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dzp
2024-11-06 09:43:33 +08:00
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<?xml version="1.0" encoding="utf-8"?>
<robot
name="rm_65_description">
<link name="root"/>
<joint name="root_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="root"/>
<child link="base_link"/>
</joint>
<link
name="base_link">
<inertial>
<origin
xyz="-0.000433277303987328 -3.54664423471128E-05 0.0599427668933796"
rpy="0 0 0" />
<mass
value="0.841070778135659" />
<inertia
ixx="0.0017261110801622"
ixy="2.52746264980217E-06"
ixz="-3.67690303614961E-05"
iyy="0.00170987405835604"
iyz="1.67996364994424E-06"
izz="0.000904023422915791" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<!-- <joint name="base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="Link1"/>
</joint> -->
<link
name="Link1">
<inertial>
<origin
xyz="1.2226305431569E-08 0.0211079974844683 -0.0251854220842269"
rpy="0 0 0" />
<mass
value="0.593563443690403" />
<inertia
ixx="0.00126614120341847"
ixy="-1.294980943835E-08"
ixz="-9.80120923066996E-09"
iyy="0.00118168178300364"
iyz="-0.00021121727444415"
izz="0.00056135241627747" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link1.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link1.STL" />
</geometry>
</collision>
</link>
<joint
name="joint1"
type="revolute">
<parent
link="base_link" />
<child
link="Link1" />
<axis
xyz="0 0 1" />
<origin
xyz="0 0 0.2405"
rpy="0 0 0" />
<limit
lower="-3.1"
upper="3.1"
effort="60"
velocity="3.14" />
</joint>
<link
name="Link2">
<inertial>
<origin
xyz="0.152256463426163 4.75383656106654E-07 -0.00620260383607792"
rpy="0 0 0" />
<mass
value="0.864175046869043" />
<inertia
ixx="0.00089150298478414"
ixy="-2.23268489334765E-08"
ixz="0.00156246461035015"
iyy="0.00733754343083901"
iyz="6.28110889329165E-09"
izz="0.00697869103915473" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link2.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link2.STL" />
</geometry>
</collision>
</link>
<joint
name="joint2"
type="revolute">
<origin
xyz="0 0 0"
rpy="1.5708 -1.5708 0" />
<parent
link="Link1" />
<child
link="Link2" />
<axis
xyz="0 0 1" />
<limit
lower="-2.268"
upper="2.268"
effort="60"
velocity="3.14" />
</joint>
<link
name="Link3">
<inertial>
<origin
xyz="5.05312670989961E-06 -0.0595925663694732 0.010569069212336"
rpy="0 0 0" />
<mass
value="0.289633681624654" />
<inertia
ixx="0.00063737100450158"
ixy="-7.05261293649751E-08"
ixz="-3.86643272239426E-08"
iyy="0.00015648388095025"
iyz="-0.00014461035994916"
izz="0.000614178164773085" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link3.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link3.STL" />
</geometry>
</collision>
</link>
<joint
name="joint3"
type="revolute">
<origin
xyz="0.256 0 0"
rpy="0 0 1.5708" />
<parent
link="Link2" />
<child
link="Link3" />
<axis
xyz="0 0 1" />
<limit
lower="-2.355"
upper="2.355"
effort="30"
velocity="3.92" />
</joint>
<link
name="Link4">
<inertial>
<origin
xyz="1.15516617405898E-06 -0.0180424468598241 -0.0215394748352687"
rpy="0 0 0" />
<mass
value="0.239419768320061" />
<inertia
ixx="0.000285938919722783"
ixy="3.07101359163101E-09"
ixz="-2.21994118981953E-09"
iyy="0.000262727540304212"
iyz="4.4236583260078E-05"
izz="0.000119888082791859" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link4.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link4.STL" />
</geometry>
</collision>
</link>
<joint
name="joint4"
type="revolute">
<origin
xyz="0 -0.21 0"
rpy="1.5708 0 0" />
<parent
link="Link3" />
<child
link="Link4" />
<axis
xyz="0 0 1" />
<limit
lower="-3.1"
upper="3.1"
effort="10"
velocity="3.92" />
</joint>
<link
name="Link5">
<inertial>
<origin
xyz="3.19794786262152E-06 -0.0593808368101458 0.00736804250989326"
rpy="0 0 0" />
<mass
value="0.218799761431678" />
<inertia
ixx="0.000350540363914072"
ixy="-3.41781619975602E-08"
