diff --git a/src/URDF/AsmMainArm221214_body.SLDASM/mass-inertia/ForkLink.pdf b/src/URDF/AsmMainArm221214_body.SLDASM/mass-inertia/ForkLink.pdf new file mode 100644 index 0000000..c4c329a Binary files /dev/null and b/src/URDF/AsmMainArm221214_body.SLDASM/mass-inertia/ForkLink.pdf differ diff --git a/src/URDF/AsmMainArm221214_body.SLDASM/mass-inertia/MainLink.pdf b/src/URDF/AsmMainArm221214_body.SLDASM/mass-inertia/MainLink.pdf new file mode 100644 index 0000000..ee56ef2 Binary files /dev/null and b/src/URDF/AsmMainArm221214_body.SLDASM/mass-inertia/MainLink.pdf differ diff --git a/src/URDF/AsmMainArm221214_body.SLDASM/mass-inertia/StartLink.pdf b/src/URDF/AsmMainArm221214_body.SLDASM/mass-inertia/StartLink.pdf new file mode 100644 index 0000000..992854e Binary files /dev/null and b/src/URDF/AsmMainArm221214_body.SLDASM/mass-inertia/StartLink.pdf differ diff --git a/src/URDF/AsmMainArm221214_body.SLDASM/mass-inertia/TailLink.pdf 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b/src/URDF/AsmMainArm221214_body.SLDASM/meshes/axis3_fork.STL differ diff --git a/src/URDF/AsmMainArm221214_body.SLDASM/meshes/axis4_main.STL b/src/URDF/AsmMainArm221214_body.SLDASM/meshes/axis4_main.STL new file mode 100644 index 0000000..298a3a3 Binary files /dev/null and b/src/URDF/AsmMainArm221214_body.SLDASM/meshes/axis4_main.STL differ diff --git a/src/URDF/AsmMainArm221214_body.SLDASM/meshes/axis5_fork.STL b/src/URDF/AsmMainArm221214_body.SLDASM/meshes/axis5_fork.STL new file mode 100644 index 0000000..c1c7e1e Binary files /dev/null and b/src/URDF/AsmMainArm221214_body.SLDASM/meshes/axis5_fork.STL differ diff --git a/src/URDF/AsmMainArm221214_body.SLDASM/meshes/axis6_main.STL b/src/URDF/AsmMainArm221214_body.SLDASM/meshes/axis6_main.STL new file mode 100644 index 0000000..c8d35d6 Binary files /dev/null and b/src/URDF/AsmMainArm221214_body.SLDASM/meshes/axis6_main.STL differ diff --git a/src/URDF/AsmMainArm221214_body.SLDASM/meshes/axis7_tail.STL b/src/URDF/AsmMainArm221214_body.SLDASM/meshes/axis7_tail.STL new file mode 100644 index 0000000..0ccb9c8 Binary files /dev/null and b/src/URDF/AsmMainArm221214_body.SLDASM/meshes/axis7_tail.STL differ diff --git a/src/URDF/AsmMainArm221214_body.SLDASM/meshes/base_link.STL b/src/URDF/AsmMainArm221214_body.SLDASM/meshes/base_link.STL new file mode 100644 index 0000000..84c00ce Binary files /dev/null and b/src/URDF/AsmMainArm221214_body.SLDASM/meshes/base_link.STL differ diff --git a/src/URDF/AsmMainArm221214_body.SLDASM/urdf/AsmMainArm221214_body.SLDASM.csv b/src/URDF/AsmMainArm221214_body.SLDASM/urdf/AsmMainArm221214_body.SLDASM.csv new file mode 100644 index 0000000..753fd62 --- /dev/null +++ b/src/URDF/AsmMainArm221214_body.SLDASM/urdf/AsmMainArm221214_body.SLDASM.csv @@ -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 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,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 ,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 ,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 ,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 ,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 ,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 ,Axis7,joint7,revolute,0.000642485214801946,-0.00214900625035641,0.00196355751717808,3.14159265358979,0,0,axis6_main,0,0,1,0,0,0,0,,,,,,,, diff --git a/src/URDF/AsmMainArm221214_body.SLDASM/urdf/AsmMainArm221214_body.SLDASM.urdf b/src/URDF/AsmMainArm221214_body.SLDASM/urdf/AsmMainArm221214_body.SLDASM.urdf new file mode 100644 index 0000000..fa5a057 --- /dev/null +++ b/src/URDF/AsmMainArm221214_body.SLDASM/urdf/AsmMainArm221214_body.SLDASM.urdf @@ -0,0 +1,453 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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