mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
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添加机械臂和移液站
This commit is contained in:
zhangshixiang
@@ -0,0 +1,43 @@
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kinematics:
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shoulder:
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x: 0
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y: 0
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z: 0.1930
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roll: 0
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pitch: 0
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yaw: 0
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upperarm:
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x: 0
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y: 0
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z: 0
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roll: 1.570796326589793
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pitch: 0
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yaw: 0
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forearm:
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x: -0.6150
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y: 0
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z: 0
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roll: 0
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pitch: 0
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yaw: 0
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wrist_1:
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x: -0.5710
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y: 0
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z: 0.1775
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roll: 0
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pitch: 0
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yaw: 0
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wrist_2:
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x: 0
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y: -0.1180
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z: 0
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roll: 1.570796326589793
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pitch: 0
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yaw: 0
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wrist_3:
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x: 0
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y: 0.1103
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z: 0
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roll: -1.570796326589793
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pitch: 0
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yaw: 0
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@@ -0,0 +1,61 @@
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joint_limits:
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shoulder_pan_joint:
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# acceleration limits are not publicly available
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has_acceleration_limits: false
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has_effort_limits: true
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has_position_limits: true
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has_velocity_limits: true
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max_effort: 330.0
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max_position: !degrees 360.0
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max_velocity: !degrees 120.0
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min_position: !degrees -360.0
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shoulder_lift_joint:
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# acceleration limits are not publicly available
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has_acceleration_limits: false
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has_effort_limits: true
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has_position_limits: true
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has_velocity_limits: true
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max_effort: 330.0
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max_position: !degrees 360.0
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max_velocity: !degrees 120.0
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min_position: !degrees -360.0
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elbow_joint:
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# acceleration limits are not publicly available
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has_acceleration_limits: false
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has_effort_limits: true
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has_position_limits: true
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has_velocity_limits: true
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max_effort: 150.0
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max_position: !degrees 180.0
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max_velocity: !degrees 180.0
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min_position: !degrees -180.0
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wrist_1_joint:
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# acceleration limits are not publicly available
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has_acceleration_limits: false
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has_effort_limits: true
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has_position_limits: true
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has_velocity_limits: true
