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URDF руки и захвата

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Переделаны системы координат, добавлены ограничения движения, сделаны отдельные urdf на захват и руку, исправлены отклонения СК, меши роборуки заменены на упрощенные
This commit is contained in:
MarkVoltov 2022-08-31 08:16:54 +03:00
parent e26579ae8e
commit cdab8a2491
70 changed files with 2814 additions and 3388 deletions
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urdf/no_grip/_arm_assembly_/CMakeLists.txt → urdf/grip-tool/_grip_tool/CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(_arm_assembly_)
project(_grip_tool)
find_package(catkin REQUIRED)

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urdf/grip-tool/_grip_tool/config/joint_names__grip_tool.yaml Normal file
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controller_joint_names: ['', 'grip_rot', 'open_1', 'open_2', ]

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urdf/no_grip/_arm_assembly_/launch/display.launch → urdf/grip-tool/_grip_tool/launch/display.launch
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@ -3,7 +3,7 @@
name="model" />
<param
name="robot_description"
textfile="$(find _arm_assembly_)/urdf/_arm_assembly_.urdf" />
textfile="$(find _grip_tool)/urdf/_grip_tool.urdf" />
<node
name="joint_state_publisher_gui"
pkg="joint_state_publisher_gui"
@ -16,5 +16,5 @@
name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find _arm_assembly_)/urdf.rviz" />
args="-d $(find _grip_tool)/urdf.rviz" />
</launch>

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urdf/no_grip/_arm_assembly_/launch/gazebo.launch → urdf/grip-tool/_grip_tool/launch/gazebo.launch
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@ -10,7 +10,7 @@
name="spawn_model"
pkg="gazebo_ros"
type="spawn_model"
args="-file $(find _arm_assembly_)/urdf/_arm_assembly_.urdf -urdf -model _arm_assembly_"
args="-file $(find _grip_tool)/urdf/_grip_tool.urdf -urdf -model _grip_tool"
output="screen" />
<node
name="fake_joint_calibration"

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urdf/no_grip/_arm_assembly_/meshes/base_link.STL → urdf/grip-tool/_grip_tool/meshes/Grip_Base.STL
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urdf/no_grip/_arm_assembly_/package.xml → urdf/grip-tool/_grip_tool/package.xml
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@ -1,10 +1,10 @@
<package format="2">
<name>_arm_assembly_</name>
<name>_grip_tool</name>
<version>1.0.0</version>
<description>
<p>URDF Description package for _arm_assembly_</p>
<p>URDF Description package for _grip_tool</p>
<p>This package contains configuration data, 3D models and launch files
for _arm_assembly_ robot</p>
for _grip_tool robot</p>
</description>
<author>TODO</author>
<maintainer email="TODO@email.com" />

