"0,0934950000054622","1,57079632679486",0,0,link_2,0,1,0,,,,,,,,,,,,
link_4,"-0,00043288","-0,00041216","0,051639",0,0,0,"1,5869","0,003157","2,8471E-05","7,016E-05","0,0034373","-0,00010149","0,0012553",0,0,0,0,0,0,package://_arm_assembly_/meshes/link_4.STL,"0,75294","0,75294","0,75294",1,0,0,0,0,0,0,package://_arm_assembly_/meshes/link_4.STL,,assemb_link_220316-2,Origin_rot_4,Axis_rot_4,rot_4,continuous,0,"0,1775","-0,11","-1,5708",0,0,link_3,1,0,0,0,0,"-3,1415",157075,,,,,,,,
link_5,"-0,0020889","0,11823","-0,047205",0,0,0,"1,1247","0,0041521","5,6707E-06","1,0427E-05","0,0041832","0,0014997","0,003678",0,0,0,0,0,0,package://_arm_assembly_/meshes/link_5.STL,"0,75294","0,75294","0,75294",1,0,0,0,0,0,0,package://_arm_assembly_/meshes/link_5.STL,,asm_fork_220606-2,Origin_rot_5,Axis_rot_5,rot_5,continuous,"-0,00130000000000038",0,"0,0934950000054622","1,57079632679485",0,0,link_4,0,1,0,,,,,,,,,,,,
end_link,"-9,7376E-06","-0,0008885","0,034233",0,0,0,"1,2694","0,001477","-2,6689E-05","-4,4088E-05","0,001355","-3,1901E-05","0,00087583",0,0,0,0,0,0,package://_arm_assembly_/meshes/end_link.STL,"0,75294","0,75294","0,75294",1,0,0,0,0,0,0,package://_arm_assembly_/meshes/end_link.STL,,dokin_link_220706-1,Origin_rot_6,Axis_rot_6,rot_6,continuous,0,"0,1775","-0,11","1,5708","1,5708",0,link_5,0,1,0,0,0,"3,1415",157075,,,,,,,,
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 0,040604 0,15063 -0,11851 0 0 0 1,8803 0,005025 -0,00034445 8,8215E-05 0,0033796 -9,9286E-06 0,0040666 0 0 0 0 0 0 package://_arm_assembly_/meshes/base_link.STL 0,75294 0,75294 0,75294 1 0 0 0 0 0 0 package://_arm_assembly_/meshes/base_link.STL asm_start_link_220707-1 Origin_global 0 0 0 0 0 0 0 0 0
3 link_1 -0,0020889 0,11823 -0,047205 0 0 0 1,1247 0,0041521 5,6707E-06 1,0427E-05 0,0041832 0,0014997 0,003678 0 0 0 0 0 0 package://_arm_assembly_/meshes/link_1.STL 0,75294 0,75294 0,75294 1 0 0 0 0 0 0 package://_arm_assembly_/meshes/link_1.STL asm_fork_220606-4 Origin_rot_1 Axis_rot_1 rot_1 continuous 0,040343 0,1189 0,19302 1,5708 0 1,4749 base_link 0 1 0
4 link_2 0,0018671 -0,00041216 0,051639 0 0 0 1,5869 0,003157 2,8471E-05 7,016E-05 0,0034373 -0,00010149 0,0012553 0 0 0 0 0 0 package://_arm_assembly_/meshes/link_2.STL 0,75294 0,75294 0,75294 1 0 0 0 0 0 0 package://_arm_assembly_/meshes/link_2.STL assemb_link_220316-1 Origin_rot_2 Axis_rot_2 rot_2 continuous 0 0,1775 -0,11 -1,5708 0 0 link_1 1 0 0 0 0 -3,1415 1,57075
5 link_3 -0,0020889 0,11823 -0,047205 0 0 0 1,1247 0,0041521 5,6707E-06 1,0427E-05 0,0041832 0,0014997 0,003678 0 0 0 0 0 0 package://_arm_assembly_/meshes/link_3.STL 0,75294 0,75294 0,75294 1 0 0 0 0 0 0 package://_arm_assembly_/meshes/link_3.STL asm_fork_220606-1 Origin_rot_3 Axis_rot_3 rot_3 continuous 0,000999999999999598 0 0,0934950000054622 1,57079632679486 0 0 link_2 0 1 0
6 link_4 -0,00043288 -0,00041216 0,051639 0 0 0 1,5869 0,003157 2,8471E-05 7,016E-05 0,0034373 -0,00010149 0,0012553 0 0 0 0 0 0 package://_arm_assembly_/meshes/link_4.STL 0,75294 0,75294 0,75294 1 0 0 0 0 0 0 package://_arm_assembly_/meshes/link_4.STL assemb_link_220316-2 Origin_rot_4 Axis_rot_4 rot_4 continuous 0 0,1775 -0,11 -1,5708 0 0 link_3 1 0 0 0 0 -3,1415 157075
7 link_5 -0,0020889 0,11823 -0,047205 0 0 0 1,1247 0,0041521 5,6707E-06 1,0427E-05 0,0041832 0,0014997 0,003678 0 0 0 0 0 0 package://_arm_assembly_/meshes/link_5.STL 0,75294 0,75294 0,75294 1 0 0 0 0 0 0 package://_arm_assembly_/meshes/link_5.STL asm_fork_220606-2 Origin_rot_5 Axis_rot_5 rot_5 continuous -0,00130000000000038 0 0,0934950000054622 1,57079632679485 0 0 link_4 0 1 0
8 end_link -9,7376E-06 -0,0008885 0,034233 0 0 0 1,2694 0,001477 -2,6689E-05 -4,4088E-05 0,001355 -3,1901E-05 0,00087583 0 0 0 0 0 0 package://_arm_assembly_/meshes/end_link.STL 0,75294 0,75294 0,75294 1 0 0 0 0 0 0 package://_arm_assembly_/meshes/end_link.STL dokin_link_220706-1 Origin_rot_6 Axis_rot_6 rot_6 continuous 0 0,1775 -0,11 1,5708 1,5708 0 link_5 0 1 0 0 0 3,1415 157075

