github/SO-ARM100
1
1
Fork 0
mirror of https://github.com/TheRobotStudio/SO-ARM100.git synced 2026-01-10 07:48:10 -05:00
Code Issues 44 Packages Projects Releases Wiki Activity

URDF tested correct

Browse Source
This commit is contained in:
TRS
2024-05-21 16:27:14 +02:00
committed by GitHub
parent 9b30ca2623
commit f8dd6ad8bf
16 changed files with 522 additions and 54 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
URDF/URDF_SO_5DOF_ARM100_05d.SLDASM/CMakeLists.txt → URDF/SO_5DOF_ARM100_05d.SLDASM/CMakeLists.txt
View File

@@ -1,6 +1,6 @@
cmake_minimum_required(VERSION 2.8.3)
project(URDF_SO_5DOF_ARM100_05d.SLDASM)
project(SO_5DOF_ARM100_05d.SLDASM)
find_package(catkin REQUIRED)

0
URDF/URDF_SO_5DOF_ARM100_05d.SLDASM/config/joint_names_URDF_SO_5DOF_ARM100_05d.SLDASM.yaml → URDF/SO_5DOF_ARM100_05d.SLDASM/config/joint_names_SO_5DOF_ARM100_05d.SLDASM.yaml
View File

468
URDF/URDF_SO_5DOF_ARM100_05d.SLDASM/export.log → URDF/SO_5DOF_ARM100_05d.SLDASM/export.log
View File

File diff suppressed because one or more lines are too long

4
URDF/URDF_SO_5DOF_ARM100_05d.SLDASM/launch/display.launch → URDF/SO_5DOF_ARM100_05d.SLDASM/launch/display.launch
View File

@@ -3,7 +3,7 @@
name="model" />
<param
name="robot_description"
textfile="$(find URDF_SO_5DOF_ARM100_05d.SLDASM)/urdf/URDF_SO_5DOF_ARM100_05d.SLDASM.urdf" />
textfile="$(find SO_5DOF_ARM100_05d.SLDASM)/urdf/SO_5DOF_ARM100_05d.SLDASM.urdf" />
<node
name="joint_state_publisher_gui"
pkg="joint_state_publisher_gui"
@@ -16,5 +16,5 @@
name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find URDF_SO_5DOF_ARM100_05d.SLDASM)/urdf.rviz" />
args="-d $(find SO_5DOF_ARM100_05d.SLDASM)/urdf.rviz" />
</launch>

2
URDF/URDF_SO_5DOF_ARM100_05d.SLDASM/launch/gazebo.launch → URDF/SO_5DOF_ARM100_05d.SLDASM/launch/gazebo.launch
View File

@@ -10,7 +10,7 @@
name="spawn_model"
pkg="gazebo_ros"
type="spawn_model"
args="-file $(find URDF_SO_5DOF_ARM100_05d.SLDASM)/urdf/URDF_SO_5DOF_ARM100_05d.SLDASM.urdf -urdf -model URDF_SO_5DOF_ARM100_05d.SLDASM"
args="-file $(find SO_5DOF_ARM100_05d.SLDASM)/urdf/SO_5DOF_ARM100_05d.SLDASM.urdf -urdf -model SO_5DOF_ARM100_05d.SLDASM"
output="screen" />
<node
name="fake_joint_calibration"

0
URDF/URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Base.STL → URDF/SO_5DOF_ARM100_05d.SLDASM/meshes/Base.STL
View File

0
URDF/URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Fixed_Gripper.STL → URDF/SO_5DOF_ARM100_05d.SLDASM/meshes/Fixed_Gripper.STL
View File

BIN
URDF/URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Lower_Arm.STL → URDF/SO_5DOF_ARM100_05d.SLDASM/meshes/Lower_Arm.STL
View File

Binary file not shown.

0
URDF/URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Moving_Jaw.STL → URDF/SO_5DOF_ARM100_05d.SLDASM/meshes/Moving_Jaw.STL
View File

BIN
URDF/URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Shoulder_Rotation_Pitch.STL → URDF/SO_5DOF_ARM100_05d.SLDASM/meshes/Shoulder_Rotation_Pitch.STL
View File

Binary file not shown.

BIN
URDF/URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Upper_Arm.STL → URDF/SO_5DOF_ARM100_05d.SLDASM/meshes/Upper_Arm.STL
View File

Binary file not shown.