ixz="-1.77056457224373E-08"
iyy="0.000104927867487581"
iyz="-7.82431228461971E-05"
izz="0.000334482418423629" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link5.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link5.STL" />
</geometry>
</collision>
</link>
<joint
name="joint5"
type="revolute">
<origin
xyz="0 0 0"
rpy="-1.5708 0 0" />
<parent
link="Link4" />
<child
link="Link5" />
<axis
xyz="0 0 1" />
<limit
lower="-2.233"
upper="2.233"
effort="10"
velocity="3.92" />
</joint>
<link
name="Link6">
<inertial>
<origin
xyz="0.000714234511756999 -0.000396718732824521 -0.0126723660946126"
rpy="0 0 0" />
<mass
value="0.0649018034311231" />
<inertia
ixx="2.02766547502765E-05"
ixy="-1.32505200276849E-06"
ixz="-2.5845091522508E-08"
iyy="1.87986725225022E-05"
iyz="3.39471452125439E-09"
izz="3.17885459163081E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link6.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link6.STL" />
</geometry>
</collision>
</link>
<joint
name="joint6"
type="revolute">
<origin
xyz="0 -0.144 0"
rpy="1.5708 0 0" />
<parent
link="Link5" />
<child
link="Link6" />
<axis
xyz="0 0 1" />
<limit
lower="-6.28"
upper="6.28"
effort="10"
velocity="3.92" />
</joint>
</robot>

399
resources/realman/urdf/rm_65_fixed.urdf Normal file
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<?xml version="1.0" encoding="utf-8"?>
<robot
name="rm_65_description">
<link name="root"/>
<joint name="root_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="root"/>
<child link="base_link"/>
</joint>
<link
name="base_link">
<inertial>
<origin
xyz="-0.000433277303987328 -3.54664423471128E-05 0.0599427668933796"
rpy="0 0 0" />
<mass
value="0.841070778135659" />
<inertia
ixx="0.0017261110801622"
ixy="2.52746264980217E-06"
ixz="-3.67690303614961E-05"
iyy="0.00170987405835604"
iyz="1.67996364994424E-06"
izz="0.000904023422915791" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="link_1">
<inertial>
<origin
xyz="1.2226305431569E-08 0.0211079974844683 -0.0251854220842269"
rpy="0 0 0" />
<mass
value="0.593563443690403" />
<inertia
ixx="0.00126614120341847"
ixy="-1.294980943835E-08"
ixz="-9.80120923066996E-09"
iyy="0.00118168178300364"
iyz="-0.00021121727444415"
izz="0.00056135241627747" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link1.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link1.STL" />
</geometry>
</collision>
</link>
<joint name="joint1" type="revolute">
<parent link="base_link" />
<child link="link_1" />
<axis
xyz="0 0 1" />
<origin
xyz="0 0 0.2405"
rpy="0 0 0" />
<limit
lower="-3.1"
upper="3.1"
effort="60"
velocity="3.14" />
</joint>
<link
name="link_2">
<inertial>
<origin
xyz="0.152256463426163 4.75383656106654E-07 -0.00620260383607792"
rpy="0 0 0" />
<mass
value="0.864175046869043" />
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ixx="0.00089150298478414"
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iyy="0.00733754343083901"
iyz="6.28110889329165E-09"
izz="0.00697869103915473" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link2.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link2.STL" />
</geometry>
</collision>
</link>
<joint
name="joint2"
type="revolute">
<origin
xyz="0 0 0"
rpy="1.5708 -1.5708 0" />
<parent
link="link_1" />
<child
link="link_2" />
<axis
xyz="0 0 1" />
<limit
lower="-2.268"
upper="2.268"
effort="60"
velocity="3.14" />
</joint>
<link
name="link_3">
<inertial>
<origin
xyz="5.05312670989961E-06 -0.0595925663694732 0.010569069212336"
rpy="0 0 0" />
<mass
value="0.289633681624654" />
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ixx="0.00063737100450158"
ixy="-7.05261293649751E-08"
ixz="-3.86643272239426E-08"
iyy="0.00015648388095025"
iyz="-0.00014461035994916"
izz="0.000614178164773085" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link3.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link3.STL" />
</geometry>
