Add URDF. Some changes in scene.
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44 changed files with 3300 additions and 0 deletions
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solidworks_files/Label_bunker/Vertical_gripper.STL
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solidworks_files/Label_bunker/Vertical_gripper.STL
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solidworks_files/RTC_scene/Camera.SLDPRT
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solidworks_files/RTC_scene/Camera.SLDPRT
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solidworks_files/RTC_scene/asm_scene.SLDASM
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solidworks_files/RTC_scene/asm_scene.SLDASM
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solidworks_files/RTC_scene/Основание.SLDPRT
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solidworks_files/RTC_scene/Основание.SLDPRT
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solidworks_files/RTC_scene/Уголок_1200мм.SLDPRT
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solidworks_files/RTC_scene/Уголок_1200мм.SLDPRT
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solidworks_files/RTC_scene/Уголок_700мм.SLDPRT
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solidworks_files/RTC_scene/Уголок_700мм.SLDPRT
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solidworks_files/URDF/assembly_6DoF.zip
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solidworks_files/URDF/assembly_6DoF.zip
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solidworks_files/URDF/assembly_6DoF/CMakeLists.txt
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solidworks_files/URDF/assembly_6DoF/CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
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project(assembly_6DoF)
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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: ['', 'ax_1', 'ax_2', 'ax_3', 'ax_4', 'ax_5', 'ax_6', ]
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solidworks_files/URDF/assembly_6DoF/export.log
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solidworks_files/URDF/assembly_6DoF/export.log
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solidworks_files/URDF/assembly_6DoF/launch/display.launch
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solidworks_files/URDF/assembly_6DoF/launch/display.launch
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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 assembly_6DoF)/urdf/assembly_6DoF.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 $(find assembly_6DoF)/urdf.rviz" />
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</launch>
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solidworks_files/URDF/assembly_6DoF/launch/gazebo.launch
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solidworks_files/URDF/assembly_6DoF/launch/gazebo.launch
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<launch>
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<include
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file="$(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 assembly_6DoF)/urdf/assembly_6DoF.urdf -urdf -model assembly_6DoF"
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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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solidworks_files/URDF/assembly_6DoF/meshes/Link_02.STL
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solidworks_files/URDF/assembly_6DoF/meshes/Link_02.STL
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solidworks_files/URDF/assembly_6DoF/meshes/Link_03.STL
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solidworks_files/URDF/assembly_6DoF/meshes/Link_03.STL
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solidworks_files/URDF/assembly_6DoF/meshes/Link_04.STL
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solidworks_files/URDF/assembly_6DoF/meshes/Link_04.STL
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solidworks_files/URDF/assembly_6DoF/meshes/Link_06.STL
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solidworks_files/URDF/assembly_6DoF/meshes/Link_06.STL
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solidworks_files/URDF/assembly_6DoF/meshes/Link_07.STL
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solidworks_files/URDF/assembly_6DoF/meshes/Link_07.STL
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solidworks_files/URDF/assembly_6DoF/meshes/Link_08.STL
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solidworks_files/URDF/assembly_6DoF/meshes/Link_08.STL
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solidworks_files/URDF/assembly_6DoF/meshes/base_link.STL
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solidworks_files/URDF/assembly_6DoF/meshes/base_link.STL
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solidworks_files/URDF/assembly_6DoF/meshes/link_01.STL
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solidworks_files/URDF/assembly_6DoF/meshes/link_01.STL
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solidworks_files/URDF/assembly_6DoF/package.xml
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solidworks_files/URDF/assembly_6DoF/package.xml
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<package format="2">
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<name>assembly_6DoF</name>
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<version>1.0.0</version>
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<description>
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<p>URDF Description package for assembly_6DoF</p>
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<p>This package contains configuration data, 3D models and launch files
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for assembly_6DoF 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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solidworks_files/URDF/assembly_6DoF/urdf/assembly_6DoF.csv