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<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.6.0-1-g15f4949 Build Version: 1.6.7594.29634
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="_arm_assembly_">
<link
name="base_link">
<inertial>
<origin
xyz="0.040604 0.15063 -0.11851"
rpy="0 0 0" />
<mass
value="1.8803" />
<inertia
ixx="0.005025"
ixy="-0.00034445"
ixz="8.8215E-05"
iyy="0.0033796"
iyz="-9.9286E-06"
izz="0.0040666" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://_arm_assembly_/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.75294 0.75294 0.75294 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://_arm_assembly_/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="link_1">
<inertial>
<origin
xyz="-0.0020889 0.11823 -0.047205"
rpy="0 0 0" />
<mass
value="1.1247" />
<inertia
ixx="0.0041521"
ixy="5.6707E-06"
ixz="1.0427E-05"
iyy="0.0041832"
iyz="0.0014997"
izz="0.003678" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://_arm_assembly_/meshes/link_1.STL" />
</geometry>
<material
name="">
<color
rgba="0.75294 0.75294 0.75294 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://_arm_assembly_/meshes/link_1.STL" />
</geometry>
</collision>
</link>
<joint
name="rot_1"
type="continuous">
<origin
xyz="0.040343 0.1189 0.19302"
rpy="1.5708 0 1.4749" />
<parent
link="base_link" />
<child
link="link_1" />
<axis
xyz="0 1 0" />
</joint>
<link
name="link_2">
<inertial>
<origin
xyz="0.0018671 -0.00041216 0.051639"
rpy="0 0 0" />
<mass
value="1.5869" />
<inertia
ixx="0.003157"
ixy="2.8471E-05"
ixz="7.016E-05"
iyy="0.0034373"
iyz="-0.00010149"
izz="0.0012553" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://_arm_assembly_/meshes/link_2.STL" />
</geometry>
<material
name="">
<color
rgba="0.75294 0.75294 0.75294 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://_arm_assembly_/meshes/link_2.STL" />
</geometry>
</collision>
</link>
<joint
name="rot_2"
type="continuous">
<origin
xyz="0 0.1775 -0.11"
rpy="-1.5708 0 0" />
<parent
link="link_1" />
<child
link="link_2" />
<axis
xyz="1 0 0" />
<limit
lower="-3.1415"
upper="1.57075"
effort="0"
velocity="0" />
</joint>
<link
name="link_3">
<inertial>
<origin
xyz="-0.0020889 0.11823 -0.047205"
rpy="0 0 0" />
<mass
value="1.1247" />
<inertia
ixx="0.0041521"
ixy="5.6707E-06"
ixz="1.0427E-05"
iyy="0.0041832"
iyz="0.0014997"
izz="0.003678" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://_arm_assembly_/meshes/link_3.STL" />
</geometry>
<material
name="">
<color
rgba="0.75294 0.75294 0.75294 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://_arm_assembly_/meshes/link_3.STL" />
</geometry>
</collision>
</link>
<joint
name="rot_3"
type="continuous">
<origin
xyz="0.000999999999999598 0 0.0934950000054622"
rpy="1.57079632679486 0 0" />
<parent
link="link_2" />
<child
link="link_3" />
<axis
xyz="0 1 0" />
</joint>
<link
name="link_4">
<inertial>
<origin
xyz="-0.00043288 -0.00041216 0.051639"
rpy="0 0 0" />
<mass
value="1.5869" />
<inertia
ixx="0.003157"
ixy="2.8471E-05"
ixz="7.016E-05"
iyy="0.0034373"
iyz="-0.00010149"
izz="0.0012553" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://_arm_assembly_/meshes/link_4.STL" />
</geometry>
<material
name="">
<color
rgba="0.75294 0.75294 0.75294 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://_arm_assembly_/meshes/link_4.STL" />
</geometry>
</collision>
</link>
<joint
name="rot_4"
type="continuous">
<origin
xyz="0 0.1775 -0.11"
rpy="-1.5708 0 0" />
<parent
link="link_3" />
<child
link="link_4" />
<axis
xyz="1 0 0" />
<limit
lower="-3.1415"
upper="157075"
effort="0"
velocity="0" />
</joint>
<link
name="link_5">
<inertial>
<origin
xyz="-0.0020889 0.11823 -0.047205"
rpy="0 0 0" />
<mass
value="1.1247" />
<inertia
ixx="0.0041521"
ixy="5.6707E-06"
ixz="1.0427E-05"
iyy="0.0041832"
iyz="0.0014997"
izz="0.003678" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://_arm_assembly_/meshes/link_5.STL" />
</geometry>
<material
name="">
<color
