Добавил urdf
This commit is contained in:
SIYOU
parent
5fd098d750
commit
ddb412c842
18 changed files with 462 additions and 0 deletions
BIN
src/URDF/AsmMainArm221214_body.SLDASM/mass-inertia/ForkLink.pdf
Normal file
BIN
src/URDF/AsmMainArm221214_body.SLDASM/mass-inertia/ForkLink.pdf
Normal file
Binary file not shown.
BIN
src/URDF/AsmMainArm221214_body.SLDASM/mass-inertia/MainLink.pdf
Normal file
BIN
src/URDF/AsmMainArm221214_body.SLDASM/mass-inertia/MainLink.pdf
Normal file
Binary file not shown.
BIN
src/URDF/AsmMainArm221214_body.SLDASM/mass-inertia/StartLink.pdf
Normal file
BIN
src/URDF/AsmMainArm221214_body.SLDASM/mass-inertia/StartLink.pdf
Normal file
Binary file not shown.
BIN
src/URDF/AsmMainArm221214_body.SLDASM/mass-inertia/TailLink.pdf
Normal file
BIN
src/URDF/AsmMainArm221214_body.SLDASM/mass-inertia/TailLink.pdf
Normal file
Binary file not shown.
BIN
src/URDF/AsmMainArm221214_body.SLDASM/meshes/axis1_fork.STL
Normal file
BIN
src/URDF/AsmMainArm221214_body.SLDASM/meshes/axis1_fork.STL
Normal file
Binary file not shown.
BIN
src/URDF/AsmMainArm221214_body.SLDASM/meshes/axis2_main.STL
Normal file
BIN
src/URDF/AsmMainArm221214_body.SLDASM/meshes/axis2_main.STL
Normal file
Binary file not shown.
BIN
src/URDF/AsmMainArm221214_body.SLDASM/meshes/axis3_fork.STL
Normal file
BIN
src/URDF/AsmMainArm221214_body.SLDASM/meshes/axis3_fork.STL
Normal file
Binary file not shown.
BIN
src/URDF/AsmMainArm221214_body.SLDASM/meshes/axis4_main.STL
Normal file
BIN
src/URDF/AsmMainArm221214_body.SLDASM/meshes/axis4_main.STL
Normal file
Binary file not shown.
BIN
src/URDF/AsmMainArm221214_body.SLDASM/meshes/axis5_fork.STL
Normal file
BIN
src/URDF/AsmMainArm221214_body.SLDASM/meshes/axis5_fork.STL
Normal file
Binary file not shown.
BIN
src/URDF/AsmMainArm221214_body.SLDASM/meshes/axis6_main.STL
Normal file
BIN
src/URDF/AsmMainArm221214_body.SLDASM/meshes/axis6_main.STL
Normal file
Binary file not shown.
BIN
src/URDF/AsmMainArm221214_body.SLDASM/meshes/axis7_tail.STL
Normal file
BIN
src/URDF/AsmMainArm221214_body.SLDASM/meshes/axis7_tail.STL
Normal file
Binary file not shown.
BIN
src/URDF/AsmMainArm221214_body.SLDASM/meshes/base_link.STL
Normal file
BIN
src/URDF/AsmMainArm221214_body.SLDASM/meshes/base_link.STL
Normal file
Binary file not shown.
