diff --git a/air_description/urdf/air.urdf b/air_description/urdf/air.urdf index b23dc5c..92de08b 100644 --- a/air_description/urdf/air.urdf +++ b/air_description/urdf/air.urdf @@ -59,8 +59,8 @@ name="virtual_camera_joint" type="fixed"> + xyz="-0.0138 0.0548 1.0685" + rpy="0 0.45 -0.1605" /> @@ -326,7 +326,7 @@ xyz="0 0 1" /> diff --git a/air_dual_arm_description/CMakeLists.txt b/air_dual_arm_description/CMakeLists.txt new file mode 100644 index 0000000..1a8678c --- /dev/null +++ b/air_dual_arm_description/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 2.8.3) + +project(air_dual_arm_description) + +find_package(catkin REQUIRED) + +catkin_package() + +find_package(roslaunch) + +foreach(dir config launch meshes urdf) + install(DIRECTORY ${dir}/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) +endforeach(dir) diff --git a/air_dual_arm_description/config/joint_names_air_dual_arm_description.yaml b/air_dual_arm_description/config/joint_names_air_dual_arm_description.yaml new file mode 100644 index 0000000..e68470e --- /dev/null +++ b/air_dual_arm_description/config/joint_names_air_dual_arm_description.yaml @@ -0,0 +1 @@ +controller_joint_names: ['', 's2_2j', 's3_2j', 'e_2j', 'roll_2j', 'pitch_2j', 'yaw_2j', ] diff --git a/air_dual_arm_description/launch/display.launch b/air_dual_arm_description/launch/display.launch new file mode 100644 index 0000000..923bfa2 --- /dev/null +++ b/air_dual_arm_description/launch/display.launch @@ -0,0 +1,20 @@ + + + + + + + \ No newline at end of file diff --git a/air_dual_arm_description/launch/gazebo.launch b/air_dual_arm_description/launch/gazebo.launch new file mode 100644 index 0000000..0fab05b --- /dev/null +++ b/air_dual_arm_description/launch/gazebo.launch @@ -0,0 +1,20 @@ + + + + + + \ No newline at end of file diff --git a/air_dual_arm_description/meshes/base_link.STL b/air_dual_arm_description/meshes/base_link.STL new file mode 100644 index 0000000..7c1efa7 Binary files /dev/null and b/air_dual_arm_description/meshes/base_link.STL differ diff --git a/air_dual_arm_description/meshes/e_2.STL b/air_dual_arm_description/meshes/e_2.STL new file mode 100644 index 0000000..a6bfeef Binary files /dev/null and b/air_dual_arm_description/meshes/e_2.STL differ diff --git a/air_dual_arm_description/meshes/pitch_2.STL b/air_dual_arm_description/meshes/pitch_2.STL new file mode 100644 index 0000000..2eb9c0e Binary files /dev/null and b/air_dual_arm_description/meshes/pitch_2.STL differ diff --git a/air_dual_arm_description/meshes/roll_2.STL b/air_dual_arm_description/meshes/roll_2.STL new file mode 100644 index 0000000..13c119d Binary files /dev/null and b/air_dual_arm_description/meshes/roll_2.STL differ diff --git a/air_dual_arm_description/meshes/s1_2.STL b/air_dual_arm_description/meshes/s1_2.STL new file mode 100644 index 0000000..771f4b6 Binary files /dev/null and b/air_dual_arm_description/meshes/s1_2.STL differ diff --git a/air_dual_arm_description/meshes/s2_2.STL b/air_dual_arm_description/meshes/s2_2.STL new file mode 100644 index 0000000..61fce4d Binary files /dev/null and b/air_dual_arm_description/meshes/s2_2.STL differ diff --git a/air_dual_arm_description/meshes/s3_2.STL b/air_dual_arm_description/meshes/s3_2.STL new file mode 100644 index 0000000..cae794f Binary files /dev/null and b/air_dual_arm_description/meshes/s3_2.STL differ diff --git a/air_dual_arm_description/meshes/yaw_2.STL b/air_dual_arm_description/meshes/yaw_2.STL new file mode 100644 index 0000000..ce80b35 Binary files /dev/null and b/air_dual_arm_description/meshes/yaw_2.STL differ diff --git a/air_dual_arm_description/package.xml b/air_dual_arm_description/package.xml new file mode 100644 index 0000000..eed893e --- /dev/null +++ b/air_dual_arm_description/package.xml @@ -0,0 +1,21 @@ + + air_dual_arm_description + 1.0.0 + +

URDF Description package for air_dual_arm_description

+

This package contains configuration data, 3D models and launch files +for air_dual_arm_description robot