</collision>
</link>
<joint
name="joint3"
type="revolute">
<origin
xyz="0.256 0 0"
rpy="0 0 1.5708" />
<parent
link="link_2" />
<child
link="link_3" />
<axis
xyz="0 0 1" />
<limit
lower="-2.355"
upper="2.355"
effort="30"
velocity="3.92" />
</joint>
<link
name="link_4">
<inertial>
<origin
xyz="1.15516617405898E-06 -0.0180424468598241 -0.0215394748352687"
rpy="0 0 0" />
<mass
value="0.239419768320061" />
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ixx="0.000285938919722783"
ixy="3.07101359163101E-09"
ixz="-2.21994118981953E-09"
iyy="0.000262727540304212"
iyz="4.4236583260078E-05"
izz="0.000119888082791859" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link4.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link4.STL" />
</geometry>
</collision>
</link>
<joint
name="joint4"
type="revolute">
<origin
xyz="0 -0.21 0"
rpy="1.5708 0 0" />
<parent
link="link_3" />
<child
link="link_4" />
<axis
xyz="0 0 1" />
<limit
lower="-3.1"
upper="3.1"
effort="10"
velocity="3.92" /> <link name="root"/>
<joint name="root_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="root"/>
<child link="base_link"/>
</joint>
</joint>
<link
name="link_5">
<inertial>
<origin
xyz="3.19794786262152E-06 -0.0593808368101458 0.00736804250989326"
rpy="0 0 0" />
<mass
value="0.218799761431678" />
<inertia
ixx="0.000350540363914072"
ixy="-3.41781619975602E-08"
ixz="-1.77056457224373E-08"
iyy="0.000104927867487581"
iyz="-7.82431228461971E-05"
izz="0.000334482418423629" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link5.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link5.STL" />
</geometry>
</collision>
</link>
<joint
name="joint5"
type="revolute">
<origin
xyz="0 0 0"
rpy="-1.5708 0 0" />
<parent
link="link_4" />
<child
link="link_5" />
<axis
xyz="0 0 1" />
<limit
lower="-2.233"
upper="2.233"
effort="10"
velocity="3.92" />
</joint>
<link
name="link_6">
<inertial>
<origin
xyz="0.000714234511756999 -0.000396718732824521 -0.0126723660946126"
rpy="0 0 0" />
<mass
value="0.0649018034311231" />
<inertia
ixx="2.02766547502765E-05"
ixy="-1.32505200276849E-06"
ixz="-2.5845091522508E-08"
iyy="1.87986725225022E-05"
iyz="3.39471452125439E-09"
izz="3.17885459163081E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link6.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link6.STL" />
</geometry>
</collision>
</link>
<joint
name="joint6"
type="revolute">
<origin
xyz="0 -0.144 0"
rpy="1.5708 0 0" />
<parent
link="link_5" />
<child
link="link_6" />
<axis
xyz="0 0 1" />
<limit
lower="-6.28"
upper="6.28"
effort="10"
velocity="3.92" />
</joint>
</robot>

394
resources/realman/urdf/rm_65_new.urdf Normal file
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@@ -0,0 +1,394 @@
<?xml version="1.0" encoding="utf-8"?>
<robot
name="rm_65_description">
<link name="root"/>
<joint name="root_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="root"/>
<child link="base_link"/>
</joint>
<link
name="base_link">
<inertial>
<origin
xyz="-0.000433277303987328 -3.54664423471128E-05 0.0599427668933796"
rpy="0 0 0" />
<mass
value="0.841070778135659" />
<inertia
ixx="0.0017261110801622"
ixy="2.52746264980217E-06"
ixz="-3.67690303614961E-05"
iyy="0.00170987405835604"
iyz="1.67996364994424E-06"
izz="0.000904023422915791" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="link_1">
<inertial>
<origin
xyz="1.2226305431569E-08 0.0211079974844683 -0.0251854220842269"
rpy="0 0 0" />
<mass
value="0.593563443690403" />
<inertia
ixx="0.00126614120341847"
ixy="-1.294980943835E-08"
ixz="-9.80120923066996E-09"
iyy="0.00118168178300364"
iyz="-0.00021121727444415"
izz="0.00056135241627747" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link1.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link1.STL" />
</geometry>
</collision>
</link>
<joint name="joint1" type="revolute">
<parent link="base_link" />
<child link="link_1" />
<axis