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solidworks_files/URDF/assembly_6DoF/urdf/assembly_6DoF.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
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base_link,"-8,54233606739125E-05","0,00237261516674613","0,0727412122189275",0,0,0,"1,22750289216444","0,00132489346534405","-9,04885171217137E-06","9,12449155936019E-06","0,00163265405627164","5,56490919358566E-05","0,00208032106706038",0,0,0,0,0,0,package://assembly_6DoF/meshes/base_link.STL,"0,752941176470588","0,752941176470588","0,752941176470588",1,0,0,0,0,0,0,package://assembly_6DoF/meshes/base_link.STL,,ASSEMBLY_START-1,Origin_global,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
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link_01,"-0,00848908618604632","-0,00280906081849381","0,0914408492450371",0,0,0,"0,515224814650532","0,00161165592122362","5,3037835070687E-07","-3,15413458468469E-05","0,00190493381759602","5,09548827879937E-06","0,000857659568521175",0,0,0,0,0,0,package://assembly_6DoF/meshes/link_01.STL,"0,752941176470588","0,752941176470588","0,752941176470588",1,0,0,0,0,0,0,package://assembly_6DoF/meshes/link_01.STL,,ASSEMBLY_FORK_L-2,Origin_ax_1,Axis_ax_1,ax_1,revolute,0,0,"0,12651",0,0,0,base_link,0,0,1,0,0,0,0,,,,,,,,
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Link_02,"-4,10661897513285E-07","0,00223496402317745","0,0459918009610263",0,0,0,"1,41722285650076","0,00186290156875659","-3,00830959226468E-09","4,43975425989195E-05","0,001769032367939","-3,03156147105806E-09","0,000726634720349098",0,0,0,0,0,0,package://assembly_6DoF/meshes/Link_02.STL,"0,752941176470588","0,752941176470588","0,752941176470588",1,0,0,0,0,0,0,package://assembly_6DoF/meshes/Link_02.STL,,ASSEMBLY_FIRST-1,Origin_ax_2,Axis_ax_2,ax_2,revolute,0,0,"0,15929",0,0,0,link_01,1,0,0,0,0,0,0,,,,,,,,
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Link_03,"0,00951548546402769","-0,00124545789767392","0,0426605611304918",0,0,0,"0,42702159219928","0,000803989256561299","-3,01612394083865E-06","-1,61263808941143E-05","0,00100796753887135","-2,64241274321953E-06","0,000637842610902841",0,0,0,0,0,0,package://assembly_6DoF/meshes/Link_03.STL,"0,752941176470588","0,752941176470588","0,752941176470588",1,0,0,0,0,0,0,package://assembly_6DoF/meshes/Link_03.STL,,ASSEMBLY_FORK_S-1,Origin_ax_3,Axis_ax_3,ax_3,revolute,0,0,"0,092",0,0,0,Link_02,-1,0,0,0,0,0,0,,,,,,,,
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Link_04,"-0,000334339865101156","0,00464836357845911","0,0651901109141136",0,0,0,"0,859217743981029","0,000582593656622538","6,56596271695798E-06","1,04038014699374E-05","0,000594739623571533","-2,05954986474142E-06","0,000325704958954311",0,0,0,0,0,0,package://assembly_6DoF/meshes/Link_04.STL,"0,752941176470588","0,752941176470588","0,752941176470588",1,0,0,0,0,0,0,package://assembly_6DoF/meshes/Link_04.STL,,ASSEMBLY_SECOND_P1-1,Origin_ax_4,Axis_ax_4,ax_4,revolute,0,0,"0,094901",0,0,0,Link_03,0,0,-1,0,0,0,0,,,,,,,,
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Link_05,"0,000453829432802026","0,000829845158224828","0,071897039942263",0,0,0,"0,695050888352266","0,000507055068179218","3,50327671939265E-07","4,50703805386992E-06","0,000775145776409889","-6,3960847270042E-06","0,000756243961469555",0,0,0,0,0,0,package://assembly_6DoF/meshes/Link_05.STL,"0,752941176470588","0,752941176470588","0,752941176470588",1,0,0,0,0,0,0,package://assembly_6DoF/meshes/Link_05.STL,,ASSEMBLY_SECOND_P2-1,Origin_ax_5,Axis_ax_5,ax_5,revolute,0,0,"0,097999",0,0,0,Link_04,-1,0,0,0,0,0,0,,,,,,,,
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Link_06,"-8,8831466371099E-09","-0,112071334546287","0,00810241687772562",0,0,0,"0,280330762522721","0,00129459678338959","-9,83110094591847E-11","-3,19830442893476E-11","2,09759800769375E-05","5,63414300510928E-05","0,00129498421400291",0,0,0,0,0,0,package://assembly_6DoF/meshes/Link_06.STL,"0,752941176470588","0,752941176470588","0,752941176470588",1,0,0,0,0,0,0,package://assembly_6DoF/meshes/Link_06.STL,,asm_vacuum_gripper_vertical-1,Origin_ax_6,Axis_ax_6,ax_6,revolute,"-0,0012",0,"0,1145",0,0,0,Link_05,0,0,1,0,0,0,0,,,,,,,,
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Link_07,"-1,01394587170844E-15","-5,55111512312578E-17","-0,0049950359465929",0,0,0,"0,0119295697834755","4,27745590342647E-07","2,68928440312099E-33","1,44687693702654E-21","4,2774559034265E-07","3,0329437472821E-21","3,81314853129931E-07",0,0,0,0,0,0,package://assembly_6DoF/meshes/Link_07.STL,1,1,1,"0,4",0,0,0,0,0,0,package://assembly_6DoF/meshes/Link_07.STL,,asm_vacuum_gripper_vertical-1/Vacuum_lifter(cup)-2,Origin_ax_7,,ax_7,fixed,0,"-0,19","0,04",0,0,0,Link_06,0,0,0,,,,,,,,,,,,
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Link_08,"-6,10622663543836E-16","-1,11022302462516E-16","-0,0049950359465929",0,0,0,"0,0119295697834755","4,2774559034265E-07","-2,75001183405761E-33","3,1360121197781E-21","4,27745590342647E-07","-5,45683760877208E-22","3,81314853129931E-07",0,0,0,0,0,0,package://assembly_6DoF/meshes/Link_08.STL,1,1,1,"0,4",0,0,0,0,0,0,package://assembly_6DoF/meshes/Link_08.STL,,asm_vacuum_gripper_vertical-1/Vacuum_lifter(cup)-1,Origin_ax_8,Axis_ax_8,ax_8,fixed,0,"-0,164999999999954","0,0399999999999993",0,0,0,Link_06,0,0,0,,,,,,,,,,,,
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solidworks_files/URDF/assembly_6DoF/urdf/assembly_6DoF.urdf
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solidworks_files/URDF/assembly_6DoF/urdf/assembly_6DoF.urdf
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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: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
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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="assembly_6DoF">
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<link