BIN
URDF/URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Wrist_Pitch_Roll.STL → URDF/SO_5DOF_ARM100_05d.SLDASM/meshes/Wrist_Pitch_Roll.STL
View File

Binary file not shown.

6
URDF/URDF_SO_5DOF_ARM100_05d.SLDASM/package.xml → URDF/SO_5DOF_ARM100_05d.SLDASM/package.xml
View File

@@ -1,10 +1,10 @@
<package format="2">
<name>URDF_SO_5DOF_ARM100_05d.SLDASM</name>
<name>SO_5DOF_ARM100_05d.SLDASM</name>
<version>1.0.0</version>
<description>
<p>URDF Description package for URDF_SO_5DOF_ARM100_05d.SLDASM</p>
<p>URDF Description package for SO_5DOF_ARM100_05d.SLDASM</p>
<p>This package contains configuration data, 3D models and launch files
for URDF_SO_5DOF_ARM100_05d.SLDASM robot</p>
for SO_5DOF_ARM100_05d.SLDASM robot</p>
</description>
<author>TODO</author>
<maintainer email="TODO@email.com" />

8
URDF/SO_5DOF_ARM100_05d.SLDASM/urdf/SO_5DOF_ARM100_05d.SLDASM.csv Normal file
View File

@@ -0,0 +1,8 @@
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,-1.55220299024015E-10,0.0275980388649202,0.0272094138963763,0,0,0,0.146962928243327,9.5191642834079E-05,2.02405274856147E-12,1.46514387606669E-13,0.000123785814019492,1.84608762035329E-05,0.000137926707148466,0,0,0,0,0,0,package://SO_5DOF_ARM100_05d.SLDASM/meshes/Base.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://SO_5DOF_ARM100_05d.SLDASM/meshes/Base.STL,,Base_03-1;STS3215_02a-5,Origin_global,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
Shoulder_Rotation_Pitch,-0.00511938391873139,0.0678779339349912,-0.000127472379243391,0,0,0,0.111780100254674,7.03890301713851E-05,-1.55093016866869E-05,1.67387694867946E-07,3.32352621027575E-05,9.30705606418705E-07,7.08694473647387E-05,0,0,0,0,0,0,package://SO_5DOF_ARM100_05d.SLDASM/meshes/Shoulder_Rotation_Pitch.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://SO_5DOF_ARM100_05d.SLDASM/meshes/Shoulder_Rotation_Pitch.STL,,Rotation_Pitch_04c-2;STS3215_02a-4,Origin_Shoulder_Rotation,Axis_Shoulder_Rotation,Shoulder_Rotation,continuous,0,-0.0452,0.0181,1.5708,0,1.5708,Base,0,1,0,,,,,,,,,,,,
Upper_Arm,-0.0693113774468845,0.00293741346964818,-7.61279219025209E-07,0,0,0,0.167601391353176,7.75332201021328E-05,-2.10765620509824E-06,7.52685919931984E-07,0.000233751202018378,-1.63496162538793E-07,0.000180452754687364,0,0,0,0,0,0,package://SO_5DOF_ARM100_05d.SLDASM/meshes/Upper_Arm.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://SO_5DOF_ARM100_05d.SLDASM/meshes/Upper_Arm.STL,,SO_ARM100_06b-5;STS3215_02a-3,Origin_Shoulder_Pitch,Axis_Shoulder_Pitch,Shoulder_Pitch,continuous,0.000125,0.1086,0,3.1416,0,-1.5708,Shoulder_Rotation_Pitch,0,0,1,,,,,,,,,,,,
Lower_Arm,-0.0588290275819227,0.0021495318374051,0.000146772621039401,0,0,0,0.142523221917339,6.29078989235053E-05,3.79294618448135E-06,1.70733512134003E-06,0.000146811163948232,-2.1474403445678E-07,0.000102145070617562,0,0,0,0,0,0,package://SO_5DOF_ARM100_05d.SLDASM/meshes/Lower_Arm.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://SO_5DOF_ARM100_05d.SLDASM/meshes/Lower_Arm.STL,,SO_ARM100_06b-6;STS3215_02a-6,Origin_Elbow,Axis_Elbow,Elbow,continuous,-0.11238,0.0282,0,0,0,-2.2391,Upper_Arm,0,0,1,,,,,,,,,,,,