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urdf/grip-tool/_grip_tool/urdf/_grip_tool.csv Normal file
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urdf/grip-tool/_grip_tool/urdf/_grip_tool.urdf Normal file
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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="_grip_tool">
<link
name="Grip_Base">
<inertial>
<origin
xyz="0.000364704367134063 0.0336387482840125 0.0593891203954369"
rpy="0 0 0" />
<mass
value="1.13983632906086" />
<inertia
ixx="0.00107738806534129"
ixy="-1.09841172461737E-05"
ixz="2.62750043451545E-06"
iyy="0.000717388573992299"
iyz="-2.95426438182787E-05"
izz="0.00115777179755934" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://_grip_tool/meshes/Grip_Base.STL" />
</geometry>
<material
name="">
<color
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://_grip_tool/meshes/Grip_Base.STL" />
</geometry>
</collision>
</link>
<link
name="Grip_Rotator">
<inertial>
<origin
xyz="6.79110135283868E-11 -3.80956832067611E-10 0.00775394473595793"
rpy="0 0 0" />
<mass
value="0.161003401535982" />
<inertia
ixx="0.00011089089949771"
ixy="5.01335040610636E-06"
ixz="1.74608448389267E-14"
iyy="0.000105515893695012"
iyz="-2.03282362854432E-14"
izz="0.000206912001661452" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://_grip_tool/meshes/Grip_Rotator.STL" />
</geometry>
<material
name="">
<color
rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://_grip_tool/meshes/Grip_Rotator.STL" />
</geometry>
</collision>
</link>
<joint
name="grip_rot"
type="revolute">
<origin
xyz="0 0 0.10861"
rpy="0 0 0" />
<parent
link="Grip_Base" />
<child
link="Grip_Rotator" />
<axis
xyz="0 0 1" />
<limit
lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
<link
name="Gripper_1">
<inertial>
<origin
xyz="0.00399878118534129 0.0187296413885176 -0.0777776233934166"
rpy="0 0 0" />
<mass
value="0.0601996441483964" />
<inertia
ixx="4.18533281165612E-05"
ixy="-7.11657995951147E-06"
ixz="1.81029223490065E-05"
iyy="7.89886367868258E-05"
iyz="1.20542845942065E-05"
izz="5.16740841307935E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://_grip_tool/meshes/Gripper_1.STL" />
</geometry>
<material
name="">
<color
rgba="0.752941176470588 0 0 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://_grip_tool/meshes/Gripper_1.STL" />
</geometry>
</collision>
</link>
<joint
name="open_1"
type="prismatic">
<origin
xyz="0 0 0.1071"
rpy="0 0 1.5708" />
<parent
link="Grip_Rotator" />
<child
link="Gripper_1" />
<axis
xyz="-1 0 0" />
<limit
lower="0"
upper="0.164"
effort="0"
velocity="0" />
</joint>
<link
name="Gripper_2">
<inertial>
<origin
xyz="0.0039988 -0.077778 -0.01873"
rpy="0 0 0" />
<mass
value="0.0602" />
<inertia
ixx="4.1853E-05"
ixy="1.8103E-05"
ixz="7.1166E-06"
iyy="5.1674E-05"
iyz="-1.2054E-05"
izz="7.8989E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://_grip_tool/meshes/Gripper_2.STL" />
</geometry>
<material
name="">
<color
rgba="0.75294 0 0 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://_grip_tool/meshes/Gripper_2.STL" />
</geometry>
</collision>
</link>
<joint
name="open_2"
type="prismatic">
<origin
xyz="0 0 0.1071"
rpy="1.5708 0 -1.5708" />
<parent
link="Grip_Rotator" />
<child
link="Gripper_2" />
<axis
xyz="-1 0 0" />
<limit
lower="0"
upper="0.164"
effort="0"
velocity="0" />
</joint>
</robot>

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urdf/no_grip/_arm_assembly_/export.log
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urdf/no_grip/_arm_assembly_/urdf/_arm_assembly_.csv
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@ -1,8 +0,0 @@
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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urdf/no_grip/_arm_assembly_/urdf/_arm_assembly_.urdf
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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>

2
urdf/w_grip/arm_grip_assembly/CMakeLists.txt → urdf/roboarm/arm_assembly_/CMakeLists.txt
View file

@ -1,6 +1,6 @@
cmake_minimum_required(VERSION 2.8.3)
project(arm_grip_assembly)
project(arm_assembly_)
find_package(catkin REQUIRED)

0
urdf/no_grip/_arm_assembly_/config/joint_names__arm_assembly_.yaml → urdf/roboarm/arm_assembly_/config/joint_names_arm_assembly_.yaml
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799
urdf/roboarm/arm_assembly_/export.log Normal file
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File diff suppressed because one or more lines are too long

4
urdf/w_grip/arm_grip_assembly/launch/display.launch → urdf/roboarm/arm_assembly_/launch/display.launch
View file

@ -3,7 +3,7 @@
name="model" />
<param
name="robot_description"
textfile="$(find arm_grip_assembly)/urdf/arm_grip_assembly.urdf" />
textfile="$(find arm_assembly_)/urdf/arm_assembly_.urdf" />
<node
name="joint_state_publisher_gui"
pkg="joint_state_publisher_gui"
@ -16,5 +16,5 @@
name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find arm_grip_assembly)/urdf.rviz" />
args="-d $(find arm_assembly_)/urdf.rviz" />
</launch>

2
urdf/w_grip/arm_grip_assembly/launch/gazebo.launch → urdf/roboarm/arm_assembly_/launch/gazebo.launch
View file