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name="base_link">
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<inertial>
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<origin
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xyz="-8.54233606739125E-05 0.00237261516674613 0.0727412122189275"
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rpy="0 0 0" />
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<mass
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value="1.22750289216444" />
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<inertia
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ixx="0.00132489346534405"
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ixy="-9.04885171217137E-06"
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ixz="9.12449155936019E-06"
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iyy="0.00163265405627164"
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iyz="5.56490919358566E-05"
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izz="0.00208032106706038" />
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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://assembly_6DoF/meshes/base_link.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://assembly_6DoF/meshes/base_link.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="link_01">
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<inertial>
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<origin
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xyz="-0.00848908618604632 -0.00280906081849381 0.0914408492450371"
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rpy="0 0 0" />
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<mass
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value="0.515224814650532" />
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<inertia
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ixx="0.00161165592122362"
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ixy="5.3037835070687E-07"
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ixz="-3.15413458468469E-05"
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iyy="0.00190493381759602"
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iyz="5.09548827879937E-06"
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izz="0.000857659568521175" />
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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://assembly_6DoF/meshes/link_01.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://assembly_6DoF/meshes/link_01.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="ax_1"
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type="revolute">
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<origin
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xyz="0 0 0.12651"
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rpy="0 0 0" />
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<parent
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link="base_link" />
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<child
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link="link_01" />
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<axis
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xyz="0 0 1" />
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<limit
|
||||||
|
lower="0"
|
||||||
|
upper="0"
|
||||||
|
effort="0"
|
||||||
|
velocity="0" />
|
||||||
|
</joint>
|
||||||
|
<link
|
||||||
|
name="Link_02">
|
||||||
|
<inertial>
|
||||||
|
<origin
|
||||||
|
xyz="-4.10661897513285E-07 0.00223496402317745 0.0459918009610263"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<mass
|
||||||
|
value="1.41722285650076" />
|
||||||
|
<inertia
|
||||||
|
ixx="0.00186290156875659"
|
||||||
|
ixy="-3.00830959226468E-09"
|
||||||
|
ixz="4.43975425989195E-05"
|
||||||
|
iyy="0.001769032367939"
|
||||||
|
iyz="-3.03156147105806E-09"
|
||||||
|
izz="0.000726634720349098" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="package://assembly_6DoF/meshes/Link_02.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://assembly_6DoF/meshes/Link_02.STL" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint
|
||||||
|
name="ax_2"
|
||||||
|
type="revolute">
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0.15929"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<parent
|
||||||
|
link="link_01" />
|
||||||
|
<child
|
||||||
|
link="Link_02" />
|
||||||
|
<axis
|
||||||
|
xyz="1 0 0" />
|
||||||
|
<limit
|
||||||
|
lower="0"
|
||||||
|
upper="0"
|
||||||
|
effort="0"
|
||||||
|
velocity="0" />
|
||||||
|
</joint>
|
||||||
|
<link
|
||||||
|
name="Link_03">
|
||||||
|
<inertial>
|
||||||
|
<origin
|
||||||
|
xyz="0.00951548546402769 -0.00124545789767392 0.0426605611304918"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<mass
|
||||||
|
value="0.42702159219928" />
|
||||||
|
<inertia
|
||||||
|
ixx="0.000803989256561299"
|
||||||
|
ixy="-3.01612394083865E-06"
|
||||||
|
ixz="-1.61263808941143E-05"
|
||||||
|
iyy="0.00100796753887135"
|
||||||
|
iyz="-2.64241274321953E-06"
|
||||||
|
izz="0.000637842610902841" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="package://assembly_6DoF/meshes/Link_03.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://assembly_6DoF/meshes/Link_03.STL" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint
|
||||||
|
name="ax_3"
|
||||||
|
type="revolute">
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0.092"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<parent
|
||||||
|
link="Link_02" />
|
||||||
|
<child
|
||||||
|
link="Link_03" />
|
||||||
|
<axis
|
||||||
|
xyz="-1 0 0" />
|
||||||
|
<limit
|
||||||
|
lower="0"
|
||||||
|
upper="0"
|
||||||
|
effort="0"
|
||||||
|
velocity="0" />
|
||||||
|
</joint>
|
||||||
|
<link
|
||||||
|
name="Link_04">
|
||||||
|
<inertial>
|
||||||
|
<origin
|
||||||
|