Wrist_Pitch_Roll,-6.28656116854598E-09,-0.0087849429576346,-0.0309177852835532,0,0,0,0.106401896179987,4.78947074364113E-05,-1.33871782943846E-11,-8.95740683864277E-12,7.01088408487287E-05,-5.49748507471695E-06,6.17958653539553E-05,0,0,0,0,0,0,package://SO_5DOF_ARM100_05d.SLDASM/meshes/Wrist_Pitch_Roll.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://SO_5DOF_ARM100_05d.SLDASM/meshes/Wrist_Pitch_Roll.STL,,Wrist_Roll_Pitch_04c-2;STS3215_02a-7,Origin_Wrist_Pitch,Axis_Wrist_Pitch,Wrist_Pitch,continuous,-0.1102,0.005375,0,0.90254,1.5708,0,Lower_Arm,1,0,0,,,,,,,,,,,,
Fixed_Gripper,-0.00772179942650385,-0.000555295978140996,0.0316941559340959,0,0,0,0.11710741874408,5.67526018031759E-05,1.04098982658207E-06,8.53596077253277E-06,5.78441834179299E-05,-2.86014969245207E-07,4.22399193495317E-05,0,0,0,0,0,0,package://SO_5DOF_ARM100_05d.SLDASM/meshes/Fixed_Gripper.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://SO_5DOF_ARM100_05d.SLDASM/meshes/Fixed_Gripper.STL,,Wrist_Roll_05g-1;STS3215_02a-8;Removable_Jaws_01e-1,Origin_Wrist_Roll,Axis_Wrist_Roll,Wrist_Roll,continuous,0,0.002,-0.0545,3.1416,0,3.1416,Wrist_Pitch_Roll,0,0,1,,,,,,,,,,,,
Moving_Jaw,-0.0033838985185846,-0.0322884362122416,0.000144458547748166,0,0,0,0.0347149174448153,1.36949844449711E-05,-5.63192124555278E-07,-5.74449907399212E-09,7.04089001130743E-06,-1.05361496046931E-07,8.28976960805291E-06,0,0,0,0,0,0,package://SO_5DOF_ARM100_05d.SLDASM/meshes/Moving_Jaw.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://SO_5DOF_ARM100_05d.SLDASM/meshes/Moving_Jaw.STL,,Moving_Jaw_04f-1;Removable_Jaws_01e-2,Origin_Gripper,Axis_Gripper,Gripper,continuous,0.0202,0,0.024375,-1.5708,0,0,Fixed_Gripper,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 -1.55220299024015E-10 0.0275980388649202 0.0272094138963763 0 0 0 0.146962928243327 9.5191642834079E-05 2.02405274856147E-12 1.46514387606669E-13 0.000123785814019492 1.84608762035329E-05 0.000137926707148466 0 0 0 0 0 0 package://SO_5DOF_ARM100_05d.SLDASM/meshes/Base.STL 0.792156862745098 0.819607843137255 0.933333333333333 1 0 0 0 0 0 0 package://SO_5DOF_ARM100_05d.SLDASM/meshes/Base.STL Base_03-1;STS3215_02a-5 Origin_global 0 0 0 0 0 0 0 0 0
3 Shoulder_Rotation_Pitch -0.00511938391873139 0.0678779339349912 -0.000127472379243391 0 0 0 0.111780100254674 7.03890301713851E-05 -1.55093016866869E-05 1.67387694867946E-07 3.32352621027575E-05 9.30705606418705E-07 7.08694473647387E-05 0 0 0 0 0 0 package://SO_5DOF_ARM100_05d.SLDASM/meshes/Shoulder_Rotation_Pitch.STL 0.792156862745098 0.819607843137255 0.933333333333333 1 0 0 0 0 0 0 package://SO_5DOF_ARM100_05d.SLDASM/meshes/Shoulder_Rotation_Pitch.STL Rotation_Pitch_04c-2;STS3215_02a-4 Origin_Shoulder_Rotation Axis_Shoulder_Rotation Shoulder_Rotation continuous 0 -0.0452 0.0181 1.5708 0 1.5708 Base 0 1 0