@ -10,7 +10,7 @@
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"
args="-file $(find arm_assembly_)/urdf/arm_assembly_.urdf -urdf -model arm_assembly_"
output="screen" />
<node
name="fake_joint_calibration"

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urdf/roboarm/arm_assembly_/meshes/Base_Link.stl Normal file
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urdf/roboarm/arm_assembly_/meshes/Dock_Link.stl Normal file
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urdf/roboarm/arm_assembly_/meshes/Fork_1.stl Normal file
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urdf/roboarm/arm_assembly_/meshes/Fork_3.stl Normal file
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urdf/roboarm/arm_assembly_/meshes/Link_1.stl Normal file
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urdf/roboarm/arm_assembly_/meshes/Link_2.stl Normal file
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6
urdf/w_grip/arm_grip_assembly/package.xml → urdf/roboarm/arm_assembly_/package.xml
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@ -1,10 +1,10 @@
<package format="2">
<name>arm_grip_assembly</name>
<name>arm_assembly_</name>
<version>1.0.0</version>
<description>
<p>URDF Description package for arm_grip_assembly</p>
<p>URDF Description package for arm_assembly_</p>
<p>This package contains configuration data, 3D models and launch files
for arm_grip_assembly robot</p>
for arm_assembly_ robot</p>
</description>
<author>TODO</author>
<maintainer email="TODO@email.com" />