xyz="-0.000334339865101156 0.00464836357845911 0.0651901109141136"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<mass
|
||||||
|
value="0.859217743981029" />
|
||||||
|
<inertia
|
||||||
|
ixx="0.000582593656622538"
|
||||||
|
ixy="6.56596271695798E-06"
|
||||||
|
ixz="1.04038014699374E-05"
|
||||||
|
iyy="0.000594739623571533"
|
||||||
|
iyz="-2.05954986474142E-06"
|
||||||
|
izz="0.000325704958954311" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="package://assembly_6DoF/meshes/Link_04.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://assembly_6DoF/meshes/Link_04.STL" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint
|
||||||
|
name="ax_4"
|
||||||
|
type="revolute">
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0.094901"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<parent
|
||||||
|
link="Link_03" />
|
||||||
|
<child
|
||||||
|
link="Link_04" />
|
||||||
|
<axis
|
||||||
|
xyz="0 0 -1" />
|
||||||
|
<limit
|
||||||
|
lower="0"
|
||||||
|
upper="0"
|
||||||
|
effort="0"
|
||||||
|
velocity="0" />
|
||||||
|
</joint>
|
||||||
|
<link
|
||||||
|
name="Link_05">
|
||||||
|
<inertial>
|
||||||
|
<origin
|
||||||
|
xyz="0.000453829432802026 0.000829845158224828 0.071897039942263"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<mass
|
||||||
|
value="0.695050888352266" />
|
||||||
|
<inertia
|
||||||
|
ixx="0.000507055068179218"
|
||||||
|
ixy="3.50327671939265E-07"
|
||||||
|
ixz="4.50703805386992E-06"
|
||||||
|
iyy="0.000775145776409889"
|
||||||
|
iyz="-6.3960847270042E-06"
|
||||||
|
izz="0.000756243961469555" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="package://assembly_6DoF/meshes/Link_05.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://assembly_6DoF/meshes/Link_05.STL" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint
|
||||||
|
name="ax_5"
|
||||||
|
type="revolute">
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0.097999"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<parent
|
||||||
|
link="Link_04" />
|
||||||
|
<child
|
||||||
|
link="Link_05" />
|
||||||
|
<axis
|
||||||
|
xyz="-1 0 0" />
|
||||||
|
<limit
|
||||||
|
lower="0"
|
||||||
|
upper="0"
|
||||||
|
effort="0"
|
||||||
|
velocity="0" />
|
||||||
|
</joint>
|
||||||
|
<link
|
||||||
|
name="Link_06">
|
||||||
|
<inertial>
|
||||||
|
<origin
|
||||||
|
xyz="-8.8831466371099E-09 -0.112071334546287 0.00810241687772562"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<mass
|
||||||
|
value="0.280330762522721" />
|
||||||
|
<inertia
|
||||||
|
ixx="0.00129459678338959"
|
||||||
|
ixy="-9.83110094591847E-11"
|
||||||
|
ixz="-3.19830442893476E-11"
|
||||||
|
iyy="2.09759800769375E-05"
|
||||||
|
iyz="5.63414300510928E-05"
|
||||||
|
izz="0.00129498421400291" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="package://assembly_6DoF/meshes/Link_06.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://assembly_6DoF/meshes/Link_06.STL" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint
|
||||||
|
name="ax_6"
|
||||||
|
type="revolute">
|
||||||
|
<origin
|
||||||
|
xyz="-0.0012 0 0.1145"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<parent
|
||||||
|
link="Link_05" />
|
||||||
|
<child
|
||||||
|
link="Link_06" />
|
||||||
|
<axis
|
||||||
|
xyz="0 0 1" />
|
||||||
|
<limit
|
||||||
|
lower="0"
|
||||||
|
upper="0"
|
||||||
|
effort="0"
|
||||||
|
velocity="0" />
|
||||||
|
</joint>
|
||||||
|
<link
|
||||||
|
name="Link_07">
|
||||||
|
<inertial>
|
||||||
|
<origin
|
||||||
|
xyz="-1.01394587170844E-15 -5.55111512312578E-17 -0.0049950359465929"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<mass
|
||||||
|
value="0.0119295697834755" />
|
||||||
|
<inertia
|
||||||
|
ixx="4.27745590342647E-07"
|
||||||
|
ixy="2.68928440312099E-33"
|
||||||
|
ixz="1.44687693702654E-21"
|
||||||
|
iyy="4.2774559034265E-07"
|
||||||
|
iyz="3.0329437472821E-21"
|
||||||
|
izz="3.81314853129931E-07" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="package://assembly_6DoF/meshes/Link_07.STL" />
|
||||||
|
</geometry>
|
||||||
|
<material
|
||||||
|
name="">
|
||||||
|
<color
|
||||||
|
rgba="1 1 1 0.4" />
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="package://assembly_6DoF/meshes/Link_07.STL" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint
|
||||||
|
name="ax_7"
|
||||||
|
type="fixed">
|
||||||
|
<origin
|
||||||
|
xyz="0 -0.19 0.04"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<parent
|
||||||
|
link="Link_06" />
|
||||||
|
<child
|
||||||
|
link="Link_07" />
|
||||||
|
<axis
|
||||||
|
xyz="0 0 0" />
|
||||||
|
</joint>
|
||||||
|
<link
|
||||||
|
name="Link_08">
|
||||||
|
<inertial>
|
||||||
|
<origin
|
||||||
|
xyz="-6.10622663543836E-16 -1.11022302462516E-16 -0.0049950359465929"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<mass
|
||||||
|
value="0.0119295697834755" />
|
||||||
|
<inertia
|
||||||
|
ixx="4.2774559034265E-07"
|
||||||
|
ixy="-2.75001183405761E-33"
|
||||||
|
ixz="3.1360121197781E-21"
|
||||||
|
iyy="4.27745590342647E-07"
|
||||||
|
iyz="-5.45683760877208E-22"
|
||||||
|
izz="3.81314853129931E-07" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="package://assembly_6DoF/meshes/Link_08.STL" />
|
||||||
|
</geometry>
|
||||||
|
<material
|
||||||
|
name="">
|
||||||
|
<color
|
||||||
|
rgba="1 1 1 0.4" />
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="package://assembly_6DoF/meshes/Link_08.STL" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint
|
||||||
|
name="ax_8"
|
||||||
|
type="fixed">
|
||||||
|
<origin
|
||||||
|
xyz="0 -0.164999999999954 0.0399999999999993"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<parent
|
||||||
|
link="Link_06" />
|
||||||
|
<child
|
||||||
|
link="Link_08" />
|
||||||
|
<axis
|
||||||
|
xyz="0 0 0" />
|
||||||
|
</joint>
|
||||||
|
</robot>
|
||||||
BIN
solidworks_files/URDF/assembly_6DoF_with_gripper.zip
Normal file
BIN
solidworks_files/URDF/assembly_6DoF_with_gripper.zip
Normal file
Binary file not shown.