4 Upper_Arm -0.0693113774468845 0.00293741346964818 -7.61279219025209E-07 0 0 0 0.167601391353176 7.75332201021328E-05 -2.10765620509824E-06 7.52685919931984E-07 0.000233751202018378 -1.63496162538793E-07 0.000180452754687364 0 0 0 0 0 0 package://SO_5DOF_ARM100_05d.SLDASM/meshes/Upper_Arm.STL 0.792156862745098 0.819607843137255 0.933333333333333 1 0 0 0 0 0 0 package://SO_5DOF_ARM100_05d.SLDASM/meshes/Upper_Arm.STL SO_ARM100_06b-5;STS3215_02a-3 Origin_Shoulder_Pitch Axis_Shoulder_Pitch Shoulder_Pitch continuous 0.000125 0.1086 0 3.1416 0 -1.5708 Shoulder_Rotation_Pitch 0 0 1
5 Lower_Arm -0.0588290275819227 0.0021495318374051 0.000146772621039401 0 0 0 0.142523221917339 6.29078989235053E-05 3.79294618448135E-06 1.70733512134003E-06 0.000146811163948232 -2.1474403445678E-07 0.000102145070617562 0 0 0 0 0 0 package://SO_5DOF_ARM100_05d.SLDASM/meshes/Lower_Arm.STL 0.792156862745098 0.819607843137255 0.933333333333333 1 0 0 0 0 0 0 package://SO_5DOF_ARM100_05d.SLDASM/meshes/Lower_Arm.STL SO_ARM100_06b-6;STS3215_02a-6 Origin_Elbow Axis_Elbow Elbow continuous -0.11238 0.0282 0 0 0 -2.2391 Upper_Arm 0 0 1
6 Wrist_Pitch_Roll -6.28656116854598E-09 -0.0087849429576346 -0.0309177852835532 0 0 0 0.106401896179987 4.78947074364113E-05 -1.33871782943846E-11 -8.95740683864277E-12 7.01088408487287E-05 -5.49748507471695E-06 6.17958653539553E-05 0 0 0 0 0 0 package://SO_5DOF_ARM100_05d.SLDASM/meshes/Wrist_Pitch_Roll.STL 0.792156862745098 0.819607843137255 0.933333333333333 1 0 0 0 0 0 0 package://SO_5DOF_ARM100_05d.SLDASM/meshes/Wrist_Pitch_Roll.STL Wrist_Roll_Pitch_04c-2;STS3215_02a-7 Origin_Wrist_Pitch Axis_Wrist_Pitch Wrist_Pitch continuous -0.1102 0.005375 0 0.90254 1.5708 0 Lower_Arm 1 0 0
7 Fixed_Gripper -0.00772179942650385 -0.000555295978140996 0.0316941559340959 0 0 0 0.11710741874408 5.67526018031759E-05 1.04098982658207E-06 8.53596077253277E-06 5.78441834179299E-05 -2.86014969245207E-07 4.22399193495317E-05 0 0 0 0 0 0 package://SO_5DOF_ARM100_05d.SLDASM/meshes/Fixed_Gripper.STL 0.792156862745098 0.819607843137255 0.933333333333333 1 0 0 0 0 0 0 package://SO_5DOF_ARM100_05d.SLDASM/meshes/Fixed_Gripper.STL Wrist_Roll_05g-1;STS3215_02a-8;Removable_Jaws_01e-1 Origin_Wrist_Roll Axis_Wrist_Roll Wrist_Roll continuous 0 0.002 -0.0545 3.1416 0 3.1416 Wrist_Pitch_Roll 0 0 1
8 Moving_Jaw -0.0033838985185846 -0.0322884362122416 0.000144458547748166 0 0 0 0.0347149174448153 1.36949844449711E-05 -5.63192124555278E-07 -5.74449907399212E-09 7.04089001130743E-06 -1.05361496046931E-07 8.28976960805291E-06 0 0 0 0 0 0 package://SO_5DOF_ARM100_05d.SLDASM/meshes/Moving_Jaw.STL 0.792156862745098 0.819607843137255 0.933333333333333 1 0 0 0 0 0 0 package://SO_5DOF_ARM100_05d.SLDASM/meshes/Moving_Jaw.STL Moving_Jaw_04f-1;Removable_Jaws_01e-2 Origin_Gripper Axis_Gripper Gripper continuous 0.0202 0 0.024375 -1.5708 0 0 Fixed_Gripper 0 0 1

