Добавлена urdf-модель манипулятора
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79 changed files with 2648 additions and 2658 deletions
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@ -1,14 +0,0 @@
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cmake_minimum_required(VERSION 2.8.3)
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project(_grip_tool)
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find_package(catkin REQUIRED)
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catkin_package()
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find_package(roslaunch)
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foreach(dir config launch meshes urdf)
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install(DIRECTORY ${dir}/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
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endforeach(dir)
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controller_joint_names: ['', 'grip_rot', 'open_1', 'open_2', ]
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<launch>
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<arg
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name="model" />
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<param
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name="robot_description"
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textfile="$(find _grip_tool)/urdf/_grip_tool.urdf" />
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<node
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name="joint_state_publisher_gui"
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pkg="joint_state_publisher_gui"
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type="joint_state_publisher_gui" />
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<node
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name="robot_state_publisher"
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pkg="robot_state_publisher"
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type="robot_state_publisher" />
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<node
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name="rviz"
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pkg="rviz"
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type="rviz"
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args="-d $(find _grip_tool)/urdf.rviz" />
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</launch>
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<launch>
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<include
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file="$(find gazebo_ros)/launch/empty_world.launch" />
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<node
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name="tf_footprint_base"
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pkg="tf"
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type="static_transform_publisher"
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args="0 0 0 0 0 0 base_link base_footprint 40" />
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<node
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name="spawn_model"
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pkg="gazebo_ros"
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type="spawn_model"
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args="-file $(find _grip_tool)/urdf/_grip_tool.urdf -urdf -model _grip_tool"
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output="screen" />
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<node
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name="fake_joint_calibration"
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pkg="rostopic"
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type="rostopic"
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args="pub /calibrated std_msgs/Bool true" />
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</launch>
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<package format="2">
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<name>_grip_tool</name>
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<version>1.0.0</version>
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<description>
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<p>URDF Description package for _grip_tool</p>
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<p>This package contains configuration data, 3D models and launch files
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for _grip_tool robot</p>
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</description>
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<author>TODO</author>
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<maintainer email="TODO@email.com" />
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<license>BSD</license>
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<buildtool_depend>catkin</buildtool_depend>
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<depend>roslaunch</depend>
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<depend>robot_state_publisher</depend>
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<depend>rviz</depend>
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<depend>joint_state_publisher_gui</depend>
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<depend>gazebo</depend>
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<export>
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<architecture_independent />
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</export>
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</package>
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<?xml version="1.0" encoding="utf-8"?>
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<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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Commit Version: 1.6.0-1-g15f4949 Build Version: 1.6.7594.29634
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For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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<robot