|
|
@ -0,0 +1,9 @@
|
|||
Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
|
||||
base_link,-0.000780731315532182,0.00565701376571108,0.0366488375048939,0,0,0,0.613984774290843,0.00154230278672191,-2.15412632179858E-06,2.10476122644303E-05,0.00146894996430076,7.0186994389379E-07,0.00150672869549504,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/base_link.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/base_link.STL,,asm_start-1,Coordinate System1 <asm_start-1>,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
|
||||
axis1_fork,-0.00500171716581445,-0.00237578382667501,-0.0659095199092172,0,0,0,0.4931155110004,0.00169213383533945,-9.95103426145579E-07,-1.84043937246943E-05,0.00199553070181316,2.58742657398926E-06,0.00087840903554742,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/axis1_fork.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/axis1_fork.STL,,asmMainFork_221220-2,Coordinate System1 <asmMainFork_221220-2>,Axis1,joint1,revolute,0,0,0.2663,0,0,0,base_link,0,0,-1,0,0,0,0,,,,,,,,
|
||||
axis2_main,0.000549976803363471,-0.00689586885019988,0.0866341280166462,0,0,0,0.427264100252103,0.00137938090936023,8.91814157920489E-06,-4.05415908892525E-05,0.00158701127873922,3.47714163247768E-05,0.000472551852924255,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/axis2_main.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/axis2_main.STL,,asmMainLink221219-1,Coordinate System1 <asmMainLink221219-1>,Axis2,joint2,revolute,-0.00027,0.132,0,1.5708,0,0,axis1_fork,1,0,0,0,0,0,0,,,,,,,,
|
||||
axis3_fork,-0.00500171689381246,-0.00237578385532944,-0.0659095202695734,0,0,0,0.493115508126031,0.00169213383504095,-9.95103403834234E-07,-1.84043937522366E-05,0.00199553070159878,2.58742643777825E-06,0.000878409035429165,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/axis3_fork.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/axis3_fork.STL,,asmMainFork_221220-3,Coordinate System1 <asmMainFork_221220-3>,Axis3,joint3,revolute,-9.99999999995011E-05,-0.000199999999999978,-0.1426,-3.14159265358979,0,3.14159265358979,axis2_main,0,0,-1,0,0,0,0,,,,,,,,
|
||||
axis4_main,0.000549976714161273,-0.0068958686436621,0.0866341278153069,0,0,0,0.427264098134387,0.00137938091192376,8.91814114274195E-06,-4.05415911887159E-05,0.00158701129284512,3.47714153744312E-05,0.000472551864104613,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/axis4_main.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/axis4_main.STL,,asmMainLink221219-2,Coordinate System1 <asmMainLink221219-2>,Axis4,joint4,revolute,-0.000270000000000902,0.131999999999996,0,1.5707963267949,0,0,axis3_fork,1,0,0,0,0,0,0,,,,,,,,
|
||||
axis5_fork,-0.0050017168948255,-0.00237578385519227,-0.0659095202676269,0,0,0,0.493115508141685,0.00169213403960964,-9.9520604628447E-07,-1.84044295119673E-05,0.00199553060263683,2.58731768474548E-06,0.000878409014719423,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/axis5_fork.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/axis5_fork.STL,,asmMainFork_221220-4,Coordinate System1 <asmMainFork_221220-4>,Axis5,joint4,revolute,0,0,-0.1426,-3.14159265358979,0,3.14159265358979,axis4_main,0,0,-1,0,0,0,0,,,,,,,,
|
||||
axis6_main,0.00054997671776411,-0.00689586866930159,0.0866341275726041,0,0,0,0.427264098328958,0.00137938091534402,8.91814114297055E-06,-4.0541590864763E-05,0.00158701130391337,3.47714143450509E-05,0.000472551871795596,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/axis6_main.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/axis6_main.STL,,asmMainLink221219-4,Coordinate System1 <asmMainLink221219-4>,Axis6,joint6,revolute,-0.000270000000000355,0.132000000000009,0,1.5707963267949,0,0,axis5_fork,1,0,0,0,0,0,0,,,,,,,,
|
||||
axis7_tail,-0.000744079167935645,0.000247906221807259,0.0312529002329407,0,0,0,0.20976072293408,0.000162570374609567,3.88568507884144E-07,-4.26281974342944E-07,0.000237024615700951,2.17085443047188E-05,0.000224679988342896,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/axis7_tail.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://AsmMainArm221214_body.SLDASM/meshes/axis7_tail.STL,,AsmTailLink_221214-2,Coordinate System1 <AsmTailLink_221214-2>,Axis7,joint7,revolute,0.000642485214801946,-0.00214900625035641,0.00196355751717808,3.14159265358979,0,0,axis6_main,0,0,1,0,0,0,0,,,,,,,,
|
||||
|
|
|
@ -0,0 +1,453 @@
|
|||