rgba="0.75294 0.75294 0.75294 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://_arm_assembly_/meshes/link_5.STL" />
</geometry>
</collision>
</link>
<joint
name="rot_5"
type="continuous">
<origin
xyz="-0.00130000000000038 0 0.0934950000054622"
rpy="1.57079632679485 0 0" />
<parent
link="link_4" />
<child
link="link_5" />
<axis
xyz="0 1 0" />
</joint>
<link
name="end_link">
<inertial>
<origin
xyz="-9.7376E-06 -0.0008885 0.034233"
rpy="0 0 0" />
<mass
value="1.2694" />
<inertia
ixx="0.001477"
ixy="-2.6689E-05"
ixz="-4.4088E-05"
iyy="0.001355"
iyz="-3.1901E-05"
izz="0.00087583" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://_arm_assembly_/meshes/end_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.75294 0.75294 0.75294 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://_arm_assembly_/meshes/end_link.STL" />
</geometry>
</collision>
</link>
<joint
name="rot_6"
type="continuous">
<origin
xyz="0 0.1775 -0.11"
rpy="1.5708 1.5708 0" />
<parent
link="link_5" />
<child
link="end_link" />
<axis
xyz="0 1 0" />
<limit
lower="3.1415"
upper="157075"
effort="0"
velocity="0" />
</joint>
</robot>

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urdf/w_grip/arm_grip_assembly/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 2.8.3)
project(arm_grip_assembly)
find_package(catkin REQUIRED)
catkin_package()
find_package(roslaunch)
foreach(dir config launch meshes urdf)
install(DIRECTORY ${dir}/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
endforeach(dir)

1
urdf/w_grip/arm_grip_assembly/config/joint_names_arm_grip_assembly.yaml Normal file
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controller_joint_names: ['', 'rot_1', 'rot_2', 'rot_3', 'rot_4', 'rot_5', 'rot_6', 'grip_rot', 'open_1', 'open_2', ]

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urdf/w_grip/arm_grip_assembly/export.log Normal file
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urdf/w_grip/arm_grip_assembly/launch/display.launch Normal file
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<launch>
<arg
name="model" />
<param
name="robot_description"
textfile="$(find arm_grip_assembly)/urdf/arm_grip_assembly.urdf" />
<node
name="joint_state_publisher_gui"
pkg="joint_state_publisher_gui"
type="joint_state_publisher_gui" />
<node
name="robot_state_publisher"
pkg="robot_state_publisher"
type="robot_state_publisher" />
<node
name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find arm_grip_assembly)/urdf.rviz" />
</launch>

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urdf/w_grip/arm_grip_assembly/launch/gazebo.launch Normal file
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<launch>
<include
file="$(find gazebo_ros)/launch/empty_world.launch" />
<node
name="tf_footprint_base"
pkg="tf"
type="static_transform_publisher"
args="0 0 0 0 0 0 base_link base_footprint 40" />
<node
name="spawn_model"
pkg="gazebo_ros"
type="spawn_model"
args="-file $(find arm_grip_assembly)/urdf/arm_grip_assembly.urdf -urdf -model arm_grip_assembly"
output="screen" />
<node
name="fake_joint_calibration"
pkg="rostopic"
type="rostopic"
args="pub /calibrated std_msgs/Bool true" />
</launch>

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urdf/w_grip/arm_grip_assembly/package.xml Normal file
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<package format="2">
<name>arm_grip_assembly</name>
<version>1.0.0</version>
<description>
<p>URDF Description package for arm_grip_assembly</p>
<p>This package contains configuration data, 3D models and launch files
for arm_grip_assembly robot</p>
</description>
<author>TODO</author>
<maintainer email="TODO@email.com" />
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<depend>roslaunch</depend>
<depend>robot_state_publisher</depend>
<depend>rviz</depend>
<depend>joint_state_publisher_gui</depend>
<depend>gazebo</depend>
<export>
<architecture_independent />
</export>
</package>

11
urdf/w_grip/arm_grip_assembly/urdf/arm_grip_assembly.csv Normal file