|
|
@ -0,0 +1,14 @@
|
||||||
|
cmake_minimum_required(VERSION 2.8.3)
|
||||||
|
|
||||||
|
project(assembly_6DoF_with_gripper)
|
||||||
|
|
||||||
|
find_package(catkin REQUIRED)
|
||||||
|
|
||||||
|
catkin_package()
|
||||||
|
|
||||||
|
find_package(roslaunch)
|
||||||
|
|
||||||
|
foreach(dir config launch meshes urdf)
|
||||||
|
install(DIRECTORY ${dir}/
|
||||||
|
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
|
||||||
|
endforeach(dir)
|
||||||
|
|
@ -0,0 +1 @@
|
||||||
|
controller_joint_names: ['', 'ax_1', 'ax_2', 'ax_3', 'ax_4', 'ax_5', 'ax_6', 'ax_7', 'ax_8', ]
|
||||||
415
solidworks_files/URDF/assembly_6DoF_with_gripper/export.log
Normal file
415
solidworks_files/URDF/assembly_6DoF_with_gripper/export.log
Normal file
File diff suppressed because one or more lines are too long
|
|
@ -0,0 +1,20 @@
|
||||||
|
<launch>
|
||||||
|
<arg
|
||||||
|
name="model" />
|
||||||
|
<param
|
||||||
|
name="robot_description"
|
||||||
|
textfile="$(find assembly_6DoF_with_gripper)/urdf/assembly_6DoF_with_gripper.urdf" />
|
||||||
|
<node
|
||||||
|
name="joint_state_publisher_gui"
|
||||||
|
pkg="joint_state_publisher_gui"
|
||||||
|
type="joint_state_publisher_gui" />
|
||||||
|
<node
|
||||||
|
name="robot_state_publisher"
|
||||||
|
pkg="robot_state_publisher"
|
||||||
|
type="robot_state_publisher" />
|
||||||
|
<node
|
||||||
|
name="rviz"
|
||||||
|
pkg="rviz"
|
||||||
|
type="rviz"
|
||||||
|
args="-d $(find assembly_6DoF_with_gripper)/urdf.rviz" />
|
||||||
|
</launch>
|
||||||
|
|
@ -0,0 +1,20 @@
|
||||||
|
<launch>
|
||||||
|
<include
|
||||||
|
file="$(find gazebo_ros)/launch/empty_world.launch" />
|
||||||
|
<node
|
||||||
|
name="tf_footprint_base"
|
||||||
|
pkg="tf"
|
||||||
|
type="static_transform_publisher"
|
||||||
|
args="0 0 0 0 0 0 base_link base_footprint 40" />
|
||||||
|
<node
|
||||||
|
name="spawn_model"
|
||||||
|
pkg="gazebo_ros"
|
||||||
|
type="spawn_model"
|
||||||
|
args="-file $(find assembly_6DoF_with_gripper)/urdf/assembly_6DoF_with_gripper.urdf -urdf -model assembly_6DoF_with_gripper"
|
||||||
|
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.
Binary file not shown.
21
solidworks_files/URDF/assembly_6DoF_with_gripper/package.xml
Normal file
21
solidworks_files/URDF/assembly_6DoF_with_gripper/package.xml
Normal file
|
|
@ -0,0 +1,21 @@
|
||||||
|
<package format="2">
|
||||||
|
<name>assembly_6DoF_with_gripper</name>
|
||||||
|
<version>1.0.0</version>
|
||||||
|
<description>
|
||||||
|
<p>URDF Description package for assembly_6DoF_with_gripper</p>
|
||||||
|
<p>This package contains configuration data, 3D models and launch files
|
||||||
|
for assembly_6DoF_with_gripper 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>
|
||||||
|
|
@ -0,0 +1,10 @@
|
||||||
|
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,"-8,54233606739144E-05","0,00237261516674613","0,0727412122189275",0,0,0,"1,22750289216444","0,00132489346534405","-9,04885171217111E-06","9,12449155936004E-06","0,00163265405627164","5,56490919358564E-05","0,00208032106706038",0,0,0,0,0,0,package://assembly_6DoF_with_gripper/meshes/base_link.STL,"0,752941176470588","0,752941176470588","0,752941176470588",1,0,0,0,0,0,0,package://assembly_6DoF_with_gripper/meshes/base_link.STL,,ASSEMBLY_START-1,Origin_global,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
|
||||||
|
link_01,"-0,00848908618604632","-0,00280906081849381","0,0914408492450371",0,0,0,"0,515224814650532","0,00161165592122362","5,30378350706863E-07","-3,1541345846847E-05","0,00190493381759602","5,09548827879937E-06","0,000857659568521175",0,0,0,0,0,0,package://assembly_6DoF_with_gripper/meshes/link_01.STL,"0,752941176470588","0,752941176470588","0,752941176470588",1,0,0,0,0,0,0,package://assembly_6DoF_with_gripper/meshes/link_01.STL,,ASSEMBLY_FORK_L-2,Origin_ax_1,Axis_ax_1,ax_1,revolute,0,0,"0,126505553564045",0,0,0,base_link,0,0,1,0,0,0,0,,,,,,,,
|
||||||
|
Link_02,"-4,10661897502556E-07","0,00223496402317745","0,0459918009610262",0,0,0,"1,41722285650077","0,00186290156875659","-3,00830959229184E-09","4,43975425989195E-05","0,00176903236793901","-3,03156147106601E-09","0,000726634720349099",0,0,0,0,0,0,package://assembly_6DoF_with_gripper/meshes/Link_02.STL,"0,752941176470588","0,752941176470588","0,752941176470588",1,0,0,0,0,0,0,package://assembly_6DoF_with_gripper/meshes/Link_02.STL,,ASSEMBLY_FIRST-1,Origin_ax_2,Axis_ax_2,ax_2,revolute,0,0,"0,159294446435955",0,0,0,link_01,1,0,0,0,0,0,0,,,,,,,,
|
||||||
|