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max_effort: 56.0
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max_position: !degrees 360.0
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max_velocity: !degrees 180.0
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min_position: !degrees -360.0
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wrist_2_joint:
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# acceleration limits are not publicly available
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has_acceleration_limits: false
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has_effort_limits: true
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has_position_limits: true
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has_velocity_limits: true
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max_effort: 56.0
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max_position: !degrees 360.0
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max_velocity: !degrees 180.0
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min_position: !degrees -360.0
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wrist_3_joint:
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# acceleration limits are not publicly available
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has_acceleration_limits: false
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has_effort_limits: true
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has_position_limits: true
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has_velocity_limits: true
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max_effort: 56.0
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max_position: !degrees 360.0
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max_velocity: !degrees 180.0
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min_position: !degrees -360.0
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@@ -0,0 +1,99 @@
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# Physical parameters
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dh_parameters:
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d1: 0.1930
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a2: -0.6150
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a3: -0.5710
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d4: 0.1775
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d5: 0.1180
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d6: 0.1103
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inertia_parameters:
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base_mass: 0.94888 # base mass, base inertia, base cog might be incorrect
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shoulder_mass: 6.83
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upperarm_mass: 13.037
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forearm_mass: 4.827
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wrist_1_mass: 2.315
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wrist_2_mass: 2.195
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wrist_3_mass: 0.616
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inertia:
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base:
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ixx: 0.0029607
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ixy: -1.019E-06
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ixz: 5.2685E-06
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iyy: 0.0026222
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iyz: -2.8951E-06
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izz: 0.0039906
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shoulder:
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ixx: 0.039228
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ixy: -2.8388E-05
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ixz: 3.9289E-05
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iyy: 0.025078
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iyz: -0.00028825
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izz: 0.037499
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upperarm:
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ixx: 0.3734
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ixy: -5.985E-05
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ixz: -0.5014
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iyy: 2.0187
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iyz: -0.00013287
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izz: 1.681
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forearm:
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ixx: 0.030106
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ixy: -1.25E-05
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ixz: -0.076554
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iyy: 0.76404
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iyz: 1.326E-06
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izz: 0.7421
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wrist_1:
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ixx: 0.0060891
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ixy: 1.219E-06
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ixz: -4.067E-06
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iyy: 0.0049703
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iyz: -1.2747E-05
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izz: 0.0033067
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wrist_2:
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ixx: 0.004638045
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ixy: 1.311E-06
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ixz: 3.829E-06
