fly6516
f02a735179
- 新增吸盘模型文件 base.obj - 添加多个测试用例 URDF 文件，包括立方体、圆柱体等简单模型 - 创建 jaka_description 包的 CMakeLists.txt 和 display.launch 文件
111 lines
2.9 KiB
XML
111 lines
2.9 KiB
XML
<?xml version="1.0" ?>
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<robot name="ur5">
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<!-- ********** KINEMATIC PROPERTIES (JOINTS) ********** -->
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<joint name="world_joint" type="fixed">
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<parent link="world"/>
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<child link="base_link"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
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</joint>
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<joint name="joint1" type="continuous">
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<parent link="base_link"/>
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<child link="link1"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.089159"/>
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<axis xyz="0 0 1"/>
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</joint>
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<joint name="joint2" type="continuous">
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<parent link="link1"/>
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<child link="link2"/>
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<origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.13585 0.0"/>
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<axis xyz="0 1 0"/>
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</joint>
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<joint name="joint3" type="continuous">
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<parent link="link2"/>
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<child link="link3"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.1197 0.425"/>
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<axis xyz="0 1 0"/>
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</joint>
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<joint name="joint4" type="continuous">
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<parent link="link3"/>
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<child link="link4"/>
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<origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.0 0.39225"/>
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<axis xyz="0 1 0"/>
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</joint>
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<joint name="joint5" type="continuous">
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<parent link="link4"/>
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<child link="link5"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.093 0.0"/>
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<axis xyz="0 0 1"/>
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</joint>
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<joint name="joint6" type="continuous">
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<parent link="link5"/>
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<child link="link6"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.09465"/>
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<axis xyz="0 1 0"/>
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</joint>
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<joint name="ee_joint" type="fixed">
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<origin rpy="-1.570796325 0 0" xyz="0 0.0823 0"/>
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<parent link="link6"/>
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<child link="ee_link"/>
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</joint>
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<!-- ********** INERTIAL PROPERTIES (LINKS) ********** -->
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<link name="world"/>
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<link name="base_link">
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<inertial>
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<mass value="4.0"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<inertia ixx="0.00443333156" ixy="0.0" ixz="0.0"
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iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
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</inertial>
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</link>
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<link name="link1">
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<inertial>
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<mass value="3.7"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<inertia ixx="0.010267495893" ixy="0.0" ixz="0.0"
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iyy="0.010267495893" iyz="0.0" izz="0.00666"/>
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</inertial>
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</link>
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<link name="link2">
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<inertial>
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<mass value="8.393"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.28"/>
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<inertia ixx="0.22689067591" ixy="0.0" ixz="0.0"
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iyy="0.22689067591" iyz="0.0" izz="0.0151074"/>
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</inertial>
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</link>
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<link name="link3">
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<inertial>
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<mass value="2.275"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.25"/>
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<inertia ixx="0.049443313556" ixy="0.0" ixz="0.0"
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iyy="0.049443313556" iyz="0.0" izz="0.004095"/>
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</inertial>
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</link>
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<link name="link4">
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<inertial>
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<mass value="1.219"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<inertia ixx="0.111172755531" ixy="0.0" ixz="0.0"
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iyy="0.111172755531" iyz="0.0" izz="0.21942"/>
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</inertial>
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</link>
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<link name="link5">
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<inertial>
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<mass value="1.219"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<inertia ixx="0.111172755531" ixy="0.0" ixz="0.0"
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iyy="0.111172755531" iyz="0.0" izz="0.21942"/>
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</inertial>
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</link>
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<link name="link6">
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<inertial>
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<mass value="0.1879"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<inertia ixx="0.0171364731454" ixy="0.0" ixz="0.0"
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iyy="0.0171364731454" iyz="0.0" izz="0.033822"/>
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</inertial>
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</link>
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<link name="ee_link"/>
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</robot>
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