Link_03,"0,00951548546403023","-0,00124545789767392","0,0426605611304923",0,0,0,"0,42702159219928","0,000803989256561298","-3,01612394083857E-06","-1,61263808941143E-05","0,00100796753887136","-2,64241274321956E-06","0,00063784261090284",0,0,0,0,0,0,package://assembly_6DoF_with_gripper/meshes/Link_03.STL,"0,752941176470588","0,752941176470588","0,752941176470588",1,0,0,0,0,0,0,package://assembly_6DoF_with_gripper/meshes/Link_03.STL,,ASSEMBLY_FORK_S-1,Origin_ax_3,Axis_ax_3,ax_3,revolute,0,0,"0,0920000000000006",0,0,0,Link_02,-1,0,0,0,0,0,0,,,,,,,,
|
||||||
|
Link_04,"-0,00033433986509346","0,00464836357845908","0,0651901109141132",0,0,0,"0,859217743981028","0,000582593656622538","6,56596271695851E-06","1,04038014699376E-05","0,000594739623571533","-2,05954986474026E-06","0,000325704958954311",0,0,0,0,0,0,package://assembly_6DoF_with_gripper/meshes/Link_04.STL,"0,752941176470588","0,752941176470588","0,752941176470588",1,0,0,0,0,0,0,package://assembly_6DoF_with_gripper/meshes/Link_04.STL,,ASSEMBLY_SECOND_P1-1,Origin_ax_4,Axis_ax_4,ax_4,revolute,0,0,"0,0949012219961707",0,0,0,Link_03,0,0,-1,0,0,0,0,,,,,,,,
|
||||||
|
Link_05,"0,000453829441063781","0,00082984508171355","0,0718970398315039",0,0,0,"0,695050885925601","0,000507055068055748","3,50327730724499E-07","4,50703806056913E-06","0,000775145776267581","-6,39608458326812E-06","0,000756243961482583",0,0,0,0,0,0,package://assembly_6DoF_with_gripper/meshes/Link_05.STL,"0,752941176470588","0,752941176470588","0,752941176470588",1,0,0,0,0,0,0,package://assembly_6DoF_with_gripper/meshes/Link_05.STL,,ASSEMBLY_SECOND_P2-1,Origin_ax_5,Axis_ax_5,ax_5,revolute,0,0,"0,0979987780038283",0,0,0,Link_04,-1,0,0,0,0,0,0,,,,,,,,
|
||||||
|
Link_06,"-9,70953108756292E-09","-0,105984611801888","0,00559971649951763",0,0,0,"0,256471622955781","0,00129374129220896","-9,83110071209518E-11","-3,1983044288089E-11","2,01204888962528E-05","5,63414300510927E-05","0,0012942215842967",0,0,0,0,0,0,package://assembly_6DoF_with_gripper/meshes/Link_06.STL,1,1,1,1,0,0,0,0,0,0,package://assembly_6DoF_with_gripper/meshes/Link_06.STL,,asm_vacuum_gripper_vertical-1/Gripper_base_vertical2-1,Origin_ax_6,Axis_ax_6,ax_6,revolute,"-0,00119999999990394",0,"0,11450418132967",0,0,0,Link_05,0,0,1,0,0,0,0,,,,,,,,
|
||||||
|
Link_07,"-1,11022302462516E-15","6,10622663543836E-16","-0,00499503594659356",0,0,0,"0,0119295697834765","4,2774559034267E-07","2,24926212022215E-36","7,99277889423969E-22","4,2774559034267E-07","-1,35564082037052E-22","3,81314853130003E-07",0,0,0,0,0,0,package://assembly_6DoF_with_gripper/meshes/Link_07.STL,1,1,1,"0,4",0,0,0,0,0,0,package://assembly_6DoF_with_gripper/meshes/Link_07.STL,,asm_vacuum_gripper_vertical-1/Vacuum_lifter(cup)-2,Origin_ax_7,Axis_ax_7,ax_7,continuous,0,"-0,189999999999954","0,0399999999999993",0,0,0,Link_06,0,0,1,,,,,,,,,,,,
|
||||||
|
Link_08,"-1,60461921527855E-17","2,77555756156289E-17","-0,00499503594659356",0,0,0,"0,0119295697834765","4,27745590342671E-07","5,65853441351009E-37","-7,15862563940369E-23","4,27745590342671E-07","1,62603591294863E-22","3,81314853130003E-07",0,0,0,0,0,0,package://assembly_6DoF_with_gripper/meshes/Link_08.STL,1,1,1,"0,4",0,0,0,0,0,0,package://assembly_6DoF_with_gripper/meshes/Link_08.STL,,asm_vacuum_gripper_vertical-1/Vacuum_lifter(cup)-1,Origin_ax_8,Axis_ax_8,ax_8,continuous,0,"-0,164999999999954","0,0399999999999993",0,0,0,Link_06,0,0,1,,,,,,,,,,,,
|
||||||
|
|
|
@ -0,0 +1,501 @@
|
||||||
|
<?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="assembly_6DoF_with_gripper">
|
||||||
|
<link
|
||||||
|
name="base_link">
|
||||||
|
<inertial>
|
||||||
|
<origin
|
||||||
|
xyz="-8.54233606739144E-05 0.00237261516674613 0.0727412122189275"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<mass
|
||||||
|
value="1.22750289216444" />
|
||||||
|
<inertia
|
||||||
|
ixx="0.00132489346534405"
|
||||||
|
ixy="-9.04885171217111E-06"
|
||||||
|
ixz="9.12449155936004E-06"
|
||||||
|
iyy="0.00163265405627164"
|
||||||
|
iyz="5.56490919358564E-05"
|
||||||
|
izz="0.00208032106706038" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="package://assembly_6DoF_with_gripper/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://assembly_6DoF_with_gripper/meshes/base_link.STL" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<link
|
||||||
|
name="link_01">
|
||||||
|
<inertial>
|
||||||
|
<origin
|
||||||
|
xyz="-0.00848908618604632 -0.00280906081849381 0.0914408492450371"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<mass
|
||||||
|
value="0.515224814650532" />
|
||||||
|
<inertia
|
||||||
|
ixx="0.00161165592122362"
|
||||||
|
ixy="5.30378350706863E-07"
|
||||||
|
ixz="-3.1541345846847E-05"
|
||||||
|
iyy="0.00190493381759602"
|
||||||
|
iyz="5.09548827879937E-06"
|
||||||
|
izz="0.000857659568521175" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="package://assembly_6DoF_with_gripper/meshes/link_01.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://assembly_6DoF_with_gripper/meshes/link_01.STL" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint