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iyy: 0.003507337
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iyz: 1.4183E-05
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izz: 0.003129668
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wrist_3:
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ixx: 0.0016942
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ixy: 1.27E-07
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ixz: 1.9782E-05
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iyy: 0.0017123
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iyz: 7.7E-06
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izz: 0.0005701
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center_of_mass:
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base_cog:
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x: 5.6715E-05
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y: -0.00010524
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z: 0.065979
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shoulder_cog:
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x: 9.3E-05
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y: -0.02697
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z: -0.02115
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upperarm_cog:
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x: -0.2304
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y: -3.9E-05
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z: 0.16068
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forearm_cog:
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x: -0.2998
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y: 1.3E-05
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z: 0.06176
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wrist_1_cog:
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x: 1.0E-05
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y: -0.0148
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z: -0.01682
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wrist_2_cog:
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x: -1.3E-05
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y: 0.015559
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z: -0.011803
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wrist_3_cog:
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x: -0.001704
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y: -0.000705
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z: -0.039231
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@@ -0,0 +1,92 @@
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mesh_files:
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base:
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visual:
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mesh:
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package: eli_cs_robot_description
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path: meshes/cs612/visual/base.dae
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material:
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name: "LightGrey"
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color: "0.7 0.7 0.7 1.0"
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collision:
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mesh:
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package: eli_cs_robot_description
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path: meshes/cs612/collision/base.stl
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shoulder:
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visual:
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mesh:
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package: eli_cs_robot_description
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path: meshes/cs612/visual/shoulder.dae
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material:
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name: "LightGrey"
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color: "0.7 0.7 0.7 1.0"
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collision:
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mesh:
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package: eli_cs_robot_description
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path: meshes/cs612/collision/shoulder.stl
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upperarm:
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visual:
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mesh:
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package: eli_cs_robot_description
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path: meshes/cs612/visual/upperarm.dae
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material:
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name: "LightGrey"
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color: "0.7 0.7 0.7 1.0"
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collision:
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mesh:
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package: eli_cs_robot_description
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path: meshes/cs612/collision/upperarm.stl
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mesh_files:
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forearm:
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visual:
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mesh:
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package: eli_cs_robot_description
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path: meshes/cs612/visual/forearm.dae
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material:
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name: "LightGrey"
