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delete unnecessary files.

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LiuzhengSJ
2026-08-05 16:04:40 +01:00
parent c0e181cc50
commit 60eb37b0ed
30 changed files with 5 additions and 5 deletions
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urdf_rm75/Dual_arm.urdf
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<?xml version='1.0' encoding='utf-8'?>
<robot name="rm75_dual_arm">
<!--Shared supporting base. Adjust the two mount joint origins to match the CAD mounting frames.-->
<link name="dual_arm_base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/dual_arm_base.stl" scale="1 1 1" />
</geometry>
<material name="dual_arm_base_material">
<color rgba="0.5 0.5 0.5 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/dual_arm_base.stl" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="omnipic_base_link">
<inertial>
<origin xyz="0.00049987 5.2709E-05 0.060019" rpy="0 0 0" />
<mass value="1.862" />
<inertia ixx="0.0017232" ixy="-3.1058E-06" ixz="-3.7924E-05" iyy="0.0017051" iyz="1.3691E-06" izz="0.00090158" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/base_link.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="meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link name="omnipic_link_1">
<inertial>
<origin xyz="0.000241 -0.013273 -0.00995" rpy="0 0 0" />
<mass value="1.574" />
<inertia ixx="0.002487573" ixy="0.000009663" ixz="-0.000007909" iyy="0.002321038" iyz="0.000179393" izz="0.001450554" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_1.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="meshes/link_1.STL" />
</geometry>
</collision>
</link>
<joint name="omnipic_joint_1" type="revolute">
<origin xyz="0 0 0.2405" rpy="0 0 0" />
<parent link="omnipic_base_link" />
<child link="omnipic_link_1" />
<axis xyz="0 0 1" />
<limit lower="-3.106" upper="3.106" effort="60" velocity="3.14" />
</joint>
<link name="omnipic_link_2">
<inertial>
<origin xyz="-0.000357 -0.106789 0.005329" rpy="0 0 0" />
<mass value="1.217" />
<inertia ixx="0.003494121" ixy="0.000002921" ixz="-0.000005613" iyy="0.000892721" iyz="-0.000583884" izz="0.003444080" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_2.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="meshes/link_2.STL" />
</geometry>
</collision>
</link>
<joint name="omnipic_joint_2" type="revolute">
<origin xyz="0 0 0" rpy="-1.5708 0 0" />
<parent link="omnipic_link_1" />
<child link="omnipic_link_2" />
<axis xyz="0 0 1" />
<limit lower="-2.2689" upper="2.2689" effort="60" velocity="3.14" />
</joint>
<link name="omnipic_link_3">
<inertial>
<origin xyz="0.000003 -0.01398 -0.011324" rpy="0 0 0" />
<mass value="1.11" />
<inertia ixx="0.001836663" ixy="0.000002259" ixz="-0.000004216" iyy="0.001498875" iyz="0.000037167" izz="0.001062545" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_3.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="meshes/link_3.STL" />
</geometry>
</collision>
</link>
<joint name="omnipic_joint_3" type="revolute">
<origin xyz="0 -0.256 0" rpy="1.5708 0 0" />
<parent link="omnipic_link_2" />
<child link="omnipic_link_3" />
<axis xyz="0 0 1" />
<limit lower="-3.106" upper="3.106" effort="30" velocity="3.14" />
</joint>
<link name="omnipic_link_4">
<inertial>
<origin xyz="-0.000005 -0.084658 0.004747" rpy="0 0 0" />
<mass value="0.685" />
<inertia ixx="0.001282444" ixy="-0.000000551" ixz="-0.000000630" iyy="0.000373013" iyz="-0.000232084" izz="0.001256177" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_4.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="meshes/link_4.STL" />
</geometry>
</collision>
</link>
<joint name="omnipic_joint_4" type="revolute">
<origin xyz="0 0 0" rpy="-1.5708 0 0" />
<parent link="omnipic_link_3" />
<child link="omnipic_link_4" />
<axis xyz="0 0 1" />
<limit lower="-2.356" upper="2.356" effort="30" velocity="3.14" />
</joint>
<link name="omnipic_link_5">
<inertial>
<origin xyz="0.000078 -0.012937 -0.008781" rpy="0 0 0" />
<mass value="0.619" />
<inertia ixx="0.000627336" ixy="0.000001636" ixz="-0.000001345" iyy="0.000542455" iyz="0.000034970" izz="0.000370291" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_5.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="meshes/link_5.STL" />
</geometry>
</collision>
</link>
<joint name="omnipic_joint_5" type="revolute">
<origin xyz="0 -0.21 0" rpy="1.5708 0 0" />
<parent link="omnipic_link_4" />
<child link="omnipic_link_5" />
<axis xyz="0 0 1" />
<limit lower="-3.106" upper="3.106" effort="10" velocity="3.14" />
</joint>
<link name="omnipic_link_6">
<inertial>
<origin xyz="-0.000014 -0.078524 0.002819" rpy="0 0 0" />
<mass value="0.602" />
<inertia ixx="0.000780774" ixy="-0.000000121" ixz="-0.000000469" iyy="0.000289973" iyz="-0.000120513" izz="0.000763955" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_6.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="meshes/link_6.STL" />
</geometry>
</collision>
</link>
<joint name="omnipic_joint_6" type="revolute">
<origin xyz="0 0 0" rpy="-1.5708 0 0" />
<parent link="omnipic_link_5" />
<child link="omnipic_link_6" />
<axis xyz="0 0 1" />
<limit lower="-2.234" upper="2.234" effort="10" velocity="3.14" />
</joint>
<link name="omnipic_link_7">
<inertial>
<origin xyz="0.001094 -0.000077 -0.010119" rpy="0 0 0" />
<mass value="0.107" />
<inertia ixx="0.000044123" ixy="-0.000000064" ixz="0.0000003" iyy="0.000035078" iyz="-0.000000029" izz="0.000065445" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_7.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="meshes/link_7.STL" />
</geometry>
</collision>
</link>
<joint name="omnipic_joint_7" type="revolute">
<origin xyz="0 -0.144 0" rpy="1.5708 0 0" />
<parent link="omnipic_link_6" />
<child link="omnipic_link_7" />
<axis xyz="0 0 1" />
<limit lower="-6.28" upper="6.28" effort="10" velocity="3.14" />
</joint>
<link name="omnipic_gripper_link">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.1" />
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/OmniPic.stl" scale="1 1 1" />
</geometry>
<material name="omnipic_OmniPic_material">
<color rgba="0.7 0.7 0.7 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/OmniPic.stl" scale="1 1 1" />
</geometry>
</collision>
</link>
<joint name="omnipic_OmniPic_fixed_joint" type="fixed">
<parent link="omnipic_link_7" />
<child link="omnipic_gripper_link" />
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>
<link name="omnipic_OmniPic_tcp" />
<joint name="omnipic_OmniPic_tcp_fixed" type="fixed">
<parent link="omnipic_gripper_link" />
<child link="omnipic_OmniPic_tcp" />
<origin xyz="0 0 0.14" rpy="0 0 0" />
</joint>
<!--Omnipic arm mount: edit xyz/rpy to match dual_arm_base.stl.-->