+ + TODO + + BSD + catkin + roslaunch + robot_state_publisher + rviz + joint_state_publisher_gui + gazebo + + + + \ No newline at end of file diff --git a/air_dual_arm_description/urdf/air_dual_arm_description.csv b/air_dual_arm_description/urdf/air_dual_arm_description.csv new file mode 100644 index 0000000..02ec433 --- /dev/null +++ b/air_dual_arm_description/urdf/air_dual_arm_description.csv @@ -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,-0.00671332757855918,0.437069422553028,-0.0034914249700704,0,0,0,6.75653562194786,0.968920953957114,-0.0158745347568793,0.000438931552270697,0.262307848620788,0.0167493441759554,1.01905987425296,0,0,0,0,0,0,package://air_dual_arm_description/meshes/base_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://air_dual_arm_description/meshes/base_link.STL,,baselink_2-2,Origin_global,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,, +s1_2,0.00144932232329789,-1.20160357181675,-0.18514893524172,0,0,0,0.830099234775224,0.00325478169189378,-0.000240096808711399,9.27582020728465E-05,0.00341758310179649,-0.000732394678304828,0.00293879726561975,0,0,0,0,0,0,package://air_dual_arm_description/meshes/s1_2.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://air_dual_arm_description/meshes/s1_2.STL,,s1_2-1,Origin_s1_2j,,s1_2j,fixed,0,0.01,0,-1.5708,0,3.1416,base_link,0,0,0,0,0,0,0,,,,,,,, +s2_2,-0.278940431120281,0.104204508109313,1.22653977628627,0,0,0,0.101764872719582,0.000162084960529921,-4.19141040380866E-05,-4.81218815399426E-06,7.27187717379077E-05,-8.5487555780691E-06,0.000165564791609755,0,0,0,0,0,0,package://air_dual_arm_description/meshes/s2_2.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://air_dual_arm_description/meshes/s2_2.STL,,s2_2-2,Origin_s2_2j,,s2_2j,revolute,-1.2769,-1.0959,0.20462,-1.8587,-1.1882,-1.3879,s1_2,0,0,0,0,0,0,0,,,,,,,, +s3_2,-0.0869218170036163,-1.04686722433353,-0.23575054953878,0,0,0,0.562432726876803,0.0025044178772249,-2.94881813188873E-05,1.14283315631501E-06,0.000275618898420833,-4.01105669616828E-05,0.00242878623308717,0,0,0,0,0,0,package://air_dual_arm_description/meshes/s3_2.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://air_dual_arm_description/meshes/s3_2.STL,,s3_2-1,Origin_s3_2j,,s3_2j,revolute,-0.49986,-1.1048,1.192,-2.4676,-1.4347,-1.0468,s2_2,0,0,0,0,0,0,0,,,,,,,, +e_2,-0.238131630239796,-0.860390577170511,-0.236188295888906,0,0,0,0.461489267312831,0.000222005498543675,-2.13012558823608E-05,7.48982457139938E-06,0.00177579570891963,4.10858388100283E-05,0.00177847625873136,0,0,0,0,0,0,package://air_dual_arm_description/meshes/e_2.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://air_dual_arm_description/meshes/e_2.STL,,e_2-1,Origin_e_2j,,e_2j,revolute,0,0,0,0,0,0,s3_2,0,0,0,0,0,0,0,,,,,,,, +roll_2,-7.67285124325667E-11,-5.09407294124742E-10,9.34640143057663E-11,0,0,0,0.012290315300748,2.9985227053183E-06,-6.85310910692683E-14,4.77164215069794E-15,2.99851964850534E-06,-1.26143569013624E-13,5.704074893964E-06,0,0,0,0,0,0,package://air_dual_arm_description/meshes/roll_2.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://air_dual_arm_description/meshes/roll_2.STL,,roll_2-1,Origin_roll_2j,,roll_2j,revolute,-0.3695,-0.87069,-0.2315,-1.5708,0.7854,1.5708,e_2,0,0,0,0,0,0,0,,,,,,,, +pitch_2,-0.857962945204146,0.234226990447952,0.394340991999136,0,0,0,0.0411107848147419,2.99980626219616E-05,3.58794161691275E-06,1.12439529077132E-06,2.9998164475052E-05,1.12436594478042E-06,4.86107826042292E-05,0,0,0,0,0,0,package://air_dual_arm_description/meshes/pitch_2.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://air_dual_arm_description/meshes/pitch_2.STL,,pitch_2-1,Origin_pitch_2j,,pitch_2j,revolute,0.4449,-0.77229,-0.3695,0,0,-0.7854,roll_2,0,0,0,0,0,0,0,,,,,,,, +yaw_2,-0.594571070589579,-0.845712375811783,-0.213810996080744,0,0,0,0.131144794168005,4.12011684375215E-05,-3.95261155964128E-07,-7.09539122214338E-07,2.28647213010841E-05,2.99287441643928E-08,2.90711647206533E-05,0,0,0,0,0,0,package://air_dual_arm_description/meshes/yaw_2.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://air_dual_arm_description/meshes/yaw_2.STL,,yaw_2-2,Origin_yaw_2j,,yaw_2j,revolute,0.015,-0.0093496,-0.046063,0.7854,1.5059,-0.7854,pitch_2,0,0,0,0,0,0,0,,,,,,,, diff --git a/air_dual_arm_description/urdf/air_dual_arm_description.urdf b/air_dual_arm_description/urdf/air_dual_arm_description.urdf new file mode 100644 index 0000000..8621e9c --- /dev/null +++ b/air_dual_arm_description/urdf/air_dual_arm_description.urdf @@ -0,0 +1,2567 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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