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color: "0.7 0.7 0.7 1.0"
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collision:
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mesh:
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package: eli_cs_robot_description
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path: meshes/cs612/collision/forearm.stl
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wrist_1:
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visual:
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mesh:
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package: eli_cs_robot_description
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path: meshes/cs612/visual/wrist1.dae
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material:
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name: "LightGrey"
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color: "0.7 0.7 0.7 1.0"
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collision:
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mesh:
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package: eli_cs_robot_description
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path: meshes/cs612/collision/wrist1.stl
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wrist_2:
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visual:
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mesh:
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package: eli_cs_robot_description
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path: meshes/cs612/visual/wrist2.dae
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material:
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name: "LightGrey"
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color: "0.7 0.7 0.7 1.0"
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collision:
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mesh:
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package: eli_cs_robot_description
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path: meshes/cs612/collision/wrist2.stl
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wrist_3:
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visual:
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mesh:
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package: eli_cs_robot_description
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path: meshes/cs612/visual/wrist3.dae
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material:
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name: "LightGrey"
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color: "0.7 0.7 0.7 1.0"
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collision:
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mesh:
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package: eli_cs_robot_description
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path: meshes/cs612/collision/wrist3.stl
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@@ -0,0 +1,43 @@
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kinematics:
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shoulder:
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x: 0
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y: 0
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z: 0.1930
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roll: 0
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pitch: 0
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yaw: 0
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upperarm:
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x: 0
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y: 0
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z: 0
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roll: 1.570796326589793
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pitch: 0
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yaw: 0
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forearm:
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x: -0.5520
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y: 0
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z: 0
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roll: 0
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pitch: 0
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||||
yaw: 0
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wrist_1:
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x: -0.4300
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y: 0
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||||
z: 0.1775
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roll: 0
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||||
pitch: 0
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||||
yaw: 0
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||||
wrist_2:
|
||||
x: 0
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||||
y: -0.1180
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z: 0
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||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_3:
|
||||
x: 0
|
||||
y: 0.1103
|
||||
z: 0
|
||||
roll: -1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
@@ -0,0 +1,61 @@
|
||||
joint_limits:
|
||||
shoulder_pan_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 330.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 120.0
|
||||
min_position: !degrees -360.0
|
||||
shoulder_lift_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 330.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 120.0
|
||||
min_position: !degrees -360.0
|
||||
elbow_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 150.0
|
||||
max_position: !degrees 180.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -180.0
|
||||