78
URDF/URDF_SO_5DOF_ARM100_05d.SLDASM/urdf/URDF_SO_5DOF_ARM100_05d.SLDASM.urdf → URDF/SO_5DOF_ARM100_05d.SLDASM/urdf/SO_5DOF_ARM100_05d.SLDASM.urdf
View File

@@ -3,19 +3,19 @@
Commit Version: 1.6.0-1-g15f4949 Build Version: 1.6.7594.29634
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="URDF_SO_5DOF_ARM100_05d.SLDASM">
name="SO_5DOF_ARM100_05d.SLDASM">
<link
name="Base">
<inertial>
<origin
xyz="-1.55220300266682E-10 0.0275980388649202 0.0272094138963763"
xyz="-1.55220299024015E-10 0.0275980388649202 0.0272094138963763"
rpy="0 0 0" />
<mass
value="0.146962928243327" />
<inertia
ixx="9.5191642834079E-05"
ixy="2.02405274349213E-12"
ixz="1.46514384389375E-13"
ixy="2.02405274856147E-12"
ixz="1.46514387606669E-13"
iyy="0.000123785814019492"
iyz="1.84608762035329E-05"
izz="0.000137926707148466" />
@@ -26,7 +26,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Base.STL" />
filename="package://SO_5DOF_ARM100_05d.SLDASM/meshes/Base.STL" />
</geometry>
<material
name="">
@@ -40,7 +40,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Base.STL" />
filename="package://SO_5DOF_ARM100_05d.SLDASM/meshes/Base.STL" />
</geometry>
</collision>
</link>
@@ -53,9 +53,9 @@
<mass
value="0.111780100254674" />
<inertia
ixx="7.0389030171385E-05"
ixx="7.03890301713851E-05"
ixy="-1.55093016866869E-05"
ixz="1.67387694867947E-07"
ixz="1.67387694867946E-07"
iyy="3.32352621027575E-05"
iyz="9.30705606418705E-07"
izz="7.08694473647387E-05" />
@@ -66,7 +66,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Shoulder_Rotation_Pitch.STL" />
filename="package://SO_5DOF_ARM100_05d.SLDASM/meshes/Shoulder_Rotation_Pitch.STL" />
</geometry>
<material
name="">
@@ -80,7 +80,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Shoulder_Rotation_Pitch.STL" />
filename="package://SO_5DOF_ARM100_05d.SLDASM/meshes/Shoulder_Rotation_Pitch.STL" />
</geometry>
</collision>
</link>
@@ -101,14 +101,14 @@
name="Upper_Arm">
<inertial>
<origin
xyz="-0.0693113774468845 0.0029374134696482 -7.61279219025764E-07"
xyz="-0.0693113774468845 0.00293741346964818 -7.61279219025209E-07"
rpy="0 0 0" />
<mass
value="0.167601391353176" />
<inertia
ixx="7.75332201021328E-05"
ixy="-2.10765620509824E-06"
ixz="7.52685919931985E-07"
ixz="7.52685919931984E-07"
iyy="0.000233751202018378"
iyz="-1.63496162538793E-07"
izz="0.000180452754687364" />
@@ -119,7 +119,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Upper_Arm.STL" />
filename="package://SO_5DOF_ARM100_05d.SLDASM/meshes/Upper_Arm.STL" />
</geometry>
<material
name="">
@@ -133,7 +133,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Upper_Arm.STL" />
filename="package://SO_5DOF_ARM100_05d.SLDASM/meshes/Upper_Arm.STL" />
</geometry>
</collision>
</link>
@@ -148,22 +148,22 @@
<child
link="Upper_Arm" />
<axis
xyz="1 0 0" />
xyz="0 0 1" />
</joint>
<link
name="Lower_Arm">
<inertial>
<origin
xyz="-0.0588290275819228 0.0021495318374051 0.000146772621039401"
xyz="-0.0588290275819227 0.0021495318374051 0.000146772621039401"
rpy="0 0 0" />
<mass
value="0.142523221917339" />
<inertia
ixx="6.29078989235053E-05"
ixy="3.79294618448135E-06"
ixz="1.70733512134002E-06"
ixz="1.70733512134003E-06"
iyy="0.000146811163948232"
iyz="-2.14744034456782E-07"