8
urdf/roboarm/arm_assembly_/urdf/arm_assembly_.csv Normal file
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@ -0,0 +1,8 @@
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,"-0,000297","0,096472","-0,00036103",0,0,0,"1,8803","0,005033","0,00034382","-4,7499E-06","0,0033796","-2,3099E-05","0,0040586",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,,,,,,,,,,,,
Fork_1,"0,0472051139085305","0,0557265410642573","-0,00208890925682975",0,0,0,"1,12472202892859","0,00367804533572758","-0,00149971410403071","-1,04277925521891E-05","0,0041832353455649","5,67049464176682E-06","0,00415208849477534",0,0,0,0,0,0,package://arm_assembly_/meshes/Fork_1.STL,"0,752941176470588","0,752941176470588","0,752941176470588",1,0,0,0,0,0,0,package://arm_assembly_/meshes/Fork_1.STL,,asm_fork_220606-4,LS Fork1,Axis_rot_1,rot_1,continuous,0,0,"0,20136","1,5708",0,"-3,1416",Base_link,0,1,0,,,,,,,,,,,,
Link_1,"0,00186712264682618","-0,000412152188777493","0,0516389446895802",0,0,0,"1,58688811563125","0,00315699373090848","2,84713820858521E-05","7,01601261191599E-05","0,00343729241263711","-0,000101485203138906","0,00125534890134053",0,0,0,0,0,0,package://arm_assembly_/meshes/Link_1.STL,"0,752941176470588","0,752941176470588","0,752941176470588",1,0,0,0,0,0,0,package://arm_assembly_/meshes/Link_1.STL,,assemb_link_220316-1,Origin_rot_2,Axis_rot_2,rot_2,continuous,"0,11","0,115",0,"1,5708","-1,5708",0,Fork_1,1,0,0,0,0,-31416,15708,,,,,,,,
Fork_2,"0,0472051139085306","0,00208890925682994","0,0557265410642579",0,0,0,"1,12472202892859","0,00367804533572757","1,04277925521839E-05","-0,00149971410403071","0,00415208849477533","-5,67049464176431E-06","0,00418323534556488",0,0,0,0,0,0,package://arm_assembly_/meshes/Fork_2.STL,"0,752941176470588","0,752941176470588","0,752941176470588",1,0,0,0,0,0,0,package://arm_assembly_/meshes/Fork_2.STL,,asm_fork_220606-1,LS Fork 2,Axis_rot_3,rot_3,continuous,"0,001",0,"0,156",0,0,"1,5708",Link_1,0,0,1,,,,,,,,,,,,
Link_2,"-0,000432876513268311","0,000412152066707444","-0,0516389448183723",0,0,0,"1,58688811045174","0,00315699369986102","-2,84713874261321E-05","-7,01601002852263E-05","0,00343729240547401","-0,000101485187086936","0,00125534888404072",0,0,0,0,0,0,package://arm_assembly_/meshes/Link_2.STL,"0,752941176470588","0,752941176470588","0,752941176470588",1,0,0,0,0,0,0,package://arm_assembly_/meshes/Link_2.STL,,assemb_link_220316-2,Origin_rot_4,Axis_rot_4,rot_4,continuous,"0,11",0,"0,115","3,1416",0,"-1,5708",Fork_2,1,0,0,0,0,-31416,15708,,,,,,,,
Fork_3,"0,0472051139085305","0,00208890925682995","0,0557265410642568",0,0,0,"1,12472202892859","0,00367804533572756","1,04277925521852E-05","-0,00149971410403071","0,00415208849477532","-5,67049464176495E-06","0,00418323534556488",0,0,0,0,0,0,package://arm_assembly_/meshes/Fork_3.STL,"0,752941176470588","0,752941176470588","0,752941176470588",1,0,0,0,0,0,0,package://arm_assembly_/meshes/Fork_3.STL,,asm_fork_220606-2,LS Fork 3,Axis_rot_5,rot_5,continuous,"-0,00130000000000235",0,"-0,156000000000001","-3,14159265358979",0,"-1,5707963267949",Link_2,0,0,1,,,,,,,,,,,,
Dock_Link,"-9,75315397450105E-06","-0,000888494418853673","0,0342332199538132",0,0,0,"1,26942368542281","0,00147695259043489","-2,66894744421543E-05","-4,40871314563024E-05","0,00135500487881815","-3,19001462977757E-05","0,000875828927068793",0,0,0,0,0,0,package://arm_assembly_/meshes/Dock_Link.STL,"0,752941176470588","0,752941176470588","0,752941176470588",1,0,0,0,0,0,0,package://arm_assembly_/meshes/Dock_Link.STL,,dokin_link_220706-1,Origin_rot_6,Ось1,rot_6,continuous,"0,11",0,"0,115",0,0,0,Fork_3,0,1,0,0,0,-31416,15708,,,,,,,,