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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,"0,0406037243343959","0,150633298936807","-0,118514814811776",0,0,0,"1,88029440809986","0,00502499586135982","-0,000344449368413512","8,82145843224539E-05","0,00337962408007494","-9,92855097181877E-06","0,00406661112017076",0,0,0,0,0,0,package://arm_grip_assembly/meshes/base_link.STL,"0,752941176470588","0,752941176470588","0,752941176470588",1,0,0,0,0,0,0,package://arm_grip_assembly/meshes/base_link.STL,,asm_start_link_220707-1,Origin_global,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
link_1,"-0,00208891783429686","0,118231549752414","-0,0472051284672657",0,0,0,"1,12472231131214","0,00415208953596852","5,67073603659942E-06","1,04272815443725E-05","0,00418323640277014","0,00149971478974716","0,00367804619516659",0,0,0,0,0,0,package://arm_grip_assembly/meshes/link_1.STL,"0,752941176470588","0,752941176470588","0,752941176470588",1,0,0,0,0,0,0,package://arm_grip_assembly/meshes/link_1.STL,,asm_fork_220606-4,Origin_rot_1,Axis_rot_1,rot_1,continuous,"0,0403427142402195","0,118902621448007","0,193016216134646","1,5707963267949",0,"1,47489605103661",base_link,0,1,0,,,,,,,,,,,,
link_2,"0,0018671218641643","-0,00041215899776767","0,0516389421239549",0,0,0,"1,58688816851948","0,00315699393007779","2,84712832060085E-05","7,01600947669764E-05","0,00343729235918841","-0,000101485130257999","0,00125534906537597",0,0,0,0,0,0,package://arm_grip_assembly/meshes/link_2.STL,"0,752941176470588","0,752941176470588","0,752941176470588",1,0,0,0,0,0,0,package://arm_grip_assembly/meshes/link_2.STL,,assemb_link_220316-1,Origin_rot_2,Axis_rot_2,rot_2,continuous,0,"0,177504999994538","-0,11","-1,57079632679486",0,0,link_1,1,0,0,,,,,,,,,,,,
link_3,"-0,00208891783429674","0,118231549752414","-0,0472051284672656",0,0,0,"1,12472231131215","0,00415208953596852","5,67073603659871E-06","1,04272815443701E-05","0,00418323640277014","0,00149971478974716","0,00367804619516659",0,0,0,0,0,0,package://arm_grip_assembly/meshes/link_3.STL,"0,752941176470588","0,752941176470588","0,752941176470588",1,0,0,0,0,0,0,package://arm_grip_assembly/meshes/link_3.STL,,asm_fork_220606-1,Origin_rot_3,Axis_rot_3,rot_3,continuous,"0,000999999999999571",0,"0,0934950000054623","1,57079632679486",0,0,link_2,0,1,0,,,,,,,,,,,,
link_4,"-0,000432878135930778","-0,000412158997775997","0,051638942123781",0,0,0,"1,58688816852587","0,00315699393007831","2,84712832059454E-05","7,01600947671282E-05","0,00343729235918895","-0,00010148513025786","0,00125534906537611",0,0,0,0,0,0,package://arm_grip_assembly/meshes/link_4.STL,"0,752941176470588","0,752941176470588","0,752941176470588",1,0,0,0,0,0,0,package://arm_grip_assembly/meshes/link_4.STL,,assemb_link_220316-2,Origin_rot_4,Axis_rot_4,rot_4,continuous,0,"0,177504999994539","-0,11","-1,57079632679486",0,0,link_3,1,0,0,,,,,,,,,,,,
link_5,"-0,00208891783429663","0,118231549752414","-0,0472051284672655",0,0,0,"1,12472231131215","0,00415208953596852","5,67073603659898E-06","1,04272815443707E-05","0,00418323640277014","0,00149971478974716","0,00367804619516659",0,0,0,0,0,0,package://arm_grip_assembly/meshes/link_5.STL,"0,752941176470588","0,752941176470588","0,752941176470588",1,0,0,0,0,0,0,package://arm_grip_assembly/meshes/link_5.STL,,asm_fork_220606-2,Origin_rot_5,Axis_rot_5,rot_5,continuous,"-0,00130000000000026",0,"0,0934950000054618","1,57079632679486",0,0,link_4,0,1,0,,,,,,,,,,,,
end_link,"0,000165693440354997","0,0136429069844481","0,097603689983814",0,0,0,"2,3074737026209","0,00255489384908367","-3,78118486514493E-05","-4,14706213997948E-05","0,00207486261261152","-6,14502848050229E-05","0,00203787918272645",0,0,0,0,0,0,package://arm_grip_assembly/meshes/end_link.STL,"0,752941176470588","0,752941176470588","0,752941176470588",1,0,0,0,0,0,0,package://arm_grip_assembly/meshes/end_link.STL,,dokin_link_220706-1;_grip_tool-1/_asm_motherboard-1;_grip_tool-1/screw-1;_grip_tool-1/body_cap-1;_grip_tool-1/side_cap-1;_grip_tool-1/bearing 44x12x6-1;_grip_tool-1/upper_crunk2-2;_grip_tool-1/_reductor_asm-2;_grip_tool-1/_reductor_asm-1;_grip_tool-1/_connection-tool-passive-2;_grip_tool-1/asm_motor_new_220213-3;_grip_tool-1/asm_motor_new_220213-2;_grip_tool-1/stator-1;_grip_tool-1/body-1,Origin_rot_6,Axis_rot_6,rot_6,continuous,0,"0,177504999994539","-0,11","1,5707963267949","1,57079631189374",0,link_5,0,1,0,,,,,,,,,,,,