iyz="-2.1474403445678E-07"
izz="0.000102145070617562" />
</inertial>
<visual>
@@ -172,7 +172,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Lower_Arm.STL" />
filename="package://SO_5DOF_ARM100_05d.SLDASM/meshes/Lower_Arm.STL" />
</geometry>
<material
name="">
@@ -186,7 +186,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Lower_Arm.STL" />
filename="package://SO_5DOF_ARM100_05d.SLDASM/meshes/Lower_Arm.STL" />
</geometry>
</collision>
</link>
@@ -201,23 +201,23 @@
<child
link="Lower_Arm" />
<axis
xyz="1 0 0" />
xyz="0 0 1" />
</joint>
<link
name="Wrist_Pitch_Roll">
<inertial>
<origin
xyz="-6.28656116977441E-09 -0.0087849429576346 -0.0309177852835532"
xyz="-6.28656116854598E-09 -0.0087849429576346 -0.0309177852835532"
rpy="0 0 0" />
<mass
value="0.106401896179987" />
<inertia
ixx="4.78947074364113E-05"
ixy="-1.33871782924893E-11"
ixz="-8.95740684048555E-12"
ixy="-1.33871782943846E-11"
ixz="-8.95740683864277E-12"
iyy="7.01088408487287E-05"
iyz="-5.49748507471695E-06"
izz="6.17958653539554E-05" />
izz="6.17958653539553E-05" />
</inertial>
<visual>
<origin
@@ -225,7 +225,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Wrist_Pitch_Roll.STL" />
filename="package://SO_5DOF_ARM100_05d.SLDASM/meshes/Wrist_Pitch_Roll.STL" />
</geometry>
<material
name="">
@@ -239,7 +239,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Wrist_Pitch_Roll.STL" />
filename="package://SO_5DOF_ARM100_05d.SLDASM/meshes/Wrist_Pitch_Roll.STL" />
</geometry>
</collision>
</link>
@@ -260,17 +260,17 @@
name="Fixed_Gripper">
<inertial>
<origin
xyz="-0.00772179942650385 -0.000555295978141024 0.0316941559340959"
xyz="-0.00772179942650385 -0.000555295978140996 0.0316941559340959"
rpy="0 0 0" />
<mass
value="0.11710741874408" />
<inertia
ixx="5.6752601803176E-05"
ixx="5.67526018031759E-05"
ixy="1.04098982658207E-06"
ixz="8.53596077253276E-06"
ixz="8.53596077253277E-06"
iyy="5.78441834179299E-05"
iyz="-2.86014969245208E-07"
izz="4.22399193495318E-05" />
iyz="-2.86014969245207E-07"
izz="4.22399193495317E-05" />
</inertial>
<visual>
<origin
@@ -278,7 +278,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Fixed_Gripper.STL" />
filename="package://SO_5DOF_ARM100_05d.SLDASM/meshes/Fixed_Gripper.STL" />
</geometry>
<material
name="">
@@ -292,7 +292,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Fixed_Gripper.STL" />
filename="package://SO_5DOF_ARM100_05d.SLDASM/meshes/Fixed_Gripper.STL" />
</geometry>
</collision>
</link>
@@ -307,7 +307,7 @@
<child
link="Fixed_Gripper" />
<axis
xyz="0 1 0" />
xyz="0 0 1" />
</joint>
<link
name="Moving_Jaw">
@@ -320,8 +320,8 @@
<inertia
ixx="1.36949844449711E-05"
ixy="-5.63192124555278E-07"
ixz="-5.74449907399213E-09"
iyy="7.04089001130742E-06"
ixz="-5.74449907399212E-09"
iyy="7.04089001130743E-06"
iyz="-1.05361496046931E-07"
izz="8.28976960805291E-06" />
</inertial>
@@ -331,7 +331,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Moving_Jaw.STL" />
filename="package://SO_5DOF_ARM100_05d.SLDASM/meshes/Moving_Jaw.STL" />
</geometry>
<material
name="">
@@ -345,7 +345,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Moving_Jaw.STL" />
filename="package://SO_5DOF_ARM100_05d.SLDASM/meshes/Moving_Jaw.STL" />
</geometry>
</collision>
</link>

