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
3.7 KiB
3.7 KiB
| 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 | 0.0078045 | 0.02052 | 0.0017471 | 0 | 0 | 0 | 0.51461 | 0.00062136 | 3.2169E-06 | -3.6994E-09 | 0.0013529 | 1.2577E-10 | 0.00086645 | 0 | 0 | 0 | 0 | 0 | 0 | package://jaka_description/meshes/base_link.STL | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 0 | 0 | 0 | package://jaka_description/meshes/base_link.STL | Zu 7 00_默认-1 | Origin_global | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | |||||||||||||||||
| 3 | link1 | 0.0033217 | 0.078637 | -9.9561E-07 | 0 | 0 | 0 | 1.9281 | 0.0054895 | 1.9288E-06 | -8.0735E-09 | 0.0038887 | -1.0336E-08 | 0.0056434 | 0 | 0 | 0 | 0 | 0 | 0 | package://jaka_description/meshes/link1.STL | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 0 | 0 | 0 | package://jaka_description/meshes/link1.STL | Zu 7 01_默认-1 | Origin_joint1 | Axis_joint1 | joint1 | continuous | 0.0068395 | -0.0017473 | 0.040967 | 1.5708 | 0 | 0.021025 | base_link | 0 | 1 | 0 | |||||||||||||
| 4 | link2 | 0.180000209977346 | 0.0790053241117423 | 1.81612678296084E-06 | 0 | 0 | 0 | 5.46194601044026 | 0.012915357360266 | -3.31771617532355E-08 | -9.02794658605086E-09 | 0.0177711235371075 | -2.29869349851466E-09 | 0.0212789850441894 | 0 | 0 | 0 | 0 | 0 | 0 | package://jaka_description/meshes/link2.STL | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 0 | 0 | 0 | package://jaka_description/meshes/link2.STL | Zu 7 02_默认-1 | Origin_joint2 | Axis_joint2 | joint2 | continuous | 0.06407 | 0.08015 | 0 | -3.1416 | 0.61321 | 1.5708 | link1 | 0 | 1 | 0 | |||||||||||||
| 5 | link3 | 0.154631179365296 | 0.051491742581724 | -9.87671775865007E-07 | 0 | 0 | 0 | 2.10990539238288 | 0.002372120404392 | -0.00148686871157693 | 1.61083887908488E-07 | 0.0128780808874665 | 1.06256446469924E-09 | 0.0132375017255301 | 0 | 0 | 0 | 0 | 0 | 0 | package://jaka_description/meshes/link3.STL | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 0 | 0 | 0 | package://jaka_description/meshes/link3.STL | Zu 7 03_默认-1 | Origin_joint3 | Axis_joint3 | joint3 | continuous | 0.36 | 0 | 0 | 0 | 1.3591 | -3.1416 | link2 | 0 | 1 | 0 | |||||||||||||
| 6 | link4 | 0.0427881295343883 | -0.00580030295947631 | -2.00896450974763E-07 | 0 | 0 | 0 | 0.707388000054209 | 0.000872922108461203 | 5.07453713157777E-05 | -1.05589941183124E-08 | 0.000659704928306989 | 1.157925987427E-09 | 0.000903595145406074 | 0 | 0 | 0 | 0 | 0 | 0 | package://jaka_description/meshes/link4.STL | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 0 | 0 | 0 | package://jaka_description/meshes/link4.STL | Zu 7 04_默认-1 | Origin_joint4 | Axis_joint4 | joint4 | continuous | 0.303 | -0.0054826 | 0 | 1.9752 | 0 | -1.5708 | link3 | 1 | 0 | 0 | |||||||||||||
| 7 | link5 | -0.0436288428352644 | 0.00288896862860181 | -1.81856948805459E-07 | 0 | 0 | 0 | 0.806925581335565 | 0.00160859857621588 | 5.47741545152081E-06 | -2.28416053153104E-08 | 0.000744710609095292 | 5.43826453392794E-10 | 0.00164590181184635 | 0 | 0 | 0 | 0 | 0 | 0 | package://jaka_description/meshes/link5.STL | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 0 | 0 | 0 | package://jaka_description/meshes/link5.STL | Zu 7 05_默认-1 | Origin_joint5 | Axis_joint5 | joint5 | continuous | 0.04546 | -0.067529 | 0 | 1.7672 | 0 | 1.5708 | link4 | 1 | 0 | 0 | |||||||||||||
| 8 | link6 | -1.97893143202288E-05 | -0.0163465977451872 | 2.35599506187012E-05 | 0 | 0 | 0 | 0.180494526010387 | 9.10588208598242E-05 | 7.56822704641209E-09 | 4.08010848564993E-07 | 0.000143814497302076 | 2.17936727532836E-07 | 9.20388606659827E-05 | 0 | 0 | 0 | 0 | 0 | 0 | package://jaka_description/meshes/link6.STL | 1 | 1 | 1 | 1 | 0 | 0 | 0 | 0 | 0 | 0 | package://jaka_description/meshes/link6.STL | Zu 7 06_默认-1 | Origin_joint6 | Axis_joint6 | joint6 | continuous | -0.045971 | -0.069408 | 0 | 0 | -0.35771 | 0 | link5 | 0 | 1 | 0 |