grip_link,"-6,78105349649627E-11","0,00787983415283255","-3,80992168369509E-10",0,0,0,"0,161003401530101","0,000110890899495267","-1,74852195023335E-14","-5,01335040567584E-06","0,000206912001654206","-2,03199323007698E-14","0,000105515893690181",0,0,0,0,0,0,package://arm_grip_assembly/meshes/grip_link.STL,"0,250980392156863","0,250980392156863","0,250980392156863",1,0,0,0,0,0,0,package://arm_grip_assembly/meshes/grip_link.STL,,_grip_tool-1/grip_asmb-1/grip-holder-1;_grip_tool-1/grip_asmb-1/opening_gear_2-1;_grip_tool-1/grip_asmb-1/grip_cap-1;_grip_tool-1/grip_asmb-1/rotator2-1,Origin_grip_rot,Ось19,grip_rot,revolute,0,"-0,00050182","0,22447","1,5708",0,"-3,1416",end_link,0,1,0,0,0,0,0,,,,,,,,
gripper_1,"0,00502035855383787","0,0244437361298628","0,0640012189187071",0,0,0,"0,0601996443348832","7,89886367656805E-05","-1,20542843858682E-05","-7,11657964848921E-06","5,16740839633455E-05","-1,81029222012702E-05","4,18533276287981E-05",0,0,0,0,0,0,package://arm_grip_assembly/meshes/gripper_1.STL,"0,752941176470588",0,0,1,0,0,0,0,0,0,package://arm_grip_assembly/meshes/gripper_1.STL,,_grip_tool-1/grip_asmb-1/grip2-1,Origin_open_1,Ось22,open_1,prismatic,"0,023749","0,005","0,068","3,1416",0,"3,1416",grip_link,0,0,1,0,0,0,0,,,,,,,,
gripper_2,"0,00502035855383776","0,0244437361298631","0,0640012189187072",0,0,0,"0,0601996443348836","7,8988636765681E-05","-1,20542843858683E-05","-7,11657964848922E-06","5,1674083963346E-05","-1,81029222012703E-05","4,18533276287982E-05",0,0,0,0,0,0,package://arm_grip_assembly/meshes/gripper_2.STL,"0,752941176470588",0,0,1,0,0,0,0,0,0,package://arm_grip_assembly/meshes/gripper_2.STL,,_grip_tool-1/grip_asmb-1/grip2-3,Origin_open_2,Ось23,open_2,prismatic,"-0,023749","0,005","-0,068",0,0,0,grip_link,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 0,0406037243343959 0,150633298936807 -0,118514814811776 0 0 0 1,88029440809986 0,00502499586135982 -0,000344449368413512 8,82145843224539E-05 0,00337962408007494 -9,92855097181877E-06 0,00406661112017076 0 0 0 0 0 0 package://arm_grip_assembly/meshes/base_link.STL 0,752941176470588 0,752941176470588 0,752941176470588 1 0 0 0 0 0 0 package://arm_grip_assembly/meshes/base_link.STL asm_start_link_220707-1 Origin_global 0 0 0 0 0 0 0 0 0
3 link_1 -0,00208891783429686 0,118231549752414 -0,0472051284672657 0 0 0 1,12472231131214 0,00415208953596852 5,67073603659942E-06 1,04272815443725E-05 0,00418323640277014 0,00149971478974716 0,00367804619516659 0 0 0 0 0 0 package://arm_grip_assembly/meshes/link_1.STL 0,752941176470588 0,752941176470588 0,752941176470588 1 0 0 0 0 0 0 package://arm_grip_assembly/meshes/link_1.STL asm_fork_220606-4 Origin_rot_1 Axis_rot_1 rot_1 continuous 0,0403427142402195 0,118902621448007 0,193016216134646 1,5707963267949 0 1,47489605103661 base_link 0 1 0
4 link_2 0,0018671218641643 -0,00041215899776767 0,0516389421239549 0 0 0 1,58688816851948 0,00315699393007779 2,84712832060085E-05 7,01600947669764E-05 0,00343729235918841 -0,000101485130257999 0,00125534906537597 0 0 0 0 0 0 package://arm_grip_assembly/meshes/link_2.STL 0,752941176470588 0,752941176470588 0,752941176470588 1 0 0 0 0 0 0 package://arm_grip_assembly/meshes/link_2.STL assemb_link_220316-1 Origin_rot_2 Axis_rot_2 rot_2 continuous 0 0,177504999994538 -0,11 -1,57079632679486 0 0 link_1 1 0 0