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name="_grip_tool">
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<link
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name="Grip_Base">
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<inertial>
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<origin
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xyz="0.000364704367134063 0.0336387482840125 0.0593891203954369"
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rpy="0 0 0" />
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<mass
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value="1.13983632906086" />
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<inertia
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ixx="0.00107738806534129"
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ixy="-1.09841172461737E-05"
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ixz="2.62750043451545E-06"
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iyy="0.000717388573992299"
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iyz="-2.95426438182787E-05"
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izz="0.00115777179755934" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://_grip_tool/meshes/Grip_Base.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://_grip_tool/meshes/Grip_Base.STL" />
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</geometry>
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</collision>
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</link>
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<link
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name="Grip_Rotator">
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<inertial>
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<origin
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xyz="6.79110135283868E-11 -3.80956832067611E-10 0.00775394473595793"
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rpy="0 0 0" />
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<mass
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value="0.161003401535982" />
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<inertia
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ixx="0.00011089089949771"
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ixy="5.01335040610636E-06"
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ixz="1.74608448389267E-14"
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iyy="0.000105515893695012"
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iyz="-2.03282362854432E-14"
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izz="0.000206912001661452" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://_grip_tool/meshes/Grip_Rotator.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://_grip_tool/meshes/Grip_Rotator.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="grip_rot"
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type="revolute">
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<origin
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xyz="0 0 0.10861"
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rpy="0 0 0" />
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<parent
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link="Grip_Base" />
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<child
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link="Grip_Rotator" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="0"
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upper="0"
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effort="0"
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velocity="0" />
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</joint>
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<link
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name="Gripper_1">
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<inertial>
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<origin
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xyz="0.00399878118534129 0.0187296413885176 -0.0777776233934166"
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rpy="0 0 0" />
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<mass
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value="0.0601996441483964" />
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<inertia
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ixx="4.18533281165612E-05"
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ixy="-7.11657995951147E-06"
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ixz="1.81029223490065E-05"
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iyy="7.89886367868258E-05"
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iyz="1.20542845942065E-05"
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izz="5.16740841307935E-05" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://_grip_tool/meshes/Gripper_1.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.752941176470588 0 0 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://_grip_tool/meshes/Gripper_1.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="open_1"
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type="prismatic">
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<origin
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xyz="0 0 0.1071"
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rpy="0 0 1.5708" />
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<parent
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link="Grip_Rotator" />
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<child
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link="Gripper_1" />
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<axis
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xyz="-1 0 0" />
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<limit
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lower="0"
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upper="0.064"