xyz="0 0 1" />
<origin
xyz="0 0 0.2405"
rpy="0 0 0" />
<limit
lower="-3.1"
upper="3.1"
effort="60"
velocity="3.14" />
</joint>
<link
name="link_2">
<inertial>
<origin
xyz="0.152256463426163 4.75383656106654E-07 -0.00620260383607792"
rpy="0 0 0" />
<mass
value="0.864175046869043" />
<inertia
ixx="0.00089150298478414"
ixy="-2.23268489334765E-08"
ixz="0.00156246461035015"
iyy="0.00733754343083901"
iyz="6.28110889329165E-09"
izz="0.00697869103915473" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link2.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link2.STL" />
</geometry>
</collision>
</link>
<joint
name="joint2"
type="revolute">
<origin
xyz="0 0 0"
rpy="1.5708 -1.5708 0" />
<parent
link="link_1" />
<child
link="link_2" />
<axis
xyz="0 0 1" />
<limit
lower="-2.268"
upper="2.268"
effort="60"
velocity="3.14" />
</joint>
<link
name="link_3">
<inertial>
<origin
xyz="5.05312670989961E-06 -0.0595925663694732 0.010569069212336"
rpy="0 0 0" />
<mass
value="0.289633681624654" />
<inertia
ixx="0.00063737100450158"
ixy="-7.05261293649751E-08"
ixz="-3.86643272239426E-08"
iyy="0.00015648388095025"
iyz="-0.00014461035994916"
izz="0.000614178164773085" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link3.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link3.STL" />
</geometry>
</collision>
</link>
<joint
name="joint3"
type="revolute">
<origin
xyz="0.256 0 0"
rpy="0 0 1.5708" />
<parent
link="link_2" />
<child
link="link_3" />
<axis
xyz="0 0 1" />
<limit
lower="-2.355"
upper="2.355"
effort="30"
velocity="3.92" />
</joint>
<link
name="link_4">
<inertial>
<origin
xyz="1.15516617405898E-06 -0.0180424468598241 -0.0215394748352687"
rpy="0 0 0" />
<mass
value="0.239419768320061" />
<inertia
ixx="0.000285938919722783"
ixy="3.07101359163101E-09"
ixz="-2.21994118981953E-09"
iyy="0.000262727540304212"
iyz="4.4236583260078E-05"
izz="0.000119888082791859" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link4.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link4.STL" />
</geometry>
</collision>
</link>
<joint
name="joint4"
type="revolute">
<origin
xyz="0 -0.21 0"
rpy="1.5708 0 0" />
<parent
link="link_3" />
<child
link="link_4" />
<axis
xyz="0 0 1" />
<limit
lower="-3.1"
upper="3.1"
effort="10"
velocity="3.92" />
</joint>
<link
name="link_5">
<inertial>
<origin
xyz="3.19794786262152E-06 -0.0593808368101458 0.00736804250989326"
rpy="0 0 0" />
<mass
value="0.218799761431678" />
<inertia
ixx="0.000350540363914072"
ixy="-3.41781619975602E-08"
ixz="-1.77056457224373E-08"
iyy="0.000104927867487581"
iyz="-7.82431228461971E-05"
izz="0.000334482418423629" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link5.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link5.STL" />
</geometry>
</collision>
</link>
<joint
name="joint5"
type="revolute">
<origin
xyz="0 0 0"
rpy="-1.5708 0 0" />
<parent
link="link_4" />
<child
link="link_5" />
<axis
xyz="0 0 1" />
<limit
lower="-2.233"
upper="2.233"
effort="10"
velocity="3.92" />
</joint>
<link
name="link_6">
<inertial>
<origin
xyz="0.000714234511756999 -0.000396718732824521 -0.0126723660946126"
rpy="0 0 0" />
<mass
value="0.0649018034311231" />
<inertia
ixx="2.02766547502765E-05"
ixy="-1.32505200276849E-06"
ixz="-2.5845091522508E-08"
iyy="1.87986725225022E-05"
iyz="3.39471452125439E-09"
izz="3.17885459163081E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link6.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link6.STL" />
</geometry>
</collision>
</link>
<joint
name="joint6"
type="revolute">
<origin
xyz="0 -0.144 0"
rpy="1.5708 0 0" />
<parent
link="link_5" />
<child
link="link_6" />
<axis
xyz="0 0 1" />
<limit
lower="-6.28"
upper="6.28"
effort="10"
velocity="3.92" />
</joint>
</robot>

315
resources/realman/urdf/rm_robot.urdf Normal file
View File

@@ -0,0 +1,315 @@
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from rm_65.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="rm_65">