5 link_3 -0,00208891783429674 0,118231549752414 -0,0472051284672656 0 0 0 1,12472231131215 0,00415208953596852 5,67073603659871E-06 1,04272815443701E-05 0,00418323640277014 0,00149971478974716 0,00367804619516659 0 0 0 0 0 0 package://arm_grip_assembly/meshes/link_3.STL 0,752941176470588 0,752941176470588 0,752941176470588 1 0 0 0 0 0 0 package://arm_grip_assembly/meshes/link_3.STL asm_fork_220606-1 Origin_rot_3 Axis_rot_3 rot_3 continuous 0,000999999999999571 0 0,0934950000054623 1,57079632679486 0 0 link_2 0 1 0
6 link_4 -0,000432878135930778 -0,000412158997775997 0,051638942123781 0 0 0 1,58688816852587 0,00315699393007831 2,84712832059454E-05 7,01600947671282E-05 0,00343729235918895 -0,00010148513025786 0,00125534906537611 0 0 0 0 0 0 package://arm_grip_assembly/meshes/link_4.STL 0,752941176470588 0,752941176470588 0,752941176470588 1 0 0 0 0 0 0 package://arm_grip_assembly/meshes/link_4.STL assemb_link_220316-2 Origin_rot_4 Axis_rot_4 rot_4 continuous 0 0,177504999994539 -0,11 -1,57079632679486 0 0 link_3 1 0 0
7 link_5 -0,00208891783429663 0,118231549752414 -0,0472051284672655 0 0 0 1,12472231131215 0,00415208953596852 5,67073603659898E-06 1,04272815443707E-05 0,00418323640277014 0,00149971478974716 0,00367804619516659 0 0 0 0 0 0 package://arm_grip_assembly/meshes/link_5.STL 0,752941176470588 0,752941176470588 0,752941176470588 1 0 0 0 0 0 0 package://arm_grip_assembly/meshes/link_5.STL asm_fork_220606-2 Origin_rot_5 Axis_rot_5 rot_5 continuous -0,00130000000000026 0 0,0934950000054618 1,57079632679486 0 0 link_4 0 1 0
8 end_link 0,000165693440354997 0,0136429069844481 0,097603689983814 0 0 0 2,3074737026209 0,00255489384908367 -3,78118486514493E-05 -4,14706213997948E-05 0,00207486261261152 -6,14502848050229E-05 0,00203787918272645 0 0 0 0 0 0 package://arm_grip_assembly/meshes/end_link.STL 0,752941176470588 0,752941176470588 0,752941176470588 1 0 0 0 0 0 0 package://arm_grip_assembly/meshes/end_link.STL dokin_link_220706-1;_grip_tool-1/_asm_motherboard-1;_grip_tool-1/screw-1;_grip_tool-1/body_cap-1;_grip_tool-1/side_cap-1;_grip_tool-1/bearing 44x12x6-1;_grip_tool-1/upper_crunk2-2;_grip_tool-1/_reductor_asm-2;_grip_tool-1/_reductor_asm-1;_grip_tool-1/_connection-tool-passive-2;_grip_tool-1/asm_motor_new_220213-3;_grip_tool-1/asm_motor_new_220213-2;_grip_tool-1/stator-1;_grip_tool-1/body-1 Origin_rot_6 Axis_rot_6 rot_6 continuous 0 0,177504999994539 -0,11 1,5707963267949 1,57079631189374 0 link_5 0 1 0
9 grip_link -6,78105349649627E-11 0,00787983415283255 -3,80992168369509E-10 0 0 0 0,161003401530101 0,000110890899495267 -1,74852195023335E-14 -5,01335040567584E-06 0,000206912001654206 -2,03199323007698E-14 0,000105515893690181 0 0 0 0 0 0 package://arm_grip_assembly/meshes/grip_link.STL 0,250980392156863 0,250980392156863 0,250980392156863 1 0 0 0 0 0 0 package://arm_grip_assembly/meshes/grip_link.STL _grip_tool-1/grip_asmb-1/grip-holder-1;_grip_tool-1/grip_asmb-1/opening_gear_2-1;_grip_tool-1/grip_asmb-1/grip_cap-1;_grip_tool-1/grip_asmb-1/rotator2-1 Origin_grip_rot Ось19 grip_rot revolute 0 -0,00050182 0,22447 1,5708 0 -3,1416 end_link 0 1 0 0 0 0 0
10 gripper_1 0,00502035855383787 0,0244437361298628 0,0640012189187071 0 0 0 0,0601996443348832 7,89886367656805E-05 -1,20542843858682E-05 -7,11657964848921E-06 5,16740839633455E-05 -1,81029222012702E-05 4,18533276287981E-05 0 0 0 0 0 0 package://arm_grip_assembly/meshes/gripper_1.STL 0,752941176470588 0 0 1 0 0 0 0 0 0 package://arm_grip_assembly/meshes/gripper_1.STL _grip_tool-1/grip_asmb-1/grip2-1 Origin_open_1 Ось22 open_1 prismatic 0,023749 0,005 0,068 3,1416 0 3,1416 grip_link 0 0 1 0 0 0 0
11 gripper_2 0,00502035855383776 0,0244437361298631 0,0640012189187072 0 0 0 0,0601996443348836 7,8988636765681E-05 -1,20542843858683E-05 -7,11657964848922E-06 5,1674083963346E-05 -1,81029222012703E-05 4,18533276287982E-05 0 0 0 0 0 0 package://arm_grip_assembly/meshes/gripper_2.STL 0,752941176470588 0 0 1 0 0 0 0 0 0 package://arm_grip_assembly/meshes/gripper_2.STL _grip_tool-1/grip_asmb-1/grip2-3 Origin_open_2 Ось23 open_2 prismatic -0,023749 0,005 -0,068 0 0 0 grip_link 0 0 1 0 0 0 0

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<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.6.0-1-g15f4949 Build Version: 1.6.7594.29634