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effort="0"
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velocity="0" />
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</joint>
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<link
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name="Gripper_2">
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<inertial>
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<origin
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xyz="0.0039988 -0.077778 -0.01873"
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rpy="0 0 0" />
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<mass
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value="0.0602" />
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<inertia
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ixx="4.1853E-05"
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ixy="1.8103E-05"
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ixz="7.1166E-06"
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iyy="5.1674E-05"
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iyz="-1.2054E-05"
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izz="7.8989E-05" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://_grip_tool/meshes/Gripper_2.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.75294 0 0 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://_grip_tool/meshes/Gripper_2.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="open_2"
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type="prismatic">
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<origin
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xyz="0 0 0.1071"
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rpy="1.5708 0 -1.5708" />
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<parent
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link="Grip_Rotator" />
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<child
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link="Gripper_2" />
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<axis
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xyz="-1 0 0" />
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<limit
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lower="0"
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upper="0.064"
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effort="0"
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velocity="0" />
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</joint>
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</robot>
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cmake_minimum_required(VERSION 2.8.3)
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project(arm_assembly_)
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find_package(catkin REQUIRED)
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catkin_package()
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find_package(roslaunch)
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foreach(dir config launch meshes urdf)
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install(DIRECTORY ${dir}/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
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endforeach(dir)
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controller_joint_names: ['', 'rot_1', 'rot_2', 'rot_3', 'rot_4', 'rot_5', 'rot_6', ]
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<launch>
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<arg
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name="model" />
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<param
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name="robot_description"
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textfile="$(find arm_assembly_)/urdf/arm_assembly_.urdf" />
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<node
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name="joint_state_publisher_gui"
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pkg="joint_state_publisher_gui"
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type="joint_state_publisher_gui" />
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<node
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name="robot_state_publisher"
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pkg="robot_state_publisher"
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type="robot_state_publisher" />
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<node
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name="rviz"
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pkg="rviz"
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type="rviz"
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args="-d $(find arm_assembly_)/urdf.rviz" />
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</launch>
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<launch>
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<include
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||||
file="$(find gazebo_ros)/launch/empty_world.launch" />
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<node
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||||
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>
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
|
|
@ -1,21 +0,0 @@
|
|||
<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>
|
||||
|
|
@ -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,"-0,000297","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,,,,,,,,
|
||||
|
|
|
@ -3,35 +3,35 @@
|
|||
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_">
|
||||
name="rasmt">
|
||||
<link
|
||||
name="Base_link">
|
||||
name="Base_Link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.000297 0.096472 -0.00036103"
|
||||
xyz="-0.000297002857922682 0.0964721185617698 -0.000361033370053684"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="1.8803" />
|
||||
value="1.88031044620482" />
|
||||
<inertia
|
||||
ixx="0.005033"
|
||||
ixy="0.00034382"
|
||||
ixz="-4.7499E-06"
|
||||
iyy="0.0033796"