<joint name="omnipic_base_mount_joint" type="fixed">
<parent link="dual_arm_base_link" />
<child link="omnipic_base_link" />
<origin xyz="0.03 0 0" rpy="0 -1.57 3.141593" />
</joint>
<link name="scissor_base_link">
<inertial>
<origin xyz="0.00049987 5.2709E-05 0.060019" rpy="0 0 0" />
<mass value="1.862" />
<inertia ixx="0.0017232" ixy="-3.1058E-06" ixz="-3.7924E-05" iyy="0.0017051" iyz="1.3691E-06" izz="0.00090158" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/base_link.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="meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link name="scissor_link_1">
<inertial>
<origin xyz="0.000241 -0.013273 -0.00995" rpy="0 0 0" />
<mass value="1.574" />
<inertia ixx="0.002487573" ixy="0.000009663" ixz="-0.000007909" iyy="0.002321038" iyz="0.000179393" izz="0.001450554" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_1.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="meshes/link_1.STL" />
</geometry>
</collision>
</link>
<joint name="scissor_joint_1" type="revolute">
<origin xyz="0 0 0.2405" rpy="0 0 0" />
<parent link="scissor_base_link" />
<child link="scissor_link_1" />
<axis xyz="0 0 1" />
<limit lower="-3.106" upper="3.106" effort="60" velocity="3.14" />
</joint>
<link name="scissor_link_2">
<inertial>
<origin xyz="-0.000357 -0.106789 0.005329" rpy="0 0 0" />
<mass value="1.217" />
<inertia ixx="0.003494121" ixy="0.000002921" ixz="-0.000005613" iyy="0.000892721" iyz="-0.000583884" izz="0.003444080" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_2.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="meshes/link_2.STL" />
</geometry>
</collision>
</link>
<joint name="scissor_joint_2" type="revolute">
<origin xyz="0 0 0" rpy="-1.5708 0 0" />
<parent link="scissor_link_1" />
<child link="scissor_link_2" />
<axis xyz="0 0 1" />
<limit lower="-2.2689" upper="2.2689" effort="60" velocity="3.14" />
</joint>
<link name="scissor_link_3">
<inertial>
<origin xyz="0.000003 -0.01398 -0.011324" rpy="0 0 0" />
<mass value="1.11" />
<inertia ixx="0.001836663" ixy="0.000002259" ixz="-0.000004216" iyy="0.001498875" iyz="0.000037167" izz="0.001062545" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_3.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="meshes/link_3.STL" />
</geometry>
</collision>
</link>
<joint name="scissor_joint_3" type="revolute">
<origin xyz="0 -0.256 0" rpy="1.5708 0 0" />
<parent link="scissor_link_2" />
<child link="scissor_link_3" />
<axis xyz="0 0 1" />
<limit lower="-3.106" upper="3.106" effort="30" velocity="3.14" />
</joint>
<link name="scissor_link_4">
<inertial>
<origin xyz="-0.000005 -0.084658 0.004747" rpy="0 0 0" />
<mass value="0.685" />
<inertia ixx="0.001282444" ixy="-0.000000551" ixz="-0.000000630" iyy="0.000373013" iyz="-0.000232084" izz="0.001256177" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_4.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="meshes/link_4.STL" />
</geometry>
</collision>
</link>
<joint name="scissor_joint_4" type="revolute">
<origin xyz="0 0 0" rpy="-1.5708 0 0" />
<parent link="scissor_link_3" />
<child link="scissor_link_4" />
<axis xyz="0 0 1" />
<limit lower="-2.356" upper="2.356" effort="30" velocity="3.14" />
</joint>
<link name="scissor_link_5">
<inertial>
<origin xyz="0.000078 -0.012937 -0.008781" rpy="0 0 0" />
<mass value="0.619" />
<inertia ixx="0.000627336" ixy="0.000001636" ixz="-0.000001345" iyy="0.000542455" iyz="0.000034970" izz="0.000370291" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_5.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="meshes/link_5.STL" />
</geometry>
</collision>
</link>
<joint name="scissor_joint_5" type="revolute">
<origin xyz="0 -0.21 0" rpy="1.5708 0 0" />
<parent link="scissor_link_4" />
<child link="scissor_link_5" />
<axis xyz="0 0 1" />
<limit lower="-3.106" upper="3.106" effort="10" velocity="3.14" />
</joint>
<link name="scissor_link_6">
<inertial>
<origin xyz="-0.000014 -0.078524 0.002819" rpy="0 0 0" />
<mass value="0.602" />
<inertia ixx="0.000780774" ixy="-0.000000121" ixz="-0.000000469" iyy="0.000289973" iyz="-0.000120513" izz="0.000763955" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_6.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="meshes/link_6.STL" />
</geometry>
</collision>
</link>
<joint name="scissor_joint_6" type="revolute">
<origin xyz="0 0 0" rpy="-1.5708 0 0" />
<parent link="scissor_link_5" />
<child link="scissor_link_6" />
<axis xyz="0 0 1" />
<limit lower="-2.234" upper="2.234" effort="10" velocity="3.14" />
</joint>
<link name="scissor_link_7">
<inertial>
<origin xyz="0.001094 -0.000077 -0.010119" rpy="0 0 0" />
<mass value="0.107" />
<inertia ixx="0.000044123" ixy="-0.000000064" ixz="0.0000003" iyy="0.000035078" iyz="-0.000000029" izz="0.000065445" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/link_7.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="meshes/link_7.STL" />
</geometry>
</collision>
</link>
<joint name="scissor_joint_7" type="revolute">
<origin xyz="0 -0.144 0" rpy="1.5708 0 0" />
<parent link="scissor_link_6" />
<child link="scissor_link_7" />
<axis xyz="0 0 1" />
<limit lower="-6.28" upper="6.28" effort="10" velocity="3.14" />
</joint>
<link name="scissor_scissor_link">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.1" />
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/scissor.stl" scale="1 1 1" />
</geometry>
<material name="scissor_scissor_material">
<color rgba="0.7 0.7 0.7 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/scissor.stl" scale="1 1 1" />
</geometry>
</collision>
</link>
<joint name="scissor_scissor_fixed_joint" type="fixed">
<parent link="scissor_link_7" />
<child link="scissor_scissor_link" />
<origin xyz="0 0 0.165" rpy="0 0 0" />
</joint>
<link name="scissor_scissor_tcp" />
<joint name="scissor_scissor_tcp_fixed" type="fixed">
<parent link="scissor_scissor_link" />
<child link="scissor_scissor_tcp" />
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>
<link name="scissor_camera_tcp" />
<joint name="scissor_camera_tcp_fixed" type="fixed">
<parent link="scissor_scissor_link" />
<child link="scissor_camera_tcp" />
<origin xyz="0.042 0 -0.0755" rpy="0 0 1.57" />
</joint>
<!--Scissor arm mount: edit xyz/rpy to match dual_arm_base.stl.-->
<joint name="scissor_base_mount_joint" type="fixed">
<parent link="dual_arm_base_link" />
<child link="scissor_base_link" />
<origin xyz="-0.030 0 0" rpy="0 1.57 3.141593" />
</joint>
</robot>
urdf_rm75/RM75-B.csv
+9
View File
@@ -0,0 +1,9 @@
Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
base_link,0.00049987,5.2709E-05,0.060019,0,0,0,0.83887,0.0017232,-3.1058E-06,-3.7924E-05,0.0017051,1.3691E-06,0.00090158,0,0,0,0,0,0,package://RM75-B/meshes/base_link.STL,1,1,1,1,0,0,0,0,0,0,package://RM75-B/meshes/base_link.STL,,连杆1-1,base_link,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