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 -0,000297 0,096472 -0,00036103 0 0 0 1,8803 0,005033 0,00034382 -4,7499E-06 0,0033796 -2,3099E-05 0,0040586 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 Fork_1 0,0472051139085305 0,0557265410642573 -0,00208890925682975 0 0 0 1,12472202892859 0,00367804533572758 -0,00149971410403071 -1,04277925521891E-05 0,0041832353455649 5,67049464176682E-06 0,00415208849477534 0 0 0 0 0 0 package://arm_assembly_/meshes/Fork_1.STL 0,752941176470588 0,752941176470588 0,752941176470588 1 0 0 0 0 0 0 package://arm_assembly_/meshes/Fork_1.STL asm_fork_220606-4 LS Fork1 Axis_rot_1 rot_1 continuous 0 0 0,20136 1,5708 0 -3,1416 Base_link 0 1 0
4 Link_1 0,00186712264682618 -0,000412152188777493 0,0516389446895802 0 0 0 1,58688811563125 0,00315699373090848 2,84713820858521E-05 7,01601261191599E-05 0,00343729241263711 -0,000101485203138906 0,00125534890134053 0 0 0 0 0 0 package://arm_assembly_/meshes/Link_1.STL 0,752941176470588 0,752941176470588 0,752941176470588 1 0 0 0 0 0 0 package://arm_assembly_/meshes/Link_1.STL assemb_link_220316-1 Origin_rot_2 Axis_rot_2 rot_2 continuous 0,11 0,115 0 1,5708 -1,5708 0 Fork_1 1 0 0 0 0 -31416 15708
5 Fork_2 0,0472051139085306 0,00208890925682994 0,0557265410642579 0 0 0 1,12472202892859 0,00367804533572757 1,04277925521839E-05 -0,00149971410403071 0,00415208849477533 -5,67049464176431E-06 0,00418323534556488 0 0 0 0 0 0 package://arm_assembly_/meshes/Fork_2.STL 0,752941176470588 0,752941176470588 0,752941176470588 1 0 0 0 0 0 0 package://arm_assembly_/meshes/Fork_2.STL asm_fork_220606-1 LS Fork 2 Axis_rot_3 rot_3 continuous 0,001 0 0,156 0 0 1,5708 Link_1 0 0 1
6 Link_2 -0,000432876513268311 0,000412152066707444 -0,0516389448183723 0 0 0 1,58688811045174 0,00315699369986102 -2,84713874261321E-05 -7,01601002852263E-05 0,00343729240547401 -0,000101485187086936 0,00125534888404072 0 0 0 0 0 0 package://arm_assembly_/meshes/Link_2.STL 0,752941176470588 0,752941176470588 0,752941176470588 1 0 0 0 0 0 0 package://arm_assembly_/meshes/Link_2.STL assemb_link_220316-2 Origin_rot_4 Axis_rot_4 rot_4 continuous 0,11 0 0,115 3,1416 0 -1,5708 Fork_2 1 0 0 0 0 -31416 15708
7 Fork_3 0,0472051139085305 0,00208890925682995 0,0557265410642568 0 0 0 1,12472202892859 0,00367804533572756 1,04277925521852E-05 -0,00149971410403071 0,00415208849477532 -5,67049464176495E-06 0,00418323534556488 0 0 0 0 0 0 package://arm_assembly_/meshes/Fork_3.STL 0,752941176470588 0,752941176470588 0,752941176470588 1 0 0 0 0 0 0 package://arm_assembly_/meshes/Fork_3.STL asm_fork_220606-2 LS Fork 3 Axis_rot_5 rot_5 continuous -0,00130000000000235 0 -0,156000000000001 -3,14159265358979 0 -1,5707963267949 Link_2 0 0 1
8 Dock_Link -9,75315397450105E-06 -0,000888494418853673 0,0342332199538132 0 0 0 1,26942368542281 0,00147695259043489 -2,66894744421543E-05 -4,40871314563024E-05 0,00135500487881815 -3,19001462977757E-05 0,000875828927068793 0 0 0 0 0 0 package://arm_assembly_/meshes/Dock_Link.STL 0,752941176470588 0,752941176470588 0,752941176470588 1 0 0 0 0 0 0 package://arm_assembly_/meshes/Dock_Link.STL dokin_link_220706-1 Origin_rot_6 Ось1 rot_6 continuous 0,11 0 0,115 0 0 0 Fork_3 0 1 0 0 0 -31416 15708