|
||||
iyz="-2.3099E-05"
|
||||
izz="0.0040586" />
|
||||
ixx="0.00503302470272442"
|
||||
ixy="0.000343817346410954"
|
||||
ixz="-4.74990755448368E-06"
|
||||
iyy="0.00337962410057753"
|
||||
iyz="-2.3099255620051E-05"
|
||||
izz="0.00405858207282473" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
rpy="0 0 3.1416" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://arm_assembly_/meshes/Base_link.STL" />
|
||||
filename="package://viewer/meshes/visual/Base_Link.dae" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.75294 0.75294 0.75294 1" />
|
||||
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
|
|
@ -40,7 +40,7 @@
|
|||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://arm_assembly_/meshes/Base_link.STL" />
|
||||
filename="package://viewer/meshes/collision/Base_Link.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
|
@ -48,17 +48,17 @@
|
|||
name="Fork_1">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.0472051139085305 0.0557265410642573 -0.00208890925682975"
|
||||
xyz="0.0472051139085306 0.00208890925682996 0.0557265410642575"
|
||||
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" />
|
||||
ixy="1.04277925521833E-05"
|
||||
ixz="-0.00149971410403071"
|
||||
iyy="0.00415208849477534"
|
||||
iyz="-5.67049464176624E-06"
|
||||
izz="0.0041832353455649" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
|
|
@ -66,7 +66,7 @@
|
|||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://arm_assembly_/meshes/Fork_1.STL" />
|
||||
filename="package://viewer/meshes/visual/Fork_1.dae" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
|
|
@ -80,38 +80,43 @@
|
|||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://arm_assembly_/meshes/Fork_1.STL" />
|
||||
filename="package://viewer/meshes/collision/Fork_1.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rot_1"
|
||||
type="continuous">
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0 0 0.20136"
|
||||
rpy="1.5708 0 -3.1416" />
|
||||
xyz="0 0 0.201360610569537"
|
||||
rpy="0 0 -3.1416" />
|
||||
<parent
|
||||
link="Base_link" />
|
||||
link="Base_Link" />
|
||||
<child
|
||||
link="Fork_1" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
xyz="0 0 1" />
|
||||
<limit
|
||||
lower="-3.1416"
|
||||
upper="3.1416"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="Link_1">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00186712264682618 -0.000412152188777493 0.0516389446895802"
|
||||
xyz="0.00186712264682627 -0.000412152188777604 0.0516389446895805"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="1.58688811563125" />
|
||||
value="1.58688811563124" />
|
||||
<inertia
|
||||
ixx="0.00315699373090848"
|
||||
ixy="2.84713820858521E-05"
|
||||
ixz="7.01601261191599E-05"
|
||||
iyy="0.00343729241263711"
|
||||
iyz="-0.000101485203138906"
|
||||
izz="0.00125534890134053" />
|
||||
ixx="0.00315699373090845"
|
||||
ixy="2.84713820858537E-05"
|
||||
ixz="7.01601261191721E-05"
|
||||
iyy="0.00343729241263707"
|
||||
iyz="-0.000101485203138902"
|
||||
izz="0.00125534890134052" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
|
|
@ -119,7 +124,7 @@
|
|||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://arm_assembly_/meshes/Link_1.STL" />
|
||||
filename="package://viewer/meshes/visual/Link_1.dae" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
|
|
@ -133,25 +138,25 @@
|
|||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://arm_assembly_/meshes/Link_1.STL" />
|
||||
filename="package://viewer/meshes/collision/Link_1.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rot_2"
|
||||
type="continuous">
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.11 0.115 0"
|
||||
rpy="1.5708 -1.5708 0" />
|
||||
xyz="0.11 0 0.115"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="Fork_1" />
|
||||
<child
|
||||
link="Link_1" />
|
||||
<axis
|
||||
xyz="1 0 0" />
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="-31416"
|
||||
upper="15708"
|
||||
lower="3.1415"
|
||||
upper="-1.5708"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
|
|
@ -159,16 +164,16 @@
|
|||
name="Fork_2">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.0472051139085306 0.00208890925682994 0.0557265410642579"
|
||||
xyz="0.0472051139085305 0.00208890925682995 0.0557265410642578"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="1.12472202892859" />
|
||||
<inertia
|
||||
ixx="0.00367804533572757"
|
||||
ixy="1.04277925521839E-05"
|
||||
ixy="1.04277925521844E-05"
|
||||
ixz="-0.00149971410403071"
|
||||
iyy="0.00415208849477533"
|
||||
iyz="-5.67049464176431E-06"
|
||||
iyz="-5.67049464176452E-06"
|
||||
izz="0.00418323534556488" />
|
||||
</inertial>
|
||||
<visual>
|
||||
|
|
@ -177,7 +182,7 @@
|
|||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://arm_assembly_/meshes/Fork_2.STL" />
|
||||
filename="package://viewer/meshes/visual/Fork_2.dae" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
|
|
@ -191,37 +196,42 @@
|
|||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://arm_assembly_/meshes/Fork_2.STL" />
|
||||
filename="package://viewer/meshes/collision/Fork_2.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rot_3"
|
||||
type="continuous">
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.001 0 0.156"
|
||||
rpy="0 0 1.5708" />
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="Link_1" />
|
||||
<child
|
||||
link="Fork_2" />
|
||||
<axis
|
||||
xyz="0 0 1" />
|
||||
<limit
|
||||
lower="-3.1416"
|
||||
upper="3.1416"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="Link_2">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.000432876513268311 0.000412152066707444 -0.0516389448183723"
|
||||
xyz="-0.000432876513268232 0.000412152066707638 -0.0516389448183734"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="1.58688811045174" />
|
||||
value="1.58688811045173" />
|
||||
<inertia
|
||||
ixx="0.00315699369986102"
|
||||
ixy="-2.84713874261321E-05"
|
||||
ixz="-7.01601002852263E-05"
|
||||
iyy="0.00343729240547401"
|
||||
iyz="-0.000101485187086936"
|
||||
ixx="0.003156993699861"
|
||||
ixy="-2.84713874261319E-05"
|
||||
ixz="-7.01601002852382E-05"
|
||||
iyy="0.00343729240547398"
|