wrist_1_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 56.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_2_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 56.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_3_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 56.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
@@ -0,0 +1,99 @@
|
||||
# Physical parameters
|
||||
|
||||
dh_parameters:
|
||||
d1: 0.1930
|
||||
a2: -0.5520
|
||||
a3: -0.4300
|
||||
d4: 0.1775
|
||||
d5: 0.1180
|
||||
d6: 0.1103
|
||||
|
||||
inertia_parameters:
|
||||
base_mass: 0.94888 # base mass, base inertia, base cog might be incorrect
|
||||
shoulder_mass: 6.83
|
||||
upperarm_mass: 13.00
|
||||
forearm_mass: 4.700
|
||||
wrist_1_mass: 2.315
|
||||
wrist_2_mass: 2.195
|
||||
wrist_3_mass: 0.616
|
||||
|
||||
inertia:
|
||||
base:
|
||||
ixx: 0.0029607
|
||||
ixy: -1.019E-06
|
||||
ixz: 5.2685E-06
|
||||
iyy: 0.0026222
|
||||
iyz: -2.8951E-06
|
||||
izz: 0.0039906
|
||||
shoulder:
|
||||
ixx: 0.039229834
|
||||
ixy: -2.8388E-05
|
||||
ixz: 3.9289E-05
|
||||
iyy: 0.025077817
|
||||
iyz: -0.000288247
|
||||
izz: 0.03749924
|
||||
upperarm:
|
||||
ixx: 0.373432462
|
||||
ixy: -5.5512E-05
|
||||
ixz: -0.451785393
|
||||
iyy: 1.696418762
|
||||
iyz: -0.000133438
|
||||
izz: 1.358657204
|
||||
forearm:
|
||||
ixx: 0.030213183
|
||||
ixy: -8.368E-06
|
||||
ixz: -0.056600087
|
||||
iyy: 0.434775735
|
||||
iyz: 1.585E-06
|
||||
izz: 0.412836422
|
||||
wrist_1:
|
||||
ixx: 0.006091086
|
||||
ixy: 1.256E-06
|
||||
ixz: -4.067E-06
|
||||
iyy: 0.004972529
|
||||
iyz: -1.2709E-05
|
||||
izz: 0.003307235
|
||||
wrist_2:
|
||||
ixx: 0.004639166
|
||||
ixy: 1.311E-06
|
||||
ixz: 3.829E-06
|
||||
iyy: 0.003508643
|
||||
iyz: 1.4183E-05
|
||||
izz: 0.003130199
|
||||
wrist_3:
|
||||
ixx: 0.001695059
|
||||
ixy: 1.27E-07
|
||||
ixz: 1.9782E-05
|
||||
iyy: 0.001713327
|
||||
iyz: 7.7E-06
|
||||
izz: 0.000570629
|
||||
|
||||
center_of_mass:
|
||||
base_cog:
|
||||
x: 5.6715E-05
|
||||
y: -0.00010524
|
||||
z: 0.065979
|
||||
shoulder_cog:
|
||||
x: 9.3E-05
|
||||
y: -0.02697
|
||||
z: -0.02115
|
||||
upperarm_cog:
|
||||
x: -0.2069
|
||||
y: -4.4E-05
|
||||
z: 0.16068
|
||||
forearm_cog:
|
||||
x: -0.2303
|
||||
y: 1.5E-05
|
||||
z: 0.06220
|
||||
wrist_1_cog:
|
||||
x: 1.0E-05
|
||||
y: -0.0148
|
||||
z: -0.01682
|
||||
wrist_2_cog:
|
||||
x: -1.3E-05
|
||||
y: 0.015559
|
||||
z: -0.011803
|
||||
wrist_3_cog:
|
||||
x: -0.001704
|
||||
y: -0.000705
|
||||
z: -0.039231
|
||||
@@ -0,0 +1,92 @@
|
||||
mesh_files:
|
||||
base:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/visual/base.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/collision/base.stl
|
||||
|
||||
shoulder:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/visual/shoulder.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/collision/shoulder.stl
|
||||
|
||||
upperarm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/visual/upperarm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/collision/upperarm.stl
|
||||
mesh_files:
|
||||
|
||||
forearm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/visual/forearm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/collision/forearm.stl
|
||||
|
||||
wrist_1:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/visual/wrist1.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/collision/wrist1.stl
|
||||
|
||||
wrist_2:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/visual/wrist2.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/collision/wrist2.stl
|
||||
|
||||
wrist_3:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/visual/wrist3.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/collision/wrist3.stl
|
||||
@@ -0,0 +1,43 @@
|
||||
kinematics:
|
||||
shoulder:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0.2350
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
upperarm:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
forearm:
|
||||
x: -0.9000
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_1:
|
||||
x: -0.7720
|
||||
y: 0
|
||||
z: 0.1725
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_2:
|
||||
x: 0
|
||||
y: -0.1280
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_3:
|
||||
x: 0
|
||||
y: 0.1250
|
||||
z: 0
|
||||
roll: -1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
@@ -0,0 +1,61 @@
|
||||
joint_limits:
|
||||
shoulder_pan_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 730.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 120.0
|
||||
min_position: !degrees -360.0
|
||||
shoulder_lift_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 730.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 120.0
|
||||
min_position: !degrees -360.0
|
||||
elbow_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 430.0
|
||||
max_position: !degrees 180.0
|
||||
max_velocity: !degrees 150.0
|
||||
min_position: !degrees -180.0
|
||||
wrist_1_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 100.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 210.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_2_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 100.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 210.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_3_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 100.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 210.0
|
||||
min_position: !degrees -360.0
|
||||
@@ -0,0 +1,99 @@
|
||||
# Physical parameters
|
||||
|
||||
dh_parameters:
|
||||
d1: 0.2350
|
||||
a2: -0.9000
|
||||
a3: -0.7720
|
||||
d4: 0.1725
|
||||
d5: 0.1280
|
||||
d6: 0.1250
|
||||
|
||||
inertia_parameters:
|
||||
base_mass: 1.5056 # base mass, base inertia, base cog might be incorrect
|
||||
shoulder_mass: 17.04
|
||||
upperarm_mass: 26.927
|
||||
forearm_mass: 8.386
|
||||
wrist_1_mass: 3.095
|
||||
wrist_2_mass: 3.095
|
||||
wrist_3_mass: 0.879
|
||||
|
||||