link_1,1.4803E-07,-0.021108,-0.025186,0,0,0,0.59354,0.0012661,6.0354E-09,-6.3788E-09,0.0011817,-0.00021121,0.00056132,0,0,0,0,0,0,package://RM75-B/meshes/link_1.STL,1,1,1,1,0,0,0,0,0,0,package://RM75-B/meshes/link_1.STL,,连杆2-1,link_1,joint_1,joint_1,revolute,0,0,0.2405,0,0,0,base_link,0,0,1,60,3.14,-3.106,3.106,,,,,,,,
link_2,4.2145E-07,-0.076129,0.011078,0,0,0,0.43285,0.0012584,1.4694E-09,-5.7413E-09,0.00031747,0.000279,0.0012225,0,0,0,0,0,0,package://RM75-B/meshes/link_2.STL,1,1,1,1,0,0,0,0,0,0,package://RM75-B/meshes/link_2.STL,,连杆3-1,link_2,joint_2,joint_2,revolute,0,0,0,-1.5708,0,0,link_1,0,0,1,60,3.14,-2.2689,2.2689,,,,,,,,
link_3,-3.2093E-07,-0.023545,-0.027347,0,0,0,0.43132,0.00079433,1.02E-09,1.3908E-08,0.00073037,-0.00014262,0.00031507,0,0,0,0,0,0,package://RM75-B/meshes/link_3.STL,1,1,1,1,0,0,0,0,0,0,package://RM75-B/meshes/link_3.STL,,连杆4-1,link_3,joint_3,joint_3,revolute,0,-0.256,0,1.5708,0,0,link_2,0,0,1,30,3.14,-3.106,3.106,,,,,,,,
link_4,5.0722E-06,-0.059593,0.010569,0,0,0,0.28963,0.00063737,7.0681E-08,3.8708E-08,0.00015648,0.00014461,0.00061418,0,0,0,0,0,0,package://RM75-B/meshes/link_4.STL,1,1,1,1,0,0,0,0,0,0,package://RM75-B/meshes/link_4.STL,,连杆5-1,link_4,joint_4,joint_4,revolute,0,0,0,-1.5708,0,0,link_3,0,0,1,30,3.14,-2.356,2.356,,,,,,,,
link_5,2.7551E-07,-0.018042,-0.02154,0,0,0,0.23942,0.00028595,1.9823E-09,-1.192E-09,0.00026273,-4.424E-05,0.0001199,0,0,0,0,0,0,package://RM75-B/meshes/link_5.STL,1,1,1,1,0,0,0,0,0,0,package://RM75-B/meshes/link_5.STL,,连杆6-1,link_5,joint_5,joint_5,revolute,0,-0.21,0,1.5708,0,0,link_4,0,0,1,10,3.14,-3.106,3.106,,,,,,,,
link_6,3.4947E-06,-0.059381,0.0073681,0,0,0,0.2188,0.00035054,3.4456E-08,1.7975E-08,0.00010493,7.8243E-05,0.00033448,0,0,0,0,0,0,package://RM75-B/meshes/link_6.STL,1,1,1,1,0,0,0,0,0,0,package://RM75-B/meshes/link_6.STL,,连杆7-1,link_6,joint_6,joint_6,revolute,0,0,0,-1.5708,0,0,link_5,0,0,1,10,3.14,-2.234,2.234,,,,,,,,
link_7,0.00081557,1.3323E-05,-0.012705,0,0,0,0.065037,2.1144E-05,2.2774E-08,2.5471E-08,1.8109E-05,1.019E-08,3.19E-05,0,0,0,0,0,0,package://RM75-B/meshes/link_7.STL,1,1,1,1,0,0,0,0,0,0,package://RM75-B/meshes/link_7.STL,,末端法兰件 方案一-1,link_7,joint_7,joint_7,revolute,0,-0.144,0,1.5708,0,0,link_6,0,0,1,10,3.14,-6.28,6.28,,,,,,,,
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 0.00049987 5.2709E-05 0.060019 0 0 0 0.83887 0.0017232 -3.1058E-06 -3.7924E-05 0.0017051 1.3691E-06 0.00090158 0 0 0 0 0 0 package://RM75-B/meshes/base_link.STL 1 1 1 1 0 0 0 0 0 0 package://RM75-B/meshes/base_link.STL 连杆1-1 base_link 0 0 0 0 0 0 0 0 0
3 link_1 1.4803E-07 -0.021108 -0.025186 0 0 0 0.59354 0.0012661 6.0354E-09 -6.3788E-09 0.0011817 -0.00021121 0.00056132 0 0 0 0 0 0 package://RM75-B/meshes/link_1.STL 1 1 1 1 0 0 0 0 0 0 package://RM75-B/meshes/link_1.STL 连杆2-1 link_1 joint_1 joint_1 revolute 0 0 0.2405 0 0 0 base_link 0 0 1 60 3.14 -3.106 3.106
4 link_2 4.2145E-07 -0.076129 0.011078 0 0 0 0.43285 0.0012584 1.4694E-09 -5.7413E-09 0.00031747 0.000279 0.0012225 0 0 0 0 0 0 package://RM75-B/meshes/link_2.STL 1 1 1 1 0 0 0 0 0 0 package://RM75-B/meshes/link_2.STL 连杆3-1 link_2 joint_2 joint_2 revolute 0 0 0 -1.5708 0 0 link_1 0 0 1 60 3.14 -2.2689 2.2689
5 link_3 -3.2093E-07 -0.023545 -0.027347 0 0 0 0.43132 0.00079433 1.02E-09 1.3908E-08 0.00073037 -0.00014262 0.00031507 0 0 0 0 0 0 package://RM75-B/meshes/link_3.STL 1 1 1 1 0 0 0 0 0 0 package://RM75-B/meshes/link_3.STL 连杆4-1 link_3 joint_3 joint_3 revolute 0 -0.256 0 1.5708 0 0 link_2 0 0 1 30 3.14 -3.106 3.106
6 link_4 5.0722E-06 -0.059593 0.010569 0 0 0 0.28963 0.00063737 7.0681E-08 3.8708E-08 0.00015648 0.00014461 0.00061418 0 0 0 0 0 0 package://RM75-B/meshes/link_4.STL 1 1 1 1 0 0 0 0 0 0 package://RM75-B/meshes/link_4.STL 连杆5-1 link_4 joint_4 joint_4 revolute 0 0 0 -1.5708 0 0 link_3 0 0 1 30 3.14 -2.356 2.356
7 link_5 2.7551E-07 -0.018042 -0.02154 0 0 0 0.23942 0.00028595 1.9823E-09 -1.192E-09 0.00026273 -4.424E-05 0.0001199 0 0 0 0 0 0 package://RM75-B/meshes/link_5.STL 1 1 1 1 0 0 0 0 0 0 package://RM75-B/meshes/link_5.STL 连杆6-1 link_5 joint_5 joint_5 revolute 0 -0.21 0 1.5708 0 0 link_4 0 0 1 10 3.14 -3.106 3.106
8 link_6 3.4947E-06 -0.059381 0.0073681 0 0 0 0.2188 0.00035054 3.4456E-08 1.7975E-08 0.00010493 7.8243E-05 0.00033448 0 0 0 0 0 0 package://RM75-B/meshes/link_6.STL 1 1 1 1 0 0 0 0 0 0 package://RM75-B/meshes/link_6.STL 连杆7-1 link_6 joint_6 joint_6 revolute 0 0 0 -1.5708 0 0 link_5 0 0 1 10 3.14 -2.234 2.234
9 link_7 0.00081557 1.3323E-05 -0.012705 0 0 0 0.065037 2.1144E-05 2.2774E-08 2.5471E-08 1.8109E-05 1.019E-08 3.19E-05 0 0 0 0 0 0 package://RM75-B/meshes/link_7.STL 1 1 1 1 0 0 0 0 0 0 package://RM75-B/meshes/link_7.STL 末端法兰件 方案一-1 link_7 joint_7 joint_7 revolute 0 -0.144 0 1.5708 0 0 link_6 0 0 1 10 3.14 -6.28 6.28
urdf_rm75/RM75-B.urdf
+453
View File
@@ -0,0 +1,453 @@
<?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: 1.6.0-1-g15f4949 Build Version: 1.6.7594.29634
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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name="RM75-B">
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rpy="0 0 0" />
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ixy="-3.1058E-06"
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rpy="0 0 0" />
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rpy="0 0 0" />
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rpy="0 0 0" />
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rpy="0 0 0" />
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type="revolute">
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rpy="0 0 0" />
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<child
link="link_1" />
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upper="3.106"
effort="60"
velocity="3.14" />
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rpy="0 0 0" />
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rpy="0 0 0" />
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type="revolute">
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rpy="-1.5708 0 0" />
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upper="2.2689"
effort="60"
velocity="3.14" />
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<origin
xyz="0.000003 -0.01398 -0.011324"
rpy="0 0 0" />
<mass
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rpy="0 0 0" />
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type="revolute">
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rpy="1.5708 0 0" />
<parent
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<child
link="link_3" />
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xyz="0 0 1" />