||||
iyz="-0.000101485187086937"
|
||||
izz="0.00125534888404072" />
|
||||
</inertial>
|
||||
<visual>
|
||||
|
|
@ -230,7 +240,7 @@
|
|||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://arm_assembly_/meshes/Link_2.STL" />
|
||||
filename="package://viewer/meshes/visual/Link_2.dae" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
|
|
@ -244,25 +254,25 @@
|
|||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://arm_assembly_/meshes/Link_2.STL" />
|
||||
filename="package://viewer/meshes/collision/Link_2.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rot_4"
|
||||
type="continuous">
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.11 0 0.115"
|
||||
rpy="3.1416 0 -1.5708" />
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="Fork_2" />
|
||||
<child
|
||||
link="Link_2" />
|
||||
<axis
|
||||
xyz="1 0 0" />
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="-31416"
|
||||
upper="15708"
|
||||
lower="3.1416"
|
||||
upper="-1.5708"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
|
|
@ -270,16 +280,16 @@
|
|||
name="Fork_3">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.0472051139085305 0.00208890925682995 0.0557265410642568"
|
||||
xyz="0.0472051139085305 0.00208890925682995 0.0557265410642577"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="1.12472202892859" />
|
||||
<inertia
|
||||
ixx="0.00367804533572756"
|
||||
ixy="1.04277925521852E-05"
|
||||
ixx="0.00367804533572757"
|
||||
ixy="1.04277925521856E-05"
|
||||
ixz="-0.00149971410403071"
|
||||
iyy="0.00415208849477532"
|
||||
iyz="-5.67049464176495E-06"
|
||||
iyz="-5.67049464176534E-06"
|
||||
izz="0.00418323534556488" />
|
||||
</inertial>
|
||||
<visual>
|
||||
|
|
@ -288,7 +298,7 @@
|
|||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://arm_assembly_/meshes/Fork_3.STL" />
|
||||
filename="package://viewer/meshes/visual/Fork_3.dae" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
|
|
@ -302,46 +312,51 @@
|
|||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://arm_assembly_/meshes/Fork_3.STL" />
|
||||
filename="package://viewer/meshes/collision/Fork_3.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rot_5"
|
||||
type="continuous">
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.00130000000000235 0 -0.156000000000001"
|
||||
rpy="-3.14159265358979 0 -1.5707963267949" />
|
||||
xyz="-0.000 0 0.156"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="Link_2" />
|
||||
<child
|
||||
link="Fork_3" />
|
||||
<axis
|
||||
xyz="0 0 1" />
|
||||
<limit
|
||||
lower="-3.1416"
|
||||
upper="3.1416"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="Dock_Link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-9.75315397450105E-06 -0.000888494418853673 0.0342332199538132"
|
||||
xyz="-9.7531539777207E-06 -0.000888494418875867 0.0342332199538358"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="1.26942368542281" />
|
||||
value="1.26942368542312" />
|
||||
<inertia
|
||||
ixx="0.00147695259043489"
|
||||
ixy="-2.66894744421543E-05"
|
||||
ixz="-4.40871314563024E-05"
|
||||
iyy="0.00135500487881815"
|
||||
iyz="-3.19001462977757E-05"
|
||||
izz="0.000875828927068793" />
|
||||
ixx="0.00147695259043549"
|
||||
ixy="-2.66894744420299E-05"
|
||||
ixz="-4.40871314563273E-05"
|
||||
iyy="0.00135500487881796"
|
||||
iyz="-3.19001462979333E-05"
|
||||
izz="0.00087582892706912" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
rpy="0 0 1.5708" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://arm_assembly_/meshes/Dock_Link.STL" />
|
||||
filename="package://viewer/meshes/visual/Dock_Link.dae" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
|
|
@ -355,13 +370,13 @@
|
|||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://arm_assembly_/meshes/Dock_Link.STL" />
|
||||
filename="package://viewer/meshes/collision/Dock_Link.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rot_6"
|
||||
type="continuous">
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.11 0 0.115"
|
||||
rpy="0 0 0" />
|
||||
|
|
@ -372,9 +387,26 @@
|
|||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="-31416"
|
||||
upper="15708"
|
||||
lower="3.1416"
|
||||
upper="-1.5708"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
|
||||
</joint>
|
||||
<link
|
||||
name="Tool_Base"/>
|
||||
<joint
|
||||
name="tool"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0 0 0.115"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="Dock_Link" />
|
||||
<child
|
||||
link="Tool_Base" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
</joint>
|
||||
</robot>
|
||||
172
urdf/visual/Base_Link.dae
Normal file
172
urdf/visual/Base_Link.dae
Normal file
File diff suppressed because one or more lines are too long
168
urdf/visual/Dock_Link.dae
Normal file
168
urdf/visual/Dock_Link.dae
Normal file
File diff suppressed because one or more lines are too long
136
urdf/visual/Fork_1.dae
Normal file
136
urdf/visual/Fork_1.dae
Normal file
File diff suppressed because one or more lines are too long
136
urdf/visual/Fork_2.dae
Normal file
136
urdf/visual/Fork_2.dae
Normal file
File diff suppressed because one or more lines are too long
136
urdf/visual/Fork_3.dae
Normal file
136
urdf/visual/Fork_3.dae
Normal file
File diff suppressed because one or more lines are too long
121
urdf/visual/Grip_Base.dae
Normal file
121
urdf/visual/Grip_Base.dae
Normal file
File diff suppressed because one or more lines are too long
168
urdf/visual/Grip_Body.dae
Normal file
168
urdf/visual/Grip_Body.dae
Normal file
File diff suppressed because one or more lines are too long
92
urdf/visual/Grip_L.dae
Normal file
92
urdf/visual/Grip_L.dae
Normal file
File diff suppressed because one or more lines are too long
92
urdf/visual/Grip_R.dae
Normal file
92
urdf/visual/Grip_R.dae
Normal file
File diff suppressed because one or more lines are too long
140
urdf/visual/Link_1.dae
Normal file
140
urdf/visual/Link_1.dae
Normal file
File diff suppressed because one or more lines are too long
140
urdf/visual/Link_2.dae
Normal file
140
urdf/visual/Link_2.dae
Normal file
File diff suppressed because one or more lines are too long
Loading…
Add table
Add a link
Reference in a new issue