inertia:
|
||||
base:
|
||||
ixx: 0.0067829
|
||||
ixy: 2.6762E-07
|
||||
ixz: -2.569E-06
|
||||
iyy: 0.0068523
|
||||
iyz: 9.4263E-05
|
||||
izz: 0.010044
|
||||
shoulder:
|
||||
ixx: 0.130294671
|
||||
ixy: -8.271E-05
|
||||
ixz: 0.000106701
|
||||
iyy: 0.085215288
|
||||
iyz: -0.000663345
|
||||
izz: 0.113859158
|
||||
upperarm:
|
||||
ixx: 1.204318595
|
||||
ixy: -0.000466936
|
||||
ixz: -1.78878432
|
||||
iyy: 8.073725654
|
||||
iyz: -0.000305158
|
||||
izz: 6.980457042
|
||||
forearm:
|
||||
ixx: 0.070042956
|
||||
ixy: 9.0183E-05
|
||||
ixz: -0.165661846
|
||||
iyy: 2.160436707
|
||||
iyz: 1.3854E-05
|
||||
izz: 2.109199584
|
||||
wrist_1:
|
||||
ixx: 0.007958413
|
||||
ixy: -3.024E-06
|
||||
ixz: -5.734E-06
|
||||
iyy: 0.006686348
|
||||
iyz: -1.766E-05
|
||||
izz: 0.004840671
|
||||
wrist_2:
|
||||
ixx: 0.007958413
|
||||
ixy: -3.024E-06
|
||||
ixz: 5.734E-06
|
||||
iyy: 0.006686348
|
||||
iyz: 1.766E-05
|
||||
izz: 0.004840671
|
||||
wrist_3:
|
||||
ixx: 0.004065851
|
||||
ixy: 1.5185E-05
|
||||
ixz: -1.1453E-05
|
||||
iyy: 0.004060372
|
||||
iyz: 4.2152E-05
|
||||
izz: 0.001170392
|
||||
|
||||
center_of_mass:
|
||||
base_cog:
|
||||
x: -2.4009E-05
|
||||
y: 0.0011775
|
||||
z: 0.076293
|
||||
shoulder_cog:
|
||||
x: 9.9E-05
|
||||
y: -0.026311
|
||||
z: -0.026723
|
||||
upperarm_cog:
|
||||
x: -0.323686
|
||||
y: -3.9E-05
|
||||
z: 0.200968
|
||||
forearm_cog:
|
||||
x: -0.376841
|
||||
y: 1.5E-05
|
||||
z: 0.070311
|
||||
wrist_1_cog:
|
||||
x: -3.7E-05
|
||||
y: -0.01051
|
||||
z: -0.014865
|
||||
wrist_2_cog:
|
||||
x: 3.7E-05
|
||||
y: 0.01051
|
||||
z: -0.014865
|
||||
wrist_3_cog:
|
||||
x: 0.000242
|
||||
y: -0.001192
|
||||
z: -0.050422
|
||||
@@ -0,0 +1,92 @@
|
||||
mesh_files:
|
||||
base:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/visual/base.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/collision/base.stl
|
||||
|
||||
shoulder:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/visual/shoulder.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/collision/shoulder.stl
|
||||
|
||||
upperarm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/visual/upperarm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/collision/upperarm.stl
|
||||
mesh_files:
|
||||
|
||||
forearm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/visual/forearm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/collision/forearm.stl
|
||||
|
||||
wrist_1:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/visual/wrist1.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/collision/wrist1.stl
|
||||
|
||||
wrist_2:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/visual/wrist2.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/collision/wrist2.stl
|
||||
|
||||
wrist_3:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/visual/wrist3.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/collision/wrist3.stl
|
||||
@@ -0,0 +1,43 @@
|
||||
kinematics:
|
||||
shoulder:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0.2350
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
upperarm:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
forearm:
|
||||
x: -0.7500
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_1:
|
||||
x: -0.6220
|
||||
y: 0
|
||||
z: 0.1725
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_2:
|
||||
x: 0
|
||||
y: -0.1280
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_3:
|
||||
x: 0
|
||||
y: 0.1250
|
||||
z: 0
|
||||
roll: -1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
@@ -0,0 +1,61 @@
|
||||
joint_limits:
|
||||
shoulder_pan_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 730.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 120.0
|
||||
min_position: !degrees -360.0
|
||||
shoulder_lift_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 730.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 120.0
|
||||
min_position: !degrees -360.0
|
||||
elbow_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 430.0
|
||||
max_position: !degrees 180.0
|
||||
max_velocity: !degrees 150.0
|
||||
min_position: !degrees -180.0
|
||||
wrist_1_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 100.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 210.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_2_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 100.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 210.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_3_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 100.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 210.0
|
||||
min_position: !degrees -360.0
|
||||
@@ -0,0 +1,99 @@
|
||||
# Physical parameters
|
||||
|
||||
dh_parameters:
|
||||
d1: 0.2350
|
||||
a2: -0.7500
|
||||
a3: -0.6220
|
||||
d4: 0.1725
|
||||
d5: 0.1280
|
||||
d6: 0.1250
|
||||
|
||||
inertia_parameters:
|
||||
base_mass: 1.50561968754018 # base mass, base inertia, base cog might be incorrect
|
||||
shoulder_mass: 17.04
|
||||
upperarm_mass: 26.543
|
||||
forearm_mass: 7.816
|
||||
wrist_1_mass: 3.095
|
||||
wrist_2_mass: 3.095
|
||||
wrist_3_mass: 0.879
|
||||
|
||||
inertia:
|
||||
base:
|
||||
ixx: 0.00678289120631133
|
||||
ixy: 2.67618063769984E-07
|
||||
ixz: -2.56895564177072E-06
|
||||
iyy: 0.00685230321535615
|
||||
iyz: 9.42628790478668E-05
|
||||
izz: 0.0100437671447022
|
||||
shoulder:
|
||||
ixx: 0.13029
|
||||
ixy: -8.271E-05
|
||||
ixz: 0.0001067
|
||||
iyy: 0.085215
|
||||
iyz: -0.00066335
|
||||
izz: 0.11386
|
||||
upperarm:
|
||||
ixx: 1.197
|
||||
ixy: -0.00083272
|
||||
ixz: -1.5396
|
||||
iyy: 6.1117
|
||||
iyz: -0.00015496
|
||||
izz: 5.022
|
||||
forearm:
|
||||
ixx: 0.067797
|
||||
ixy: 4.4997E-05
|
||||
ixz: -0.12636
|
||||
iyy: 1.3409
|
||||
iyz: 1.45E-05
|
||||
izz: 1.2908
|
||||
wrist_1:
|
||||
ixx: 0.0079584
|
||||
ixy: -3.024E-06
|
||||
ixz: 5.734E-06
|
||||
iyy: 0.0066863
|
||||
iyz: 1.766E-05
|
||||