|
||||||
|
name="ax_1"
|
||||||
|
type="revolute">
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0.126505553564045"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<parent
|
||||||
|
link="base_link" />
|
||||||
|
<child
|
||||||
|
link="link_01" />
|
||||||
|
<axis
|
||||||
|
xyz="0 0 1" />
|
||||||
|
<limit
|
||||||
|
lower="0"
|
||||||
|
upper="0"
|
||||||
|
effort="0"
|
||||||
|
velocity="0" />
|
||||||
|
</joint>
|
||||||
|
<link
|
||||||
|
name="Link_02">
|
||||||
|
<inertial>
|
||||||
|
<origin
|
||||||
|
xyz="-4.10661897502556E-07 0.00223496402317745 0.0459918009610262"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<mass
|
||||||
|
value="1.41722285650077" />
|
||||||
|
<inertia
|
||||||
|
ixx="0.00186290156875659"
|
||||||
|
ixy="-3.00830959229184E-09"
|
||||||
|
ixz="4.43975425989195E-05"
|
||||||
|
iyy="0.00176903236793901"
|
||||||
|
iyz="-3.03156147106601E-09"
|
||||||
|
izz="0.000726634720349099" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="package://assembly_6DoF_with_gripper/meshes/Link_02.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://assembly_6DoF_with_gripper/meshes/Link_02.STL" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint
|
||||||
|
name="ax_2"
|
||||||
|
type="revolute">
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0.159294446435955"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<parent
|
||||||
|
link="link_01" />
|
||||||
|
<child
|
||||||
|
link="Link_02" />
|
||||||
|
<axis
|
||||||
|
xyz="1 0 0" />
|
||||||
|
<limit
|
||||||
|
lower="0"
|
||||||
|
upper="0"
|
||||||
|
effort="0"
|
||||||
|
velocity="0" />
|
||||||
|
</joint>
|
||||||
|
<link
|
||||||
|
name="Link_03">
|
||||||
|
<inertial>
|
||||||
|
<origin
|
||||||
|
xyz="0.00951548546403023 -0.00124545789767392 0.0426605611304923"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<mass
|
||||||
|
value="0.42702159219928" />
|
||||||
|
<inertia
|
||||||
|
ixx="0.000803989256561298"
|
||||||
|
ixy="-3.01612394083857E-06"
|
||||||
|
ixz="-1.61263808941143E-05"
|
||||||
|
iyy="0.00100796753887136"
|
||||||
|
iyz="-2.64241274321956E-06"
|
||||||
|
izz="0.00063784261090284" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="package://assembly_6DoF_with_gripper/meshes/Link_03.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://assembly_6DoF_with_gripper/meshes/Link_03.STL" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint
|
||||||
|
name="ax_3"
|
||||||
|
type="revolute">
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0.0920000000000006"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<parent
|
||||||
|
link="Link_02" />
|
||||||
|
<child
|
||||||
|
link="Link_03" />
|
||||||
|
<axis
|
||||||
|
xyz="-1 0 0" />
|
||||||
|
<limit
|
||||||
|
lower="0"
|
||||||
|
upper="0"
|
||||||
|
effort="0"
|
||||||
|
velocity="0" />
|
||||||
|
</joint>
|
||||||
|
<link
|
||||||
|
name="Link_04">
|
||||||
|
<inertial>
|
||||||
|
<origin
|
||||||
|
xyz="-0.00033433986509346 0.00464836357845908 0.0651901109141132"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<mass
|
||||||
|
value="0.859217743981028" />
|
||||||
|
<inertia
|
||||||
|
ixx="0.000582593656622538"
|
||||||
|
ixy="6.56596271695851E-06"
|
||||||
|
ixz="1.04038014699376E-05"
|
||||||
|
iyy="0.000594739623571533"
|
||||||
|
iyz="-2.05954986474026E-06"
|
||||||
|
izz="0.000325704958954311" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="package://assembly_6DoF_with_gripper/meshes/Link_04.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://assembly_6DoF_with_gripper/meshes/Link_04.STL" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint
|
||||||
|
name="ax_4"
|
||||||
|
type="revolute">
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0.0949012219961707"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<parent
|
||||||
|
link="Link_03" />
|
||||||
|
<child
|
||||||
|
link="Link_04" />
|
||||||
|
<axis
|
||||||
|
xyz="0 0 -1" />
|
||||||
|
<limit
|
||||||
|
lower="0"
|
||||||
|
upper="0"
|
||||||
|
effort="0"
|
||||||
|
velocity="0" />
|
||||||
|
</joint>
|
||||||
|
<link
|
||||||
|
name="Link_05">
|
||||||
|
<inertial>
|
||||||
|
<origin
|
||||||
|
xyz="0.000453829441063781 0.00082984508171355 0.0718970398315039"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<mass
|
||||||
|
value="0.695050885925601" />
|
||||||
|
<inertia
|
||||||
|
ixx="0.000507055068055748"
|
||||||
|
ixy="3.50327730724499E-07"
|
||||||
|
ixz="4.50703806056913E-06"
|
||||||
|
iyy="0.000775145776267581"
|
||||||
|
iyz="-6.39608458326812E-06"
|
||||||
|