<?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: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
|
||||
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
|
||||
<robot
|
||||
name="AsmMainArm221214_body.SLDASM">
|
||||
<link
|
||||
name="base_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.000780731315532182 0.00565701376571108 0.0366488375048939"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.613984774290843" />
|
||||
<inertia
|
||||
ixx="0.00154230278672191"
|
||||
ixy="-2.15412632179858E-06"
|
||||
ixz="2.10476122644303E-05"
|
||||
iyy="0.00146894996430076"
|
||||
iyz="7.0186994389379E-07"
|
||||
izz="0.00150672869549504" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://AsmMainArm221214_body.SLDASM/meshes/base_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://AsmMainArm221214_body.SLDASM/meshes/base_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link
|
||||
name="axis1_fork">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00500171716581445 -0.00237578382667501 -0.0659095199092172"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.4931155110004" />
|
||||
<inertia
|
||||
ixx="0.00169213383533945"
|
||||
ixy="-9.95103426145579E-07"
|
||||
ixz="-1.84043937246943E-05"
|
||||
iyy="0.00199553070181316"
|
||||
iyz="2.58742657398926E-06"
|
||||
izz="0.00087840903554742" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://AsmMainArm221214_body.SLDASM/meshes/axis1_fork.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://AsmMainArm221214_body.SLDASM/meshes/axis1_fork.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="joint1"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0 0 0.2663"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="base_link" />
|
||||
<child
|
||||
link="axis1_fork" />
|
||||
<axis
|
||||
xyz="0 0 -1" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="0"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="axis2_main">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.000549976803363471 -0.00689586885019988 0.0866341280166462"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.427264100252103" />
|
||||
<inertia
|
||||
ixx="0.00137938090936023"
|
||||
ixy="8.91814157920489E-06"
|
||||
ixz="-4.05415908892525E-05"
|
||||
iyy="0.00158701127873922"
|
||||
iyz="3.47714163247768E-05"
|
||||
izz="0.000472551852924255" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://AsmMainArm221214_body.SLDASM/meshes/axis2_main.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://AsmMainArm221214_body.SLDASM/meshes/axis2_main.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="joint2"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.00027 0.132 0"
|
||||
rpy="1.5708 0 0" />
|
||||
<parent
|
||||
link="axis1_fork" />
|
||||
<child
|
||||
link="axis2_main" />
|
||||
<axis
|
||||
xyz="1 0 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="0"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="axis3_fork">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00500171689381246 -0.00237578385532944 -0.0659095202695734"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.493115508126031" />
|
||||
<inertia
|
||||
ixx="0.00169213383504095"
|
||||
ixy="-9.95103403834234E-07"
|
||||
ixz="-1.84043937522366E-05"
|
||||
iyy="0.00199553070159878"
|
||||
iyz="2.58742643777825E-06"
|
||||
izz="0.000878409035429165" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://AsmMainArm221214_body.SLDASM/meshes/axis3_fork.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://AsmMainArm221214_body.SLDASM/meshes/axis3_fork.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="joint3"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-9.99999999995011E-05 -0.000199999999999978 -0.1426"
|
||||
rpy="-3.14159265358979 0 3.14159265358979" />
|
||||
<parent
|
||||
link="axis2_main" />
|
||||
<child
|
||||
link="axis3_fork" />
|
||||
<axis
|
||||
xyz="0 0 -1" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="0"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="axis4_main">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.000549976714161273 -0.0068958686436621 0.0866341278153069"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.427264098134387" />
|
||||
<inertia
|
||||
ixx="0.00137938091192376"
|
||||
ixy="8.91814114274195E-06"
|
||||
ixz="-4.05415911887159E-05"
|
||||
iyy="0.00158701129284512"
|
||||
iyz="3.47714153744312E-05"
