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add urdf files.

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aligh the function parameter names of qp and rm methods
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LiuzhengSJ
2026-06-05 15:25:35 +01:00
parent aefc7bacd5
commit 2ca5033b46
14 changed files with 562 additions and 168 deletions
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kine_ctrl/urdf_rm75/RM75-B.csv Normal file
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Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
base_link,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