<link name="dummy">
</link>
<!-- /////////////////////////////////////// bottom_joint ////////////////////////////////////////// -->
<joint name="bottom_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="bottom_link"/>
</joint>
<link name="bottom_link">
<visual>
<origin rpy="0 0 0" xyz=" 0 0 -0.02"/>
<geometry>
<box size="0.06 0.06 0.02"/>
</geometry>
<material name="Brown"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz=" 0 0 0"/>
<geometry>
<box size="0.06 0.06 0.02"/>
</geometry>
</collision>
<inertial>
<mass value="500"/>
<inertia ixx="41.68333333333333" ixy="0" ixz="0" iyy="83.33333333333333" iyz="0" izz="41.68333333333333"/>
</inertial>
</link>
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.000433277303987328 -3.54664423471128E-05 0.0599427668933796"/>
<mass value="0.841070778135659"/>
<inertia ixx="0.0017261110801622" ixy="2.52746264980217E-06" ixz="-3.67690303614961E-05" iyy="0.00170987405835604" iyz="1.67996364994424E-06" izz="0.000904023422915791"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/base_link.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/base_link.STL"/>
</geometry>
</collision>
</link>
<gazebo reference="base_link">
<mu1 value="200000.0"/>
<mu2 value="200000.0"/>
<kp value="100000000.0"/>
<kd value="1.0"/>
</gazebo>
<joint name="dummy_joint" type="fixed">
<parent link="dummy"/>
<child link="base_link"/>
</joint>
<link name="Link1">
<inertial>
<origin rpy="0 0 0" xyz="1.2226305431569E-08 0.0211079974844683 -0.0251854220842269"/>
<mass value="0.593563443690403"/>
<inertia ixx="0.00126614120341847" ixy="-1.294980943835E-08" ixz="-9.80120923066996E-09" iyy="0.00118168178300364" iyz="-0.00021121727444415" izz="0.00056135241627747"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link1.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link1.STL"/>
</geometry>
</collision>
</link>
<joint name="joint1" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.2405"/>
<parent link="base_link"/>
<child link="Link1"/>
<axis xyz="0 0 1"/>
<limit effort="60" lower="-3.1" upper="3.1" velocity="3.14"/>
<dynamics damping="50" friction="1"/>
</joint>
<link name="Link2">
<inertial>
<origin rpy="0 0 0" xyz="0.152256463426163 4.75383656106654E-07 -0.00620260383607792"/>
<mass value="0.864175046869043"/>
<inertia ixx="0.00089150298478414" ixy="-2.23268489334765E-08" ixz="0.00156246461035015" iyy="0.00733754343083901" iyz="6.28110889329165E-09" izz="0.00697869103915473"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link2.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link2.STL"/>
</geometry>
</collision>
</link>
<joint name="joint2" type="revolute">
<origin rpy="1.5708 -1.5708 0" xyz="0 0 0"/>
<parent link="Link1"/>
<child link="Link2"/>
<axis xyz="0 0 1"/>
<limit effort="60" lower="-2.268" upper="2.268" velocity="3.14"/>
<dynamics damping="50" friction="1"/>
</joint>
<link name="Link3">
<inertial>
<origin rpy="0 0 0" xyz="5.05312670989961E-06 -0.0595925663694732 0.010569069212336"/>
<mass value="0.289633681624654"/>
<inertia ixx="0.00063737100450158" ixy="-7.05261293649751E-08" ixz="-3.86643272239426E-08" iyy="0.00015648388095025" iyz="-0.00014461035994916" izz="0.000614178164773085"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link3.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link3.STL"/>
</geometry>
</collision>
</link>
<joint name="joint3" type="revolute">
<origin rpy="0 0 1.5708" xyz="0.256 0 0"/>
<parent link="Link2"/>
<child link="Link3"/>
<axis xyz="0 0 1"/>
<limit effort="30" lower="-2.355" upper="2.355" velocity="3.92"/>
<dynamics damping="50" friction="1"/>
</joint>
<link name="Link4">
<inertial>
<origin rpy="0 0 0" xyz="1.15516617405898E-06 -0.0180424468598241 -0.0215394748352687"/>
<mass value="0.239419768320061"/>
