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Add URDF. Some changes in scene.

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This commit is contained in:
VladimirLatukhin 2025-03-19 15:23:57 +03:00
parent 7c5ba539c5
commit d7e1c2c56f
44 changed files with 3300 additions and 0 deletions
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solidworks_files/URDF/assembly_6DoF/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 2.8.3)
project(assembly_6DoF)
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)

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solidworks_files/URDF/assembly_6DoF/config/joint_names_assembly_6DoF.yaml Normal file
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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/launch/display.launch Normal file
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<launch>
<arg
name="model" />
<param
name="robot_description"
textfile="$(find assembly_6DoF)/urdf/assembly_6DoF.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)/urdf.rviz" />
</launch>

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<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)/urdf/assembly_6DoF.urdf -urdf -model assembly_6DoF"
output="screen" />
<node
name="fake_joint_calibration"
pkg="rostopic"
type="rostopic"
args="pub /calibrated std_msgs/Bool true" />
</launch>

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<package format="2">
<name>assembly_6DoF</name>
<version>1.0.0</version>
<description>
<p>URDF Description package for assembly_6DoF</p>
<p>This package contains configuration data, 3D models and launch files
for assembly_6DoF 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>

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solidworks_files/URDF/assembly_6DoF/urdf/assembly_6DoF.csv Normal file
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Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
base_link,"-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,,,,,,,,,,,,
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,,,,,,,,
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,,,,,,,,
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,,,,,,,,
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,,,,,,,,
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,,,,,,,,
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,,,,,,,,
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,,,,,,,,,,,,
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,,,,,,,,,,,,
1 Link Name Center of Mass X Center of Mass Y Center of Mass Z Center of Mass Roll Center of Mass Pitch Center of Mass Yaw Mass Moment Ixx Moment Ixy Moment Ixz Moment Iyy Moment Iyz Moment Izz Visual X Visual Y Visual Z Visual Roll Visual Pitch Visual Yaw Mesh Filename Color Red Color Green Color Blue Color Alpha Collision X Collision Y Collision Z Collision Roll Collision Pitch Collision Yaw Collision Mesh Filename Material Name SW Components Coordinate System Axis Name Joint Name Joint Type Joint Origin X Joint Origin Y Joint Origin Z Joint Origin Roll Joint Origin Pitch Joint Origin Yaw Parent Joint Axis X Joint Axis Y Joint Axis Z Limit Effort Limit Velocity Limit Lower Limit Upper Calibration rising Calibration falling Dynamics Damping Dynamics Friction Safety Soft Upper Safety Soft Lower Safety K Position Safety K Velocity
2 base_link -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
3 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
4 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
5 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
6 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
7 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
8 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
9 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
10 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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<?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">
<link
name="base_link">
<inertial>
<origin
xyz="-8.54233606739125E-05 0.00237261516674613 0.0727412122189275"
rpy="0 0 0" />
<mass
value="1.22750289216444" />
<inertia
ixx="0.00132489346534405"
ixy="-9.04885171217137E-06"
ixz="9.12449155936019E-06"
iyy="0.00163265405627164"
iyz="5.56490919358566E-05"
izz="0.00208032106706038" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://assembly_6DoF/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/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="5.3037835070687E-07"
ixz="-3.15413458468469E-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/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/meshes/link_01.STL" />
</geometry>
</collision>
</link>
<joint
name="ax_1"
type="revolute">
<origin
xyz="0 0 0.12651"
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="-4.10661897513285E-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>

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solidworks_files/URDF/assembly_6DoF_with_gripper/CMakeLists.txt Normal file
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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)

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solidworks_files/URDF/assembly_6DoF_with_gripper/config/joint_names_assembly_6DoF_with_gripper.yaml Normal file
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controller_joint_names: ['', 'ax_1', 'ax_2', 'ax_3', 'ax_4', 'ax_5', 'ax_6', 'ax_7', 'ax_8', ]

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solidworks_files/URDF/assembly_6DoF_with_gripper/launch/display.launch Normal file
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<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>

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solidworks_files/URDF/assembly_6DoF_with_gripper/launch/gazebo.launch Normal file
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<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>

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solidworks_files/URDF/assembly_6DoF_with_gripper/package.xml Normal file
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<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>

10
solidworks_files/URDF/assembly_6DoF_with_gripper/urdf/assembly_6DoF_with_gripper.csv Normal file
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Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
base_link,"-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,,,,,,,,,,,,
1 Link Name Center of Mass X Center of Mass Y Center of Mass Z Center of Mass Roll Center of Mass Pitch Center of Mass Yaw Mass Moment Ixx Moment Ixy Moment Ixz Moment Iyy Moment Iyz Moment Izz Visual X Visual Y Visual Z Visual Roll Visual Pitch Visual Yaw Mesh Filename Color Red Color Green Color Blue Color Alpha Collision X Collision Y Collision Z Collision Roll Collision Pitch Collision Yaw Collision Mesh Filename Material Name SW Components Coordinate System Axis Name Joint Name Joint Type Joint Origin X Joint Origin Y Joint Origin Z Joint Origin Roll Joint Origin Pitch Joint Origin Yaw Parent Joint Axis X Joint Axis Y Joint Axis Z Limit Effort Limit Velocity Limit Lower Limit Upper Calibration rising Calibration falling Dynamics Damping Dynamics Friction Safety Soft Upper Safety Soft Lower Safety K Position Safety K Velocity
2 base_link -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
3 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
4 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
5 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
6 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
7 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
8 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
9 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
10 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

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<!-- 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 -->
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