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upper="3.106"
effort="30"
velocity="3.14" />
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<inertial>
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rpy="0 0 0" />
<mass
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izz="0.001256177" />
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rpy="0 0 0" />
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rpy="-1.5708 0 0" />
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upper="2.356"
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velocity="3.14" />
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rpy="0 0 0" />
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upper="3.106"
effort="10"
velocity="3.14" />
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<link
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rpy="0 0 0" />
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rpy="0 0 0" />
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rpy="0 0 0" />
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type="revolute">
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rpy="-1.5708 0 0" />
<parent
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<child
link="link_6" />
<axis
xyz="0 0 1" />
<limit
lower="-2.234"
upper="2.234"
effort="10"
velocity="3.14" />
</joint>
<link
name="link_7">
<inertial>
<origin
xyz="0.001094 -0.000077 -0.010119"
rpy="0 0 0" />
<mass
value="0.107" />
<inertia
ixx="0.000044123"
ixy="-0.000000064"
ixz="0.0000003"
iyy="0.000035078"
iyz="-0.000000029"
izz="0.000065445" />
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<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
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</geometry>
<material
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<color
rgba="1 1 1 1" />
</material>
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<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
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</geometry>
</collision>
</link>
<joint
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type="revolute">
<origin
xyz="0 -0.144 0"
rpy="1.5708 0 0" />
<parent
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<child
link="link_7" />
<axis
xyz="0 0 1" />
<limit
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upper="6.28"
effort="10"
velocity="3.14" />
</joint>
</robot>
urdf_rm75/RM75-OmniPicker.urdf
+507
View File
@@ -0,0 +1,507 @@
<?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: 1.6.0-1-g15f4949 Build Version: 1.6.7594.29634
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="RM75-B">
<link
name="base_link">
<inertial>
<origin
xyz="0.00049987 5.2709E-05 0.060019"
rpy="0 0 0" />
<mass
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<inertia
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ixz="-3.7924E-05"
iyy="0.0017051"
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</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
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<material
name="">
<color
rgba="1 1 1 1" />
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</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
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<mesh
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</link>
<link
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<inertial>
<origin
xyz="0.000241 -0.013273 -0.00995"
rpy="0 0 0" />
<mass
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<inertia
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ixz="-0.000007909"
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iyz="0.000179393"
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<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
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<material
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<color
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xyz="0 0 0"
rpy="0 0 0" />
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<mesh
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</collision>
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<joint
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type="revolute">
<origin
xyz="0 0 0.2405"
rpy="0 0 0" />
<parent
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<child
link="link_1" />
<axis
xyz="0 0 1" />
<limit
lower="-3.106"
upper="3.106"
effort="60"
velocity="3.14" />
</joint>
<link
name="link_2">
<inertial>
<origin
xyz="-0.000357 -0.106789 0.005329"
rpy="0 0 0" />
<mass
value="1.217" />
<inertia
ixx="0.003494121"
ixy="0.000002921"
ixz="-0.000005613"
iyy="0.000892721"
iyz="-0.000583884"
izz="0.003444080" />
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<visual>
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xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_2.STL" />
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<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_2.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_2"
type="revolute">
<origin
xyz="0 0 0"
rpy="-1.5708 0 0" />
<parent
link="link_1" />
<child
link="link_2" />
<axis
xyz="0 0 1" />
<limit
lower="-2.2689"
upper="2.2689"
effort="60"
velocity="3.14" />
</joint>
<link
name="link_3">
<inertial>
<origin
xyz="0.000003 -0.01398 -0.011324"
rpy="0 0 0" />
<mass
value="1.11" />
<inertia
ixx="0.001836663"
ixy="0.000002259"
ixz="-0.000004216"
iyy="0.001498875"
iyz="0.000037167"
izz="0.001062545" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_3.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="meshes/link_3.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_3"
type="revolute">
<origin
xyz="0 -0.256 0"
rpy="1.5708 0 0" />
<parent
link="link_2" />
<child
link="link_3" />
<axis
xyz="0 0 1" />
<limit
lower="-3.106"
upper="3.106"
effort="30"
velocity="3.14" />
</joint>
<link
name="link_4">
<inertial>
<origin
xyz="-0.000005 -0.084658 0.004747"
rpy="0 0 0" />
<mass
value="0.685" />
<inertia
ixx="0.001282444"
ixy="-0.000000551"
ixz="-0.000000630"
iyy="0.000373013"
iyz="-0.000232084"
izz="0.001256177" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_4.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="meshes/link_4.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_4"
type="revolute">
<origin
xyz="0 0 0"
rpy="-1.5708 0 0" />
<parent
link="link_3" />
<child
link="link_4" />
<axis
xyz="0 0 1" />
<limit
lower="-2.356"
upper="2.356"
effort="30"
velocity="3.14" />
</joint>
<link
name="link_5">
<inertial>
<origin
xyz="0.000078 -0.012937 -0.008781"
rpy="0 0 0" />
<mass
value="0.619" />
<inertia
ixx="0.000627336"
ixy="0.000001636"
ixz="-0.000001345"
iyy="0.000542455"
iyz="0.000034970"