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="arm_grip_assembly">
<link
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izz="0.00125534906537597" />
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rpy="-1.57079632679486 0 0" />
<parent
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<link
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iyz="0.00149971478974716"
izz="0.00367804619516659" />
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<link
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rpy="0 0 0" />
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ixz="7.01600947671282E-05"
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xyz="0 0 0"
rpy="0 0 0" />
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<mesh
filename="package://arm_grip_assembly/meshes/link_4.STL" />
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name="">
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rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
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xyz="0 0 0"
rpy="0 0 0" />
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<mesh
filename="package://arm_grip_assembly/meshes/link_4.STL" />
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name="rot_4"
type="continuous">
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xyz="0 0.177504999994539 -0.11"
rpy="-1.57079632679486 0 0" />
<parent
link="link_3" />
<child
link="link_4" />
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xyz="1 0 0" />
</joint>
<link
name="link_5">
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xyz="-0.00208891783429663 0.118231549752414 -0.0472051284672655"
rpy="0 0 0" />
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ixy="5.67073603659898E-06"
ixz="1.04272815443707E-05"
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xyz="0 0 0"
rpy="0 0 0" />
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<mesh
filename="package://arm_grip_assembly/meshes/link_5.STL" />
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name="">
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rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
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xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://arm_grip_assembly/meshes/link_5.STL" />
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<joint
name="rot_5"
type="continuous">
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xyz="-0.00130000000000026 0 0.0934950000054618"
rpy="1.57079632679486 0 0" />
<parent
link="link_4" />
<child
link="link_5" />
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xyz="0 1 0" />
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<link
name="end_link">
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<origin
xyz="0.000165693440354997 0.0136429069844481 0.097603689983814"
rpy="0 0 0" />
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ixy="-3.78118486514493E-05"
ixz="-4.14706213997948E-05"
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iyz="-6.14502848050229E-05"
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xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://arm_grip_assembly/meshes/end_link.STL" />
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<material
name="">
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rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
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xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://arm_grip_assembly/meshes/end_link.STL" />
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</link>
<joint
name="rot_6"
type="continuous">
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xyz="0 0.177504999994539 -0.11"
rpy="1.5707963267949 1.57079631189374 0" />
<parent
link="link_5" />
<child
link="end_link" />
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xyz="0 1 0" />
</joint>
<link
name="grip_link">