8
URDF/URDF_SO_5DOF_ARM100_05d.SLDASM/urdf/URDF_SO_5DOF_ARM100_05d.SLDASM.csv
View File

@@ -1,8 +0,0 @@
Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
Base,-1.55220300266682E-10,0.0275980388649202,0.0272094138963763,0,0,0,0.146962928243327,9.5191642834079E-05,2.02405274349213E-12,1.46514384389375E-13,0.000123785814019492,1.84608762035329E-05,0.000137926707148466,0,0,0,0,0,0,package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Base.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Base.STL,,Base_03-1;STS3215_02a-5,Origin_global,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
Shoulder_Rotation_Pitch,-0.00511938391873139,0.0678779339349912,-0.000127472379243391,0,0,0,0.111780100254674,7.0389030171385E-05,-1.55093016866869E-05,1.67387694867947E-07,3.32352621027575E-05,9.30705606418705E-07,7.08694473647387E-05,0,0,0,0,0,0,package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Shoulder_Rotation_Pitch.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Shoulder_Rotation_Pitch.STL,,Rotation_Pitch_04c-2;STS3215_02a-4,Origin_Shoulder_Rotation,Axis_Shoulder_Rotation,Shoulder_Rotation,continuous,0,-0.0452,0.0181,1.5708,0,1.5708,Base,0,1,0,,,,,,,,,,,,
Upper_Arm,-0.0693113774468845,0.0029374134696482,-7.61279219025764E-07,0,0,0,0.167601391353176,7.75332201021328E-05,-2.10765620509824E-06,7.52685919931985E-07,0.000233751202018378,-1.63496162538793E-07,0.000180452754687364,0,0,0,0,0,0,package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Upper_Arm.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Upper_Arm.STL,,SO_ARM100_06b-5;STS3215_02a-3,Origin_Shoulder_Pitch,Axis_Shoulder_Pitch,Shoulder_Pitch,continuous,0.000125,0.1086,0,3.1416,0,-1.5708,Shoulder_Rotation_Pitch,1,0,0,,,,,,,,,,,,
Lower_Arm,-0.0588290275819228,0.0021495318374051,0.000146772621039401,0,0,0,0.142523221917339,6.29078989235053E-05,3.79294618448135E-06,1.70733512134002E-06,0.000146811163948232,-2.14744034456782E-07,0.000102145070617562,0,0,0,0,0,0,package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Lower_Arm.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Lower_Arm.STL,,SO_ARM100_06b-6;STS3215_02a-6,Origin_Elbow,Axis_Elbow,Elbow,continuous,-0.11238,0.0282,0,0,0,-2.2391,Upper_Arm,1,0,0,,,,,,,,,,,,
Wrist_Pitch_Roll,-6.28656116977441E-09,-0.0087849429576346,-0.0309177852835532,0,0,0,0.106401896179987,4.78947074364113E-05,-1.33871782924893E-11,-8.95740684048555E-12,7.01088408487287E-05,-5.49748507471695E-06,6.17958653539554E-05,0,0,0,0,0,0,package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Wrist_Pitch_Roll.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Wrist_Pitch_Roll.STL,,Wrist_Roll_Pitch_04c-2;STS3215_02a-7,Origin_Wrist_Pitch,Axis_Wrist_Pitch,Wrist_Pitch,continuous,-0.1102,0.005375,0,0.90254,1.5708,0,Lower_Arm,1,0,0,,,,,,,,,,,,
Fixed_Gripper,-0.00772179942650385,-0.000555295978141024,0.0316941559340959,0,0,0,0.11710741874408,5.6752601803176E-05,1.04098982658207E-06,8.53596077253276E-06,5.78441834179299E-05,-2.86014969245208E-07,4.22399193495318E-05,0,0,0,0,0,0,package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Fixed_Gripper.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Fixed_Gripper.STL,,Wrist_Roll_05g-1;STS3215_02a-8;Removable_Jaws_01e-1,Origin_Wrist_Roll,Axis_Wrist_Roll,Wrist_Roll,continuous,0,0.002,-0.0545,3.1416,0,3.1416,Wrist_Pitch_Roll,0,1,0,,,,,,,,,,,,
Moving_Jaw,-0.0033838985185846,-0.0322884362122416,0.000144458547748166,0,0,0,0.0347149174448153,1.36949844449711E-05,-5.63192124555278E-07,-5.74449907399213E-09,7.04089001130742E-06,-1.05361496046931E-07,8.28976960805291E-06,0,0,0,0,0,0,package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Moving_Jaw.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Moving_Jaw.STL,,Moving_Jaw_04f-1;Removable_Jaws_01e-2,Origin_Gripper,Axis_Gripper,Gripper,continuous,0.0202,0,0.024375,-1.5708,0,0,Fixed_Gripper,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 -1.55220300266682E-10 0.0275980388649202 0.0272094138963763 0 0 0 0.146962928243327 9.5191642834079E-05 2.02405274349213E-12 1.46514384389375E-13 0.000123785814019492 1.84608762035329E-05 0.000137926707148466 0 0 0 0 0 0 package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Base.STL 0.792156862745098 0.819607843137255 0.933333333333333 1 0 0 0 0 0 0 package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Base.STL Base_03-1;STS3215_02a-5 Origin_global 0 0 0 0 0 0 0 0 0