izz="0.000370291" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_5.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="meshes/link_5.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_5"
type="revolute">
<origin
xyz="0 -0.21 0"
rpy="1.5708 0 0" />
<parent
link="link_4" />
<child
link="link_5" />
<axis
xyz="0 0 1" />
<limit
lower="-3.106"
upper="3.106"
effort="10"
velocity="3.14" />
</joint>
<link
name="link_6">
<inertial>
<origin
xyz="-0.000014 -0.078524 0.002819"
rpy="0 0 0" />
<mass
value="0.602" />
<inertia
ixx="0.000780774"
ixy="-0.000000121"
ixz="-0.000000469"
iyy="0.000289973"
iyz="-0.000120513"
izz="0.000763955" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_6.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="meshes/link_6.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_6"
type="revolute">
<origin
xyz="0 0 0"
rpy="-1.5708 0 0" />
<parent
link="link_5" />
<child
link="link_6" />
<axis
xyz="0 0 1" />
<limit
lower="-2.234"
upper="2.234"
effort="10"
velocity="3.14" />
</joint>
<link
name="link_7">
<inertial>
<origin
xyz="0.001094 -0.000077 -0.010119"
rpy="0 0 0" />
<mass
value="0.107" />
<inertia
ixx="0.000044123"
ixy="-0.000000064"
ixz="0.0000003"
iyy="0.000035078"
iyz="-0.000000029"
izz="0.000065445" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_7.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="meshes/link_7.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_7"
type="revolute">
<origin
xyz="0 -0.144 0"
rpy="1.5708 0 0" />
<parent
link="link_6" />
<child
link="link_7" />
<axis
xyz="0 0 1" />
<limit
lower="-6.28"
upper="6.28"
effort="10"
velocity="3.14" />
</joint>
<!-- Scissor end-effector -->
<link name="gripper_link">
<inertial>
<!-- Replace these values with CAD-derived mass properties -->
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.1" />
<inertia
ixx="0.0001"
ixy="0"
ixz="0"
iyy="0.0001"
iyz="0"
izz="0.0001" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/OmniPic.stl"
scale="1 1 1" />
</geometry>
<material name="OmniPic_material">
<color rgba="0.7 0.7 0.7 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/OmniPic.stl"
scale="1 1 1" />
</geometry>
</collision>
</link>
<!-- Rigidly attach the gripper to the final wrist link -->
<joint name="OmniPic_fixed_joint" type="fixed">
<parent link="link_7" />
<child link="gripper_link" />
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>
<link name="OmniPic_tcp"/>
<joint name="OmniPic_tcp_fixed" type="fixed">
<parent link="gripper_link"/>
<child link="OmniPic_tcp"/>
<origin xyz="0 0 0.14" rpy="0 0 0"/>
</joint>
</robot>
urdf_rm75/RM75-SCI-V1.urdf
+516
View File
@@ -0,0 +1,516 @@
<?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: 1.6.0-1-g15f4949 Build Version: 1.6.7594.29634
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="RM75-B">
<link
name="base_link">
<inertial>
<origin
xyz="0.00049987 5.2709E-05 0.060019"
rpy="0 0 0" />
<mass
value="1.862" />
<inertia
ixx="0.0017232"
ixy="-3.1058E-06"
ixz="-3.7924E-05"
iyy="0.0017051"
iyz="1.3691E-06"
izz="0.00090158" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/base_link.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="meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="link_1">
<inertial>
<origin
xyz="0.000241 -0.013273 -0.00995"
rpy="0 0 0" />
<mass
value="1.574" />
<inertia
ixx="0.002487573"
ixy="0.000009663"
ixz="-0.000007909"
iyy="0.002321038"
iyz="0.000179393"
izz="0.001450554" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_1.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="meshes/link_1.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_1"
type="revolute">
<origin
xyz="0 0 0.2405"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="link_1" />
<axis
xyz="0 0 1" />
<limit
lower="-3.106"
upper="3.106"
effort="60"
velocity="3.14" />
</joint>
<link
name="link_2">
<inertial>
<origin
xyz="-0.000357 -0.106789 0.005329"
rpy="0 0 0" />
<mass
value="1.217" />
<inertia
ixx="0.003494121"
ixy="0.000002921"
ixz="-0.000005613"
iyy="0.000892721"
iyz="-0.000583884"
izz="0.003444080" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_2.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="meshes/link_2.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_2"
type="revolute">
<origin
xyz="0 0 0"
rpy="-1.5708 0 0" />
<parent
link="link_1" />
<child
link="link_2" />
<axis
xyz="0 0 1" />
<limit
lower="-2.2689"
upper="2.2689"
effort="60"
velocity="3.14" />
</joint>
<link
name="link_3">
<inertial>
<origin
xyz="0.000003 -0.01398 -0.011324"
rpy="0 0 0" />
<mass
value="1.11" />
<inertia
ixx="0.001836663"
ixy="0.000002259"
ixz="-0.000004216"
iyy="0.001498875"
iyz="0.000037167"
izz="0.001062545" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_3.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="meshes/link_3.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_3"
type="revolute">
<origin
xyz="0 -0.256 0"
rpy="1.5708 0 0" />
<parent
link="link_2" />
<child
link="link_3" />
<axis
xyz="0 0 1" />
<limit
lower="-3.106"
upper="3.106"
effort="30"
velocity="3.14" />
</joint>
<link
name="link_4">
<inertial>
<origin
xyz="-0.000005 -0.084658 0.004747"
rpy="0 0 0" />
<mass
value="0.685" />
<inertia
ixx="0.001282444"
ixy="-0.000000551"
ixz="-0.000000630"
iyy="0.000373013"
iyz="-0.000232084"
izz="0.001256177" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_4.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="meshes/link_4.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_4"
type="revolute">
<origin
xyz="0 0 0"
rpy="-1.5708 0 0" />
<parent
link="link_3" />
<child
link="link_4" />
<axis
xyz="0 0 1" />
<limit
lower="-2.356"
upper="2.356"
effort="30"
velocity="3.14" />
</joint>
<link
name="link_5">
<inertial>
<origin
xyz="0.000078 -0.012937 -0.008781"
rpy="0 0 0" />
<mass
value="0.619" />
<inertia
ixx="0.000627336"
ixy="0.000001636"
ixz="-0.000001345"
iyy="0.000542455"
iyz="0.000034970"
izz="0.000370291" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_5.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="meshes/link_5.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_5"
type="revolute">
<origin
xyz="0 -0.21 0"
rpy="1.5708 0 0" />
<parent
link="link_4" />
<child
link="link_5" />
<axis
xyz="0 0 1" />
<limit
lower="-3.106"
upper="3.106"
effort="10"
velocity="3.14" />
</joint>
<link
name="link_6">
<inertial>
<origin
xyz="-0.000014 -0.078524 0.002819"
rpy="0 0 0" />
<mass
value="0.602" />
<inertia
ixx="0.000780774"
ixy="-0.000000121"
ixz="-0.000000469"
iyy="0.000289973"
iyz="-0.000120513"
izz="0.000763955" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_6.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="meshes/link_6.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_6"
type="revolute">
<origin
xyz="0 0 0"
rpy="-1.5708 0 0" />
<parent
link="link_5" />