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<origin
xyz="-6.78105349649627E-11 0.00787983415283255 -3.80992168369509E-10"
rpy="0 0 0" />
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ixy="-1.74852195023335E-14"
ixz="-5.01335040567584E-06"
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iyz="-2.03199323007698E-14"
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<visual>
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xyz="0 0 0"
rpy="0 0 0" />
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<mesh
filename="package://arm_grip_assembly/meshes/grip_link.STL" />
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<material
name="">
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rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
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<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://arm_grip_assembly/meshes/grip_link.STL" />
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</collision>
</link>
<joint
name="grip_rot"
type="revolute">
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xyz="0 -0.00050182 0.22447"
rpy="1.5708 0 -3.1416" />
<parent
link="end_link" />
<child
link="grip_link" />
<axis
xyz="0 1 0" />
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lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
<link
name="gripper_1">
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xyz="0.00502035855383787 0.0244437361298628 0.0640012189187071"
rpy="0 0 0" />
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value="0.0601996443348832" />
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ixx="7.89886367656805E-05"
ixy="-1.20542843858682E-05"
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iyy="5.16740839633455E-05"
iyz="-1.81029222012702E-05"
izz="4.18533276287981E-05" />
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<visual>
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xyz="0 0 0"
rpy="0 0 0" />
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<mesh
filename="package://arm_grip_assembly/meshes/gripper_1.STL" />
</geometry>
<material
name="">
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rgba="0.752941176470588 0 0 1" />
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xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://arm_grip_assembly/meshes/gripper_1.STL" />
</geometry>
</collision>
</link>
<joint
name="open_1"
type="prismatic">
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xyz="0.023749 0.005 0.068"
rpy="3.1416 0 3.1416" />
<parent
link="grip_link" />
<child
link="gripper_1" />
<axis
xyz="0 0 1" />
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lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
<link
name="gripper_2">
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xyz="0.00502035855383776 0.0244437361298631 0.0640012189187072"
rpy="0 0 0" />
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value="0.0601996443348836" />
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ixx="7.8988636765681E-05"
ixy="-1.20542843858683E-05"
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iyy="5.1674083963346E-05"
iyz="-1.81029222012703E-05"
izz="4.18533276287982E-05" />
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<visual>
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xyz="0 0 0"
rpy="0 0 0" />
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<mesh
filename="package://arm_grip_assembly/meshes/gripper_2.STL" />
</geometry>
<material
name="">
<color
rgba="0.752941176470588 0 0 1" />
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<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://arm_grip_assembly/meshes/gripper_2.STL" />
</geometry>
</collision>
</link>
<joint
name="open_2"
type="prismatic">
<origin
xyz="-0.023749 0.005 -0.068"
rpy="0 0 0" />
<parent
link="grip_link" />
<child
link="gripper_2" />
<axis
xyz="0 0 1" />
<limit
lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
</robot>