izz="0.000756243961482583" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="package://assembly_6DoF_with_gripper/meshes/Link_05.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://assembly_6DoF_with_gripper/meshes/Link_05.STL" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint
|
||||||
|
name="ax_5"
|
||||||
|
type="revolute">
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0.0979987780038283"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<parent
|
||||||
|
link="Link_04" />
|
||||||
|
<child
|
||||||
|
link="Link_05" />
|
||||||
|
<axis
|
||||||
|
xyz="-1 0 0" />
|
||||||
|
<limit
|
||||||
|
lower="0"
|
||||||
|
upper="0"
|
||||||
|
effort="0"
|
||||||
|
velocity="0" />
|
||||||
|
</joint>
|
||||||
|
<link
|
||||||
|
name="Link_06">
|
||||||
|
<inertial>
|
||||||
|
<origin
|
||||||
|
xyz="-9.70953108756292E-09 -0.105984611801888 0.00559971649951763"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<mass
|
||||||
|
value="0.256471622955781" />
|
||||||
|
<inertia
|
||||||
|
ixx="0.00129374129220896"
|
||||||
|
ixy="-9.83110071209518E-11"
|
||||||
|
ixz="-3.1983044288089E-11"
|
||||||
|
iyy="2.01204888962528E-05"
|
||||||
|
iyz="5.63414300510927E-05"
|
||||||
|
izz="0.0012942215842967" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="package://assembly_6DoF_with_gripper/meshes/Link_06.STL" />
|
||||||
|
</geometry>
|
||||||
|
<material
|
||||||
|
name="">
|
||||||
|
<color
|
||||||
|
rgba="1 1 1 1" />
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="package://assembly_6DoF_with_gripper/meshes/Link_06.STL" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint
|
||||||
|
name="ax_6"
|
||||||
|
type="revolute">
|
||||||
|
<origin
|
||||||
|
xyz="-0.00119999999990394 0 0.11450418132967"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<parent
|
||||||
|
link="Link_05" />
|
||||||
|
<child
|
||||||
|
link="Link_06" />
|
||||||
|
<axis
|
||||||
|
xyz="0 0 1" />
|
||||||
|
<limit
|
||||||
|
lower="0"
|
||||||
|
upper="0"
|
||||||
|
effort="0"
|
||||||
|
velocity="0" />
|
||||||
|
</joint>
|
||||||
|
<link
|
||||||
|
name="Link_07">
|
||||||
|
<inertial>
|
||||||
|
<origin
|
||||||
|
xyz="-1.11022302462516E-15 6.10622663543836E-16 -0.00499503594659356"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<mass
|
||||||
|
value="0.0119295697834765" />
|
||||||
|
<inertia
|
||||||
|
ixx="4.2774559034267E-07"
|
||||||
|
ixy="2.24926212022215E-36"
|
||||||
|
ixz="7.99277889423969E-22"
|
||||||
|
iyy="4.2774559034267E-07"
|
||||||
|
iyz="-1.35564082037052E-22"
|
||||||
|
izz="3.81314853130003E-07" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="package://assembly_6DoF_with_gripper/meshes/Link_07.STL" />
|
||||||
|
</geometry>
|
||||||
|
<material
|
||||||
|
name="">
|
||||||
|
<color
|
||||||
|
rgba="1 1 1 0.4" />
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="package://assembly_6DoF_with_gripper/meshes/Link_07.STL" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint
|
||||||
|
name="ax_7"
|
||||||
|
type="continuous">
|
||||||
|
<origin
|
||||||
|
xyz="0 -0.189999999999954 0.0399999999999993"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<parent
|
||||||
|
link="Link_06" />
|
||||||
|
<child
|
||||||
|
link="Link_07" />
|
||||||
|
<axis
|
||||||
|
xyz="0 0 1" />
|
||||||
|
</joint>
|
||||||
|
<link
|
||||||
|
name="Link_08">
|
||||||
|
<inertial>
|
||||||
|
<origin
|
||||||
|
xyz="-1.60461921527855E-17 2.77555756156289E-17 -0.00499503594659356"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<mass
|
||||||
|
value="0.0119295697834765" />
|
||||||
|
<inertia
|
||||||
|
ixx="4.27745590342671E-07"
|
||||||
|
ixy="5.65853441351009E-37"
|
||||||
|
ixz="-7.15862563940369E-23"
|
||||||
|
iyy="4.27745590342671E-07"
|
||||||
|
iyz="1.62603591294863E-22"
|
||||||
|
izz="3.81314853130003E-07" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="package://assembly_6DoF_with_gripper/meshes/Link_08.STL" />
|
||||||
|
</geometry>
|
||||||
|
<material
|
||||||
|
name="">
|
||||||
|
<color
|
||||||
|
rgba="1 1 1 0.4" />
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="package://assembly_6DoF_with_gripper/meshes/Link_08.STL" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint
|
||||||
|
name="ax_8"
|
||||||
|
type="continuous">
|
||||||
|
<origin
|
||||||
|
xyz="0 -0.164999999999954 0.0399999999999993"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<parent
|
||||||
|
link="Link_06" />
|
||||||
|
<child
|
||||||
|
link="Link_08" />
|
||||||
|
<axis
|
||||||
|
xyz="0 0 1" />
|
||||||
|
</joint>
|
||||||
|
</robot>
|
||||||
BIN
solidworks_files/assembly_6DoF_with_gripper.SLDASM
Normal file
BIN
solidworks_files/assembly_6DoF_with_gripper.SLDASM
Normal file
Binary file not shown.
Loading…
Add table
Add a link
Reference in a new issue