380
urdf/roboarm/arm_assembly_/urdf/arm_assembly_.urdf Normal file
View file

@ -0,0 +1,380 @@
<?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="-0.000297 0.096472 -0.00036103"
rpy="0 0 0" />
<mass
value="1.8803" />
<inertia
ixx="0.005033"
ixy="0.00034382"
ixz="-4.7499E-06"
iyy="0.0033796"
iyz="-2.3099E-05"
izz="0.0040586" />
</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="Fork_1">
<inertial>
<origin
xyz="0.0472051139085305 0.0557265410642573 -0.00208890925682975"
rpy="0 0 0" />
<mass
value="1.12472202892859" />
<inertia
ixx="0.00367804533572758"
ixy="-0.00149971410403071"
ixz="-1.04277925521891E-05"
iyy="0.0041832353455649"
iyz="5.67049464176682E-06"
izz="0.00415208849477534" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://arm_assembly_/meshes/Fork_1.STL" />
</geometry>
<material
name="">
<color
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://arm_assembly_/meshes/Fork_1.STL" />
</geometry>
</collision>
</link>
<joint
name="rot_1"
type="continuous">
<origin
xyz="0 0 0.20136"
rpy="1.5708 0 -3.1416" />
<parent
link="Base_link" />
<child
link="Fork_1" />
<axis
xyz="0 1 0" />
</joint>
<link
name="Link_1">
<inertial>
<origin
xyz="0.00186712264682618 -0.000412152188777493 0.0516389446895802"
rpy="0 0 0" />
<mass
value="1.58688811563125" />
<inertia
ixx="0.00315699373090848"
ixy="2.84713820858521E-05"
ixz="7.01601261191599E-05"
iyy="0.00343729241263711"
iyz="-0.000101485203138906"
izz="0.00125534890134053" />
</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="0.752941176470588 0.752941176470588 0.752941176470588 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_2"
type="continuous">
<origin
xyz="0.11 0.115 0"
rpy="1.5708 -1.5708 0" />
<parent
link="Fork_1" />
<child
link="Link_1" />
<axis
xyz="1 0 0" />
<limit
lower="-31416"
upper="15708"
effort="0"
velocity="0" />
</joint>
<link
name="Fork_2">
<inertial>
<origin
xyz="0.0472051139085306 0.00208890925682994 0.0557265410642579"
rpy="0 0 0" />
<mass
value="1.12472202892859" />
<inertia
ixx="0.00367804533572757"
ixy="1.04277925521839E-05"
ixz="-0.00149971410403071"
iyy="0.00415208849477533"
iyz="-5.67049464176431E-06"
izz="0.00418323534556488" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://arm_assembly_/meshes/Fork_2.STL" />
</geometry>
<material
name="">
<color
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://arm_assembly_/meshes/Fork_2.STL" />
</geometry>
</collision>
</link>
<joint
name="rot_3"
type="continuous">
<origin
xyz="0.001 0 0.156"
rpy="0 0 1.5708" />
<parent
link="Link_1" />
<child
link="Fork_2" />
<axis
xyz="0 0 1" />
</joint>
<link
name="Link_2">
<inertial>
<origin
xyz="-0.000432876513268311 0.000412152066707444 -0.0516389448183723"
rpy="0 0 0" />
<mass
value="1.58688811045174" />
<inertia
ixx="0.00315699369986102"
ixy="-2.84713874261321E-05"
ixz="-7.01601002852263E-05"
iyy="0.00343729240547401"
iyz="-0.000101485187086936"
izz="0.00125534888404072" />
</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="0.752941176470588 0.752941176470588 0.752941176470588 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_4"
type="continuous">
<origin
xyz="0.11 0 0.115"
rpy="3.1416 0 -1.5708" />
<parent
link="Fork_2" />
<child
link="Link_2" />
<axis
xyz="1 0 0" />
<limit
lower="-31416"
upper="15708"
effort="0"
velocity="0" />
</joint>
<link
name="Fork_3">
<inertial>
<origin
xyz="0.0472051139085305 0.00208890925682995 0.0557265410642568"
rpy="0 0 0" />
<mass
value="1.12472202892859" />
<inertia
ixx="0.00367804533572756"
ixy="1.04277925521852E-05"
ixz="-0.00149971410403071"
iyy="0.00415208849477532"
iyz="-5.67049464176495E-06"
izz="0.00418323534556488" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://arm_assembly_/meshes/Fork_3.STL" />
</geometry>
<material
name="">
<color
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://arm_assembly_/meshes/Fork_3.STL" />
</geometry>
</collision>
</link>
<joint
name="rot_5"
type="continuous">
<origin
xyz="-0.00130000000000235 0 -0.156000000000001"
rpy="-3.14159265358979 0 -1.5707963267949" />
<parent
link="Link_2" />
<child
link="Fork_3" />
<axis
xyz="0 0 1" />
</joint>
<link
name="Dock_Link">
<inertial>
<origin
xyz="-9.75315397450105E-06 -0.000888494418853673 0.0342332199538132"
rpy="0 0 0" />
<mass
value="1.26942368542281" />
<inertia
ixx="0.00147695259043489"
ixy="-2.66894744421543E-05"
ixz="-4.40871314563024E-05"
iyy="0.00135500487881815"
iyz="-3.19001462977757E-05"
izz="0.000875828927068793" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://arm_assembly_/meshes/Dock_Link.STL" />
</geometry>
<material
name="">
<color
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://arm_assembly_/meshes/Dock_Link.STL" />
</geometry>
</collision>
</link>
<joint
name="rot_6"
type="continuous">
<origin
xyz="0.11 0 0.115"
rpy="0 0 0" />
<parent
link="Fork_3" />
<child
link="Dock_Link" />
<axis
xyz="0 1 0" />
<limit
lower="-31416"
upper="15708"
effort="0"
velocity="0" />
</joint>
</robot>

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urdf/w_grip/arm_grip_assembly/config/joint_names_arm_grip_assembly.yaml
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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/urdf/arm_grip_assembly.csv
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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
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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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@ -1,539 +0,0 @@
<?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 -->
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