<inertia ixx="0.000285938919722783" ixy="3.07101359163101E-09" ixz="-2.21994118981953E-09" iyy="0.000262727540304212" iyz="4.4236583260078E-05" izz="0.000119888082791859"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link4.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link4.STL"/>
</geometry>
</collision>
</link>
<joint name="joint4" type="revolute">
<origin rpy="1.5708 0 0" xyz="0 -0.21 0"/>
<parent link="Link3"/>
<child link="Link4"/>
<axis xyz="0 0 1"/>
<limit effort="10" lower="-3.1" upper="3.1" velocity="3.92"/>
<dynamics damping="50" friction="1"/>
</joint>
<link name="Link5">
<inertial>
<origin rpy="0 0 0" xyz="3.19794786262152E-06 -0.0593808368101458 0.00736804250989326"/>
<mass value="0.218799761431678"/>
<inertia ixx="0.000350540363914072" ixy="-3.41781619975602E-08" ixz="-1.77056457224373E-08" iyy="0.000104927867487581" iyz="-7.82431228461971E-05" izz="0.000334482418423629"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link5.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link5.STL"/>
</geometry>
</collision>
</link>
<joint name="joint5" type="revolute">
<origin rpy="-1.5708 0 0" xyz="0 0 0"/>
<parent link="Link4"/>
<child link="Link5"/>
<axis xyz="0 0 1"/>
<limit effort="10" lower="-2.233" upper="2.233" velocity="3.92"/>
<dynamics damping="50" friction="1"/>
</joint>
<link name="Link6">
<inertial>
<origin rpy="0 0 0" xyz="0.000714234511756999 -0.000396718732824521 -0.0126723660946126"/>
<mass value="0.0649018034311231"/>
<inertia ixx="2.02766547502765E-05" ixy="-1.32505200276849E-06" ixz="-2.5845091522508E-08" iyy="1.87986725225022E-05" iyz="3.39471452125439E-09" izz="3.17885459163081E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link6.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link6.STL"/>
</geometry>
</collision>
</link>
<joint name="joint6" type="revolute">
<origin rpy="1.5708 0 0" xyz="0 -0.144 0"/>
<parent link="Link5"/>
<child link="Link6"/>
<axis xyz="0 0 1"/>
<limit effort="10" lower="-6.28" upper="6.28" velocity="3.92"/>
<dynamics damping="50" friction="1"/>
</joint>
<transmission name="tran1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint3">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint4">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint5">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint6">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- ros_control plugin -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/arm</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
</plugin>
</gazebo>
</robot>

102
resources/realman/urdf/test.urdf Normal file
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@@ -0,0 +1,102 @@
<?xml version="1.0" ?>
<robot name="rm_65_description">
<link name="root"/>
<link name="base_link">
<inertial>
<origin
xyz="-0.000433277303987328 -3.54664423471128E-05 0.0599427668933796"
rpy="0 0 0" />
<mass
value="0.841070778135659" />
<inertia
ixx="0.0017261110801622"
ixy="2.52746264980217E-06"
ixz="-3.67690303614961E-05"
iyy="0.00170987405835604"
iyz="1.67996364994424E-06"
izz="0.000904023422915791" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link name="link_1">
<inertial>
<origin
xyz="1.2226305431569E-08 0.0211079974844683 -0.0251854220842269"
rpy="0 0 0" />
<mass
value="0.593563443690403" />
<inertia
ixx="0.00126614120341847"
ixy="-1.294980943835E-08"
ixz="-9.80120923066996E-09"
iyy="0.00118168178300364"
iyz="-0.00021121727444415"
izz="0.00056135241627747" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link1.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link1.STL" />
</geometry>
</collision>
</link>
<joint name="root_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="root"/>
<child link="base_link"/>
</joint>
<joint name="joint1" type="revolute">
<parent link="base_link" />
<child link="link_1" />
<axis xyz="0 0 1" />
<origin xyz="0 0 0.2405" rpy="0 0 0" />
<limit
lower="-3.1"
upper="3.1"
effort="60"
velocity="3.14" />
</joint>
</robot>