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更新RML63IIIURDF #5

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更新RML63IIIURDF #5

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Binary file modified RML63/urdf/RML63III/rm_63_6fb_description/meshes/Link_5.STL
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40 changes: 20 additions & 20 deletions RML63/urdf/RML63III/rm_63_6fb_description/urdf/RML-63.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -95,10 +95,10 @@
<child
link="Link_1" />
<axis
xyz="0 0 -1" />
xyz="0 0 1" />
<limit
lower="3.107"
upper="-3.107"
lower="-3.107"
upper="3.107"
effort="100"
velocity="1" />
</joint>
Expand Down Expand Up @@ -155,8 +155,8 @@
<axis
xyz="0 0 1" />
<limit
lower="3.107"
upper="-3.107"
lower="-3.107"
upper="3.107"
effort="100"
velocity="1" />
</joint>
Expand Down Expand Up @@ -213,8 +213,8 @@
<axis
xyz="0 0 1" />
<limit
lower="2.531"
upper="-3.107"
lower="-3.107"
upper="2.531"
effort="100"
velocity="1" />
</joint>
Expand Down Expand Up @@ -269,10 +269,10 @@
<child
link="Link_4" />
<axis
xyz="0 0 -1" />
xyz="0 0 1" />
<limit
lower="3.107"
upper="-3.107"
lower="-3.107"
upper="3.107"
effort="100"
velocity="1" />
</joint>
Expand Down Expand Up @@ -321,16 +321,16 @@
type="revolute">
<origin
xyz="0 0 0"
rpy="0 0 3.14159265358979" />
rpy="1.5708 0 -3.1416" />
<parent
link="Link_4" />
<child
link="Link_5" />
<axis
xyz="0 1 0" />
xyz="0 0 1" />
<limit
lower="3.107"
upper="-3.107"
lower="-3.107"
upper="3.107"
effort="100"
velocity="1" />
</joint>
Expand Down Expand Up @@ -378,18 +378,18 @@
name="joint_6"
type="revolute">
<origin
xyz="0 0 0.132199355735491"
rpy="0 0 3.14159265358979" />
xyz="0 0.132199355735491 0"
rpy="1.5708 0 -3.1416" />
<parent
link="Link_5" />
<child
link="Link_6" />
<axis
xyz="0 0 -0.999999999990482" />
xyz="0 0 1" />
<limit
lower="3.14"
upper="-3.14"
lower="-3.14"
upper="3.14"
effort="100"
velocity="1" />
</joint>
</robot>
</robot>
8 changes: 8 additions & 0 deletions RML63/urdf/RML63III/rm_63_b_description/urdf/RML-63.csv
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Original file line number Diff line number Diff line change
@@ -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_link,0.0002051,-8.259E-05,0.043092,0,0,0,1.6314,0.0022252,7.9005E-06,-7.7558E-05,0.0022156,5.9846E-06,0.0018513,0,0,0,0,0,0,package://RML-63/meshes/base_link.STL,0.86667,0.86667,0.8902,1,0,0,0,0,0,0,package://RML-63/meshes/base_link.STL,,连杆1-1,baselink,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
Link_1,-0.030909,-0.0013023,-0.0053121,0,0,0,1.7668,0.0014534,-0.00017578,0.0002802,0.0043772,1.7209E-05,0.0040911,0,0,0,0,0,0,package://RML-63/meshes/Link_1.STL,1,1,1,1,0,0,0,0,0,0,package://RML-63/meshes/Link_1.STL,,连杆2-1,link1,axis1,joint_1,revolute,0,0,0.1625,0,0,0,base_link,0,0,-1,100,1,3.107,-3.107,,,,,,,,
Link_2,0.16852,9.8217E-07,-0.077258,0,0,0,4.3415,0.0028306,3.3846E-07,4.0484E-06,0.075435,-3.3974E-08,0.075923,0,0,0,0,0,0,package://RML-63/meshes/Link_2.STL,0.86667,0.86667,0.8902,1,0,0,0,0,0,0,package://RML-63/meshes/Link_2.STL,,连杆3-1,link2,axis2,joint_2,revolute,-0.086,0,0,1.5708,-1.5708,0,Link_1,0,0,1,100,1,3.107,-3.107,,,,,,,,
Link_3,0.034488,-0.010948,-0.0056239,0,0,0,1.7286,0.0014154,0.00068025,-0.00043307,0.0026049,0.00017201,0.0028551,0,0,0,0,0,0,package://RML-63/meshes/Link_3.STL,0.86667,0.86667,0.8902,1,0,0,0,0,0,0,package://RML-63/meshes/Link_3.STL,,连杆4-1,link3,axis3,joint_3,revolute,0.38,0,0,0,0,1.5708,Link_2,0,0,1,100,1,2.531,-3.107,,,,,,,,
Link_4,4.1778E-07,-0.030483,-0.19739,0,0,0,2.4734,0.02602,-1.1659E-07,3.1323E-07,0.024375,0.0061661,0.002958,0,0,0,0,0,0,package://RML-63/meshes/Link_4.STL,0.86667,0.86667,0.8902,1,0,0,0,0,0,0,package://RML-63/meshes/Link_4.STL,,连杆5-1,link4,axis4,joint_4,revolute,0.069,-0.405,0,1.5708,0,0,Link_3,0,0,-1,100,1,3.107,-3.107,,,,,,,,
Link_5,5.2596E-06,0.025125,-0.0072574,0,0,0,0.93162,0.0012563,-1.8115E-08,-2.4669E-09,0.0005379,-0.00017339,0.0011134,0,0,0,0,0,0,package://RML-63/meshes/Link_5.STL,0.86667,0.86667,0.8902,1,0,0,0,0,0,0,package://RML-63/meshes/Link_5.STL,,连杆6-1,link5,axis5,joint_5,revolute,0,0,0,1.5708,0,3.1416,Link_4,0,0,-1,100,1,3.107,-3.107,,,,,,,,
Link_6,-0.00092265,9.4391E-05,-0.012705,0,0,0,0.065037,2.1144E-05,-2.2803E-08,2.5415E-08,1.8109E-05,1.0256E-08,3.19E-05,0,0,0,0,0,0,package://RML-63/meshes/Link_6.STL,1,1,1,1,0,0,0,0,0,0,package://RML-63/meshes/Link_6.STL,,末端法兰件 方案一-2,link6,axis6,joint_6,revolute,-0.00010308,0.115,-0.00010734,1.5708,0,3.1416,Link_5,0,0,-1,100,1,3.14,-3.14,,,,,,,,
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