|
||||
izz="0.000472551864104613" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://AsmMainArm221214_body.SLDASM/meshes/axis4_main.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://AsmMainArm221214_body.SLDASM/meshes/axis4_main.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="joint4"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.000270000000000902 0.131999999999996 0"
|
||||
rpy="1.5707963267949 0 0" />
|
||||
<parent
|
||||
link="axis3_fork" />
|
||||
<child
|
||||
link="axis4_main" />
|
||||
<axis
|
||||
xyz="1 0 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="0"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="axis5_fork">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.0050017168948255 -0.00237578385519227 -0.0659095202676269"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.493115508141685" />
|
||||
<inertia
|
||||
ixx="0.00169213403960964"
|
||||
ixy="-9.9520604628447E-07"
|
||||
ixz="-1.84044295119673E-05"
|
||||
iyy="0.00199553060263683"
|
||||
iyz="2.58731768474548E-06"
|
||||
izz="0.000878409014719423" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://AsmMainArm221214_body.SLDASM/meshes/axis5_fork.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://AsmMainArm221214_body.SLDASM/meshes/axis5_fork.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="joint4"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0 0 -0.1426"
|
||||
rpy="-3.14159265358979 0 3.14159265358979" />
|
||||
<parent
|
||||
link="axis4_main" />
|
||||
<child
|
||||
link="axis5_fork" />
|
||||
<axis
|
||||
xyz="0 0 -1" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="0"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="axis6_main">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00054997671776411 -0.00689586866930159 0.0866341275726041"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.427264098328958" />
|
||||
<inertia
|
||||
ixx="0.00137938091534402"
|
||||
ixy="8.91814114297055E-06"
|
||||
ixz="-4.0541590864763E-05"
|
||||
iyy="0.00158701130391337"
|
||||
iyz="3.47714143450509E-05"
|
||||
izz="0.000472551871795596" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://AsmMainArm221214_body.SLDASM/meshes/axis6_main.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://AsmMainArm221214_body.SLDASM/meshes/axis6_main.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="joint6"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.000270000000000355 0.132000000000009 0"
|
||||
rpy="1.5707963267949 0 0" />
|
||||
<parent
|
||||
link="axis5_fork" />
|
||||
<child
|
||||
link="axis6_main" />
|
||||
<axis
|
||||
xyz="1 0 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="0"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="axis7_tail">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.000744079167935645 0.000247906221807259 0.0312529002329407"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.20976072293408" />
|
||||
<inertia
|
||||
ixx="0.000162570374609567"
|
||||
ixy="3.88568507884144E-07"
|
||||
ixz="-4.26281974342944E-07"
|
||||
iyy="0.000237024615700951"
|
||||
iyz="2.17085443047188E-05"
|
||||
izz="0.000224679988342896" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://AsmMainArm221214_body.SLDASM/meshes/axis7_tail.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://AsmMainArm221214_body.SLDASM/meshes/axis7_tail.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="joint7"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.000642485214801946 -0.00214900625035641 0.00196355751717808"
|
||||
rpy="3.14159265358979 0 0" />
|
||||
<parent
|
||||
link="axis6_main" />
|
||||
<child
|
||||
link="axis7_tail" />
|
||||
<axis
|
||||
xyz="0 0 1" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="0"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
</robot>
|
||||
BIN
src/URDF/mass-inertia/ForkLink.pdf
Normal file
BIN
src/URDF/mass-inertia/ForkLink.pdf
Normal file
Binary file not shown.
BIN
src/URDF/mass-inertia/MainLink.pdf
Normal file
BIN
src/URDF/mass-inertia/MainLink.pdf
Normal file
Binary file not shown.
BIN
src/URDF/mass-inertia/StartLink.pdf
Normal file
BIN
src/URDF/mass-inertia/StartLink.pdf
Normal file
Binary file not shown.
BIN
src/URDF/mass-inertia/TailLink.pdf
Normal file
BIN
src/URDF/mass-inertia/TailLink.pdf
Normal file
Binary file not shown.
Loading…
Add table
Add a link
Reference in a new issue