<child
link="link_6" />
<axis
xyz="0 0 1" />
<limit
lower="-2.234"
upper="2.234"
effort="10"
velocity="3.14" />
</joint>
<link
name="link_7">
<inertial>
<origin
xyz="0.001094 -0.000077 -0.010119"
rpy="0 0 0" />
<mass
value="0.107" />
<inertia
ixx="0.000044123"
ixy="-0.000000064"
ixz="0.0000003"
iyy="0.000035078"
iyz="-0.000000029"
izz="0.000065445" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_7.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="meshes/link_7.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_7"
type="revolute">
<origin
xyz="0 -0.144 0"
rpy="1.5708 0 0" />
<parent
link="link_6" />
<child
link="link_7" />
<axis
xyz="0 0 1" />
<limit
lower="-6.28"
upper="6.28"
effort="10"
velocity="3.14" />
</joint>
<!-- Scissor end-effector -->
<link name="scissor_link">
<inertial>
<!-- Replace these values with CAD-derived mass properties -->
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.1" />
<inertia
ixx="0.0001"
ixy="0"
ixz="0"
iyy="0.0001"
iyz="0"
izz="0.0001" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/scissor.stl"
scale="1 1 1" />
</geometry>
<material name="scissor_material">
<color rgba="0.7 0.7 0.7 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/scissor.stl"
scale="1 1 1" />
</geometry>
</collision>
</link>
<!-- Rigidly attach the scissor to the final wrist link -->
<joint name="scissor_fixed_joint" type="fixed">
<parent link="link_7" />
<child link="scissor_link" />
<origin xyz="0 -0.12 0.03" rpy="1.5707963 0 0" />
</joint>
<link name="scissor_tcp"/>
<joint name="scissor_tcp_fixed" type="fixed">
<parent link="scissor_link"/>
<child link="scissor_tcp"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
<link name="camera_tcp"/>
<joint name="camera_tcp_fixed" type="fixed">
<parent link="scissor_link"/>
<child link="camera_tcp"/>
<origin xyz="0.042 0 -0.0755" rpy="0 0 1.5707963"/>
</joint>
</robot>
urdf_rm75/RM75-SCI-V2.urdf
+516
View File
@@ -0,0 +1,516 @@
<?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: 1.6.0-1-g15f4949 Build Version: 1.6.7594.29634
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="RM75-B">
<link
name="base_link">
<inertial>
<origin
xyz="0.00049987 5.2709E-05 0.060019"
rpy="0 0 0" />
<mass
value="1.862" />
<inertia
ixx="0.0017232"
ixy="-3.1058E-06"
ixz="-3.7924E-05"
iyy="0.0017051"
iyz="1.3691E-06"
izz="0.00090158" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/base_link.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="meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="link_1">
<inertial>
<origin
xyz="0.000241 -0.013273 -0.00995"
rpy="0 0 0" />
<mass
value="1.574" />
<inertia
ixx="0.002487573"
ixy="0.000009663"
ixz="-0.000007909"
iyy="0.002321038"
iyz="0.000179393"
izz="0.001450554" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_1.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="meshes/link_1.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_1"
type="revolute">
<origin
xyz="0 0 0.2405"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="link_1" />
<axis
xyz="0 0 1" />
<limit
lower="-3.106"
upper="3.106"
effort="60"
velocity="3.14" />
</joint>
<link
name="link_2">
<inertial>
<origin
xyz="-0.000357 -0.106789 0.005329"
rpy="0 0 0" />
<mass
value="1.217" />
<inertia
ixx="0.003494121"
ixy="0.000002921"
ixz="-0.000005613"
iyy="0.000892721"
iyz="-0.000583884"
izz="0.003444080" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_2.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="meshes/link_2.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_2"
type="revolute">
<origin
xyz="0 0 0"
rpy="-1.5708 0 0" />
<parent
link="link_1" />
<child
link="link_2" />
<axis
xyz="0 0 1" />
<limit
lower="-2.2689"
upper="2.2689"
effort="60"
velocity="3.14" />
</joint>
<link
name="link_3">
<inertial>
<origin
xyz="0.000003 -0.01398 -0.011324"
rpy="0 0 0" />
<mass
value="1.11" />
<inertia
ixx="0.001836663"
ixy="0.000002259"
ixz="-0.000004216"
iyy="0.001498875"
iyz="0.000037167"
izz="0.001062545" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_3.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="meshes/link_3.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_3"
type="revolute">
<origin
xyz="0 -0.256 0"
rpy="1.5708 0 0" />
<parent
link="link_2" />
<child
link="link_3" />
<axis
xyz="0 0 1" />
<limit
lower="-3.106"
upper="3.106"
effort="30"
velocity="3.14" />
</joint>
<link
name="link_4">
<inertial>
<origin
xyz="-0.000005 -0.084658 0.004747"
rpy="0 0 0" />
<mass
value="0.685" />
<inertia
ixx="0.001282444"
ixy="-0.000000551"
ixz="-0.000000630"
iyy="0.000373013"
iyz="-0.000232084"
izz="0.001256177" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_4.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="meshes/link_4.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_4"
type="revolute">
<origin
xyz="0 0 0"
rpy="-1.5708 0 0" />
<parent
link="link_3" />
<child
link="link_4" />
<axis
xyz="0 0 1" />
<limit
lower="-2.356"
upper="2.356"
effort="30"
velocity="3.14" />
</joint>
<link
name="link_5">
<inertial>
<origin
xyz="0.000078 -0.012937 -0.008781"
rpy="0 0 0" />
<mass
value="0.619" />
<inertia
ixx="0.000627336"
ixy="0.000001636"
ixz="-0.000001345"
iyy="0.000542455"
iyz="0.000034970"
izz="0.000370291" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_5.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="meshes/link_5.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_5"
type="revolute">
<origin
xyz="0 -0.21 0"
rpy="1.5708 0 0" />
<parent
link="link_4" />
<child
link="link_5" />
<axis
xyz="0 0 1" />
<limit
lower="-3.106"
upper="3.106"
effort="10"
velocity="3.14" />
</joint>
<link
name="link_6">
<inertial>
<origin
xyz="-0.000014 -0.078524 0.002819"
rpy="0 0 0" />
<mass
value="0.602" />
<inertia
ixx="0.000780774"
ixy="-0.000000121"
ixz="-0.000000469"
iyy="0.000289973"
iyz="-0.000120513"
izz="0.000763955" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_6.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="meshes/link_6.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_6"
type="revolute">
<origin
xyz="0 0 0"
rpy="-1.5708 0 0" />
<parent
link="link_5" />
<child
link="link_6" />
<axis
xyz="0 0 1" />
<limit
lower="-2.234"
upper="2.234"
effort="10"
velocity="3.14" />
</joint>
<link
name="link_7">
<inertial>
<origin
xyz="0.001094 -0.000077 -0.010119"
rpy="0 0 0" />
<mass
value="0.107" />
<inertia
ixx="0.000044123"
ixy="-0.000000064"
ixz="0.0000003"
iyy="0.000035078"
iyz="-0.000000029"
izz="0.000065445" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_7.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="meshes/link_7.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_7"
type="revolute">
<origin
xyz="0 -0.144 0"
rpy="1.5708 0 0" />
<parent
link="link_6" />
<child
link="link_7" />