3 Shoulder_Rotation_Pitch -0.00511938391873139 0.0678779339349912 -0.000127472379243391 0 0 0 0.111780100254674 7.0389030171385E-05 -1.55093016866869E-05 1.67387694867947E-07 3.32352621027575E-05 9.30705606418705E-07 7.08694473647387E-05 0 0 0 0 0 0 package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Shoulder_Rotation_Pitch.STL 0.792156862745098 0.819607843137255 0.933333333333333 1 0 0 0 0 0 0 package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Shoulder_Rotation_Pitch.STL Rotation_Pitch_04c-2;STS3215_02a-4 Origin_Shoulder_Rotation Axis_Shoulder_Rotation Shoulder_Rotation continuous 0 -0.0452 0.0181 1.5708 0 1.5708 Base 0 1 0
4 Upper_Arm -0.0693113774468845 0.0029374134696482 -7.61279219025764E-07 0 0 0 0.167601391353176 7.75332201021328E-05 -2.10765620509824E-06 7.52685919931985E-07 0.000233751202018378 -1.63496162538793E-07 0.000180452754687364 0 0 0 0 0 0 package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Upper_Arm.STL 0.792156862745098 0.819607843137255 0.933333333333333 1 0 0 0 0 0 0 package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Upper_Arm.STL SO_ARM100_06b-5;STS3215_02a-3 Origin_Shoulder_Pitch Axis_Shoulder_Pitch Shoulder_Pitch continuous 0.000125 0.1086 0 3.1416 0 -1.5708 Shoulder_Rotation_Pitch 1 0 0
5 Lower_Arm -0.0588290275819228 0.0021495318374051 0.000146772621039401 0 0 0 0.142523221917339 6.29078989235053E-05 3.79294618448135E-06 1.70733512134002E-06 0.000146811163948232 -2.14744034456782E-07 0.000102145070617562 0 0 0 0 0 0 package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Lower_Arm.STL 0.792156862745098 0.819607843137255 0.933333333333333 1 0 0 0 0 0 0 package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Lower_Arm.STL SO_ARM100_06b-6;STS3215_02a-6 Origin_Elbow Axis_Elbow Elbow continuous -0.11238 0.0282 0 0 0 -2.2391 Upper_Arm 1 0 0
6 Wrist_Pitch_Roll -6.28656116977441E-09 -0.0087849429576346 -0.0309177852835532 0 0 0 0.106401896179987 4.78947074364113E-05 -1.33871782924893E-11 -8.95740684048555E-12 7.01088408487287E-05 -5.49748507471695E-06 6.17958653539554E-05 0 0 0 0 0 0 package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Wrist_Pitch_Roll.STL 0.792156862745098 0.819607843137255 0.933333333333333 1 0 0 0 0 0 0 package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Wrist_Pitch_Roll.STL Wrist_Roll_Pitch_04c-2;STS3215_02a-7 Origin_Wrist_Pitch Axis_Wrist_Pitch Wrist_Pitch continuous -0.1102 0.005375 0 0.90254 1.5708 0 Lower_Arm 1 0 0
7 Fixed_Gripper -0.00772179942650385 -0.000555295978141024 0.0316941559340959 0 0 0 0.11710741874408 5.6752601803176E-05 1.04098982658207E-06 8.53596077253276E-06 5.78441834179299E-05 -2.86014969245208E-07 4.22399193495318E-05 0 0 0 0 0 0 package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Fixed_Gripper.STL 0.792156862745098 0.819607843137255 0.933333333333333 1 0 0 0 0 0 0 package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Fixed_Gripper.STL Wrist_Roll_05g-1;STS3215_02a-8;Removable_Jaws_01e-1 Origin_Wrist_Roll Axis_Wrist_Roll Wrist_Roll continuous 0 0.002 -0.0545 3.1416 0 3.1416 Wrist_Pitch_Roll 0 1 0
8 Moving_Jaw -0.0033838985185846 -0.0322884362122416 0.000144458547748166 0 0 0 0.0347149174448153 1.36949844449711E-05 -5.63192124555278E-07 -5.74449907399213E-09 7.04089001130742E-06 -1.05361496046931E-07 8.28976960805291E-06 0 0 0 0 0 0 package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Moving_Jaw.STL 0.792156862745098 0.819607843137255 0.933333333333333 1 0 0 0 0 0 0 package://URDF_SO_5DOF_ARM100_05d.SLDASM/meshes/Moving_Jaw.STL Moving_Jaw_04f-1;Removable_Jaws_01e-2 Origin_Gripper Axis_Gripper Gripper continuous 0.0202 0 0.024375 -1.5708 0 0 Fixed_Gripper 0 0 1