<axis
xyz="0 0 1" />
<limit
lower="-6.28"
upper="6.28"
effort="10"
velocity="3.14" />
</joint>
<!-- Scissor end-effector -->
<link name="scissor_link">
<inertial>
<!-- Replace these values with CAD-derived mass properties -->
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.1" />
<inertia
ixx="0.0001"
ixy="0"
ixz="0"
iyy="0.0001"
iyz="0"
izz="0.0001" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/scissor.stl"
scale="1 1 1" />
</geometry>
<material name="scissor_material">
<color rgba="0.7 0.7 0.7 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/scissor.stl"
scale="1 1 1" />
</geometry>
</collision>
</link>
<!-- Rigidly attach the scissor to the final wrist link -->
<joint name="scissor_fixed_joint" type="fixed">
<parent link="link_7" />
<child link="scissor_link" />
<origin xyz="-0.12 0 0.063" rpy="0 -1.5707963 0" />
</joint>
<link name="scissor_tcp"/>
<joint name="scissor_tcp_fixed" type="fixed">
<parent link="scissor_link"/>
<child link="scissor_tcp"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
<link name="camera_tcp"/>
<joint name="camera_tcp_fixed" type="fixed">
<parent link="scissor_link"/>
<child link="camera_tcp"/>
<origin xyz="0.042 0 -0.0755" rpy="0 0 1.57"/>
</joint>
</robot>
urdf_rm75/RM75-SCI.urdf
+516
View File
@@ -0,0 +1,516 @@
<?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: 1.6.0-1-g15f4949 Build Version: 1.6.7594.29634
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="RM75-B">
<link
name="base_link">
<inertial>
<origin
xyz="0.00049987 5.2709E-05 0.060019"
rpy="0 0 0" />
<mass
value="1.862" />
<inertia
ixx="0.0017232"
ixy="-3.1058E-06"
ixz="-3.7924E-05"
iyy="0.0017051"
iyz="1.3691E-06"
izz="0.00090158" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/base_link.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="meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="link_1">
<inertial>
<origin
xyz="0.000241 -0.013273 -0.00995"
rpy="0 0 0" />
<mass
value="1.574" />
<inertia
ixx="0.002487573"
ixy="0.000009663"
ixz="-0.000007909"
iyy="0.002321038"
iyz="0.000179393"
izz="0.001450554" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_1.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="meshes/link_1.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_1"
type="revolute">
<origin
xyz="0 0 0.2405"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="link_1" />
<axis
xyz="0 0 1" />
<limit
lower="-3.106"
upper="3.106"
effort="60"
velocity="3.14" />
</joint>
<link
name="link_2">
<inertial>
<origin
xyz="-0.000357 -0.106789 0.005329"
rpy="0 0 0" />
<mass
value="1.217" />
<inertia
ixx="0.003494121"
ixy="0.000002921"
ixz="-0.000005613"
iyy="0.000892721"
iyz="-0.000583884"
izz="0.003444080" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_2.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="meshes/link_2.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_2"
type="revolute">
<origin
xyz="0 0 0"
rpy="-1.5708 0 0" />
<parent
link="link_1" />
<child
link="link_2" />
<axis
xyz="0 0 1" />
<limit
lower="-2.2689"
upper="2.2689"
effort="60"
velocity="3.14" />
</joint>
<link
name="link_3">
<inertial>
<origin
xyz="0.000003 -0.01398 -0.011324"
rpy="0 0 0" />
<mass
value="1.11" />
<inertia
ixx="0.001836663"
ixy="0.000002259"
ixz="-0.000004216"
iyy="0.001498875"
iyz="0.000037167"
izz="0.001062545" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_3.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="meshes/link_3.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_3"
type="revolute">
<origin
xyz="0 -0.256 0"
rpy="1.5708 0 0" />
<parent
link="link_2" />
<child
link="link_3" />
<axis
xyz="0 0 1" />
<limit
lower="-3.106"
upper="3.106"
effort="30"
velocity="3.14" />
</joint>
<link
name="link_4">
<inertial>
<origin
xyz="-0.000005 -0.084658 0.004747"
rpy="0 0 0" />
<mass
value="0.685" />
<inertia
ixx="0.001282444"
ixy="-0.000000551"
ixz="-0.000000630"
iyy="0.000373013"
iyz="-0.000232084"
izz="0.001256177" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_4.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="meshes/link_4.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_4"
type="revolute">
<origin
xyz="0 0 0"
rpy="-1.5708 0 0" />
<parent
link="link_3" />
<child
link="link_4" />
<axis
xyz="0 0 1" />
<limit
lower="-2.356"
upper="2.356"
effort="30"
velocity="3.14" />
</joint>
<link
name="link_5">
<inertial>
<origin
xyz="0.000078 -0.012937 -0.008781"
rpy="0 0 0" />
<mass
value="0.619" />
<inertia
ixx="0.000627336"
ixy="0.000001636"
ixz="-0.000001345"
iyy="0.000542455"
iyz="0.000034970"
izz="0.000370291" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_5.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="meshes/link_5.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_5"
type="revolute">
<origin
xyz="0 -0.21 0"
rpy="1.5708 0 0" />
<parent
link="link_4" />
<child
link="link_5" />
<axis
xyz="0 0 1" />
<limit
lower="-3.106"
upper="3.106"
effort="10"
velocity="3.14" />
</joint>
<link
name="link_6">
<inertial>
<origin
xyz="-0.000014 -0.078524 0.002819"
rpy="0 0 0" />
<mass
value="0.602" />
<inertia
ixx="0.000780774"
ixy="-0.000000121"
ixz="-0.000000469"
iyy="0.000289973"
iyz="-0.000120513"
izz="0.000763955" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_6.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="meshes/link_6.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_6"
type="revolute">
<origin
xyz="0 0 0"
rpy="-1.5708 0 0" />
<parent
link="link_5" />
<child
link="link_6" />
<axis
xyz="0 0 1" />
<limit
lower="-2.234"
upper="2.234"
effort="10"
velocity="3.14" />
</joint>
<link
name="link_7">
<inertial>
<origin
xyz="0.001094 -0.000077 -0.010119"
rpy="0 0 0" />
<mass
value="0.107" />
<inertia
ixx="0.000044123"
ixy="-0.000000064"
ixz="0.0000003"
iyy="0.000035078"
iyz="-0.000000029"
izz="0.000065445" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_7.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="meshes/link_7.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_7"
type="revolute">
<origin
xyz="0 -0.144 0"
rpy="1.5708 0 0" />
<parent
link="link_6" />
<child
link="link_7" />
<axis
xyz="0 0 1" />
<limit
lower="-6.28"
upper="6.28"
effort="10"
velocity="3.14" />
</joint>
<!-- Scissor end-effector -->
<link name="scissor_link">
<inertial>
<!-- Replace these values with CAD-derived mass properties -->
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.1" />
<inertia
ixx="0.0001"
ixy="0"
ixz="0"
iyy="0.0001"
iyz="0"
izz="0.0001" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/scissor.stl"
scale="1 1 1" />
</geometry>
<material name="scissor_material">
<color rgba="0.7 0.7 0.7 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/scissor.stl"
scale="1 1 1" />
</geometry>
</collision>
</link>
<!-- Rigidly attach the scissor to the final wrist link -->
<joint name="scissor_fixed_joint" type="fixed">
<parent link="link_7" />
<child link="scissor_link" />
<origin xyz="0 0 0.165" rpy="0 0 0" />
</joint>
<link name="scissor_tcp"/>
<joint name="scissor_tcp_fixed" type="fixed">
<parent link="scissor_link"/>
<child link="scissor_tcp"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
<link name="camera_tcp"/>
<joint name="camera_tcp_fixed" type="fixed">
<parent link="scissor_link"/>
<child link="camera_tcp"/>
<origin xyz="0.042 0 -0.0755" rpy="0 0 1.57"/>
</joint>
</robot>
urdf_rm75/RM75-newSCI.urdf
+516
View File
@@ -0,0 +1,516 @@
<?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: 1.6.0-1-g15f4949 Build Version: 1.6.7594.29634
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="RM75-B">
<link
name="base_link">
<inertial>
<origin
xyz="0.00049987 5.2709E-05 0.060019"
rpy="0 0 0" />
<mass
value="1.862" />
<inertia
ixx="0.0017232"
ixy="-3.1058E-06"
ixz="-3.7924E-05"
iyy="0.0017051"
iyz="1.3691E-06"
izz="0.00090158" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/base_link.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="meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="link_1">
<inertial>
<origin
xyz="0.000241 -0.013273 -0.00995"
rpy="0 0 0" />
<mass
value="1.574" />
<inertia
ixx="0.002487573"
ixy="0.000009663"
ixz="-0.000007909"
iyy="0.002321038"
iyz="0.000179393"
izz="0.001450554" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_1.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="meshes/link_1.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_1"
type="revolute">
<origin
xyz="0 0 0.2405"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="link_1" />
<axis
xyz="0 0 1" />
<limit
lower="-3.106"
upper="3.106"
effort="60"
velocity="3.14" />
</joint>
<link
name="link_2">
<inertial>
<origin
xyz="-0.000357 -0.106789 0.005329"
rpy="0 0 0" />
<mass
value="1.217" />
<inertia
ixx="0.003494121"
ixy="0.000002921"
ixz="-0.000005613"
iyy="0.000892721"
iyz="-0.000583884"
izz="0.003444080" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_2.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="meshes/link_2.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_2"
type="revolute">
<origin
xyz="0 0 0"
rpy="-1.5708 0 0" />
<parent
link="link_1" />
<child
link="link_2" />
<axis
xyz="0 0 1" />
<limit
lower="-2.2689"
upper="2.2689"
effort="60"
velocity="3.14" />
</joint>
<link
name="link_3">
<inertial>
<origin
xyz="0.000003 -0.01398 -0.011324"
rpy="0 0 0" />
<mass
value="1.11" />
<inertia
ixx="0.001836663"
ixy="0.000002259"
ixz="-0.000004216"
iyy="0.001498875"
iyz="0.000037167"
izz="0.001062545" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_3.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="meshes/link_3.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_3"
type="revolute">
<origin
xyz="0 -0.256 0"
rpy="1.5708 0 0" />
<parent
link="link_2" />
<child
link="link_3" />
<axis
xyz="0 0 1" />
<limit
lower="-3.106"
upper="3.106"
effort="30"
velocity="3.14" />
</joint>
<link
name="link_4">
<inertial>
<origin
xyz="-0.000005 -0.084658 0.004747"
rpy="0 0 0" />
<mass
value="0.685" />
<inertia
ixx="0.001282444"
ixy="-0.000000551"
ixz="-0.000000630"
iyy="0.000373013"
iyz="-0.000232084"
izz="0.001256177" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_4.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="meshes/link_4.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_4"
type="revolute">
<origin
xyz="0 0 0"
rpy="-1.5708 0 0" />
<parent
link="link_3" />
<child
link="link_4" />
<axis
xyz="0 0 1" />
<limit
lower="-2.356"
upper="2.356"
effort="30"
velocity="3.14" />
</joint>
<link
name="link_5">
<inertial>
<origin
xyz="0.000078 -0.012937 -0.008781"
rpy="0 0 0" />
<mass
value="0.619" />
<inertia
ixx="0.000627336"
ixy="0.000001636"
ixz="-0.000001345"
iyy="0.000542455"
iyz="0.000034970"
izz="0.000370291" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_5.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="meshes/link_5.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_5"
type="revolute">
<origin
xyz="0 -0.21 0"
rpy="1.5708 0 0" />
<parent
link="link_4" />
<child
link="link_5" />
<axis
xyz="0 0 1" />
<limit
lower="-3.106"
upper="3.106"
effort="10"
velocity="3.14" />
</joint>
<link
name="link_6">
<inertial>
<origin
xyz="-0.000014 -0.078524 0.002819"
rpy="0 0 0" />
<mass
value="0.602" />
<inertia
ixx="0.000780774"
ixy="-0.000000121"
ixz="-0.000000469"
iyy="0.000289973"
iyz="-0.000120513"
izz="0.000763955" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_6.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="meshes/link_6.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_6"
type="revolute">
<origin
xyz="0 0 0"
rpy="-1.5708 0 0" />
<parent
link="link_5" />
<child
link="link_6" />
<axis
xyz="0 0 1" />
<limit
lower="-2.234"
upper="2.234"
effort="10"
velocity="3.14" />
</joint>
<link
name="link_7">
<inertial>
<origin
xyz="0.001094 -0.000077 -0.010119"
rpy="0 0 0" />
<mass
value="0.107" />
<inertia
ixx="0.000044123"
ixy="-0.000000064"
ixz="0.0000003"
iyy="0.000035078"
iyz="-0.000000029"
izz="0.000065445" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link_7.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="meshes/link_7.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_7"
type="revolute">
<origin
xyz="0 -0.144 0"
rpy="1.5708 0 0" />
<parent
link="link_6" />
<child
link="link_7" />
<axis
xyz="0 0 1" />
<limit
lower="-6.28"
upper="6.28"
effort="10"
velocity="3.14" />
</joint>
<!-- Scissor end-effector -->
<link name="scissor_link">
<inertial>
<!-- Replace these values with CAD-derived mass properties -->
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.1" />
<inertia
ixx="0.0001"
ixy="0"
ixz="0"
iyy="0.0001"
iyz="0"
izz="0.0001" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/mini_scissor.stl"
scale="1 1 1" />
</geometry>
<material name="scissor_material">
<color rgba="0.7 0.7 0.7 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/mini_scissor.stl"
scale="1 1 1" />
</geometry>
</collision>
</link>
<!-- Rigidly attach the scissor to the final wrist link -->
<joint name="scissor_fixed_joint" type="fixed">
<parent link="link_7" />
<child link="scissor_link" />
<origin xyz="0 0 0.165" rpy="0 0 0" />
</joint>
<link name="scissor_tcp"/>
<joint name="scissor_tcp_fixed" type="fixed">
<parent link="scissor_link"/>
<child link="scissor_tcp"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
<link name="camera_tcp"/>
<joint name="camera_tcp_fixed" type="fixed">
<parent link="scissor_link"/>
<child link="camera_tcp"/>
<origin xyz="0.08 0 -0.135" rpy="0 0 1.57"/>
</joint>
</robot>
urdf_rm75/__init__.py
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