izz: 0.0048407
|
||||
wrist_2:
|
||||
ixx: 0.007958413
|
||||
ixy: -3.024E-06
|
||||
ixz: 5.734E-06
|
||||
iyy: 0.006686348
|
||||
iyz: 1.766E-05
|
||||
izz: 0.004840671
|
||||
wrist_3:
|
||||
ixx: 0.004065851
|
||||
ixy: 1.5185E-05
|
||||
ixz: -1.1453E-05
|
||||
iyy: 0.004060372
|
||||
iyz: 4.2152E-05
|
||||
izz: 0.001170392
|
||||
|
||||
center_of_mass:
|
||||
base_cog:
|
||||
x: -2.4008693014781E-05
|
||||
y: 0.00117748953656619
|
||||
z: 0.0762927770474629
|
||||
shoulder_cog:
|
||||
x: 9.9E-05
|
||||
y: -0.026311
|
||||
z: -0.026723
|
||||
upperarm_cog:
|
||||
x: -0.27762
|
||||
y: -1.7E-05
|
||||
z: 0.20184
|
||||
forearm_cog:
|
||||
x: -0.30259
|
||||
y: 2.1E-05
|
||||
z: 0.07237
|
||||
wrist_1_cog:
|
||||
x: -3.7E-05
|
||||
y: -0.01051
|
||||
z: -0.014865
|
||||
wrist_2_cog:
|
||||
x: 3.7E-05
|
||||
y: 0.01051
|
||||
z: -0.014865
|
||||
wrist_3_cog:
|
||||
x: 0.000242
|
||||
y: -0.001192
|
||||
z: -0.050422
|
||||
@@ -0,0 +1,92 @@
|
||||
mesh_files:
|
||||
base:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/visual/base.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/collision/base.stl
|
||||
|
||||
shoulder:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/visual/shoulder.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/collision/shoulder.stl
|
||||
|
||||
upperarm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/visual/upperarm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/collision/upperarm.stl
|
||||
mesh_files:
|
||||
|
||||
forearm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/visual/forearm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/collision/forearm.stl
|
||||
|
||||
wrist_1:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/visual/wrist1.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/collision/wrist1.stl
|
||||
|
||||
wrist_2:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/visual/wrist2.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/collision/wrist2.stl
|
||||
|
||||
wrist_3:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/visual/wrist3.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/collision/wrist3.stl
|
||||
@@ -0,0 +1,43 @@
|
||||
kinematics:
|
||||
shoulder:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0.1530
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
upperarm:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
forearm:
|
||||
x: -0.2700
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_1:
|
||||
x: -0.2575
|
||||
y: 0
|
||||
z: 0.1445
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_2:
|
||||
x: 0
|
||||
y: -0.0965
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_3:
|
||||
x: 0
|
||||
y: 0.0920
|
||||
z: 0
|
||||
roll: -1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
@@ -0,0 +1,61 @@
|
||||
joint_limits:
|
||||
shoulder_pan_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 56.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
shoulder_lift_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 56.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
elbow_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 28.0
|
||||
max_position: !degrees 180.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -180.0
|
||||
wrist_1_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 12.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 360.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_2_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 12.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 360.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_3_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 12.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 360.0
|
||||
min_position: !degrees -360.0
|
||||
@@ -0,0 +1,99 @@
|
||||
# Physical parameters
|
||||
|
||||
dh_parameters:
|
||||
d1: 0.1530
|
||||
a2: -0.2700
|
||||
a3: -0.2575
|
||||
d4: 0.1445
|
||||
d5: 0.0965
|
||||
d6: 0.0920
|
||||
|
||||
inertia_parameters:
|
||||
base_mass: 0.358193760044688 # base mass, base inertia, base cog might be incorrect
|
||||
shoulder_mass: 3.095
|
||||
upperarm_mass: 5.073
|
||||
forearm_mass: 2.425
|
||||
wrist_1_mass: 1.559
|
||||
wrist_2_mass: 1.447
|
||||
wrist_3_mass: 0.500
|
||||
|
||||
inertia:
|
||||
base:
|
||||
ixx: 0.000549739542527148
|
||||
ixy: 8.03741216179988E-08
|
||||
ixz: -9.14780809458034E-06
|
||||
iyy: 0.000533024165382036
|
||||
iyz: 3.46908903534662E-07
|
||||
izz: 0.000655188839052244
|
||||
shoulder:
|
||||
ixx: 0.007958
|
||||
ixy: 5.734E-06
|
||||
ixz: 3.024E-06
|
||||
iyy: 0.00484
|
||||
iyz: -1.77E-05
|
||||
izz: 0.006686
|
||||
upperarm:
|
||||
ixx: 0.074168
|
||||
ixy: -7.5E-06
|
||||
ixz: -0.065579
|
||||
iyy: 0.21937
|
||||
iyz: -2.19E-05
|
||||
izz: 0.15104
|
||||
forearm:
|
||||
ixx: 0.005082
|
||||
ixy: -2.7E-06
|
||||
ixz: -0.0056236
|
||||
iyy: 0.0924207
|
||||
iyz: -1.726E-06
|
||||
izz: 0.0897559
|
||||
wrist_1:
|
||||
ixx: 0.0045009
|
||||
ixy: 1.96E-06
|
||||
ixz: -2.646E-06
|
||||
iyy: 0.0042164
|
||||
iyz: -3.58E-07
|
||||
izz: 0.0014538
|
||||
wrist_2:
|
||||
ixx: 0.0023787
|
||||
ixy: 1.953E-06
|
||||
ixz: 2.643E-06
|
||||
iyy: 0.0020859
|
||||
iyz: 5.584E-06
|
||||
izz: 0.0013191
|
||||
wrist_3:
|
||||
ixx: 0.001431
|
||||
ixy: -2.32E-07
|
||||
ixz: 7.955E-06
|
||||
iyy: 0.0014299
|
||||
iyz: 1.266E-06
|
||||
izz: 0.0003265
|
||||
|
||||
center_of_mass:
|
||||
base_cog:
|
||||
x: -0.000721181367009438
|
||||
y: 1.78114684963572E-05
|
||||
z: 0.0546249293265112
|
||||
shoulder_cog:
|
||||
x: 3.7E-05
|
||||
y: -0.0149
|
||||
z: -0.0105
|
||||
upperarm_cog:
|
||||
x: -0.11596
|
||||
y: -2.6E-05
|
||||
z: 0.1148
|
||||
forearm_cog:
|
||||
x: -0.1542
|
||||
y: 1.4E-05
|
||||
z: 0.0238
|
||||
wrist_1_cog:
|
||||
x: 1.3E-05
|
||||
y: -0.00479
|
||||
z: -0.02274
|
||||
wrist_2_cog:
|
||||
x: -1.4E-05
|
||||
y: 0.0051
|
||||
z: -0.0127
|
||||
wrist_3_cog:
|
||||
x: -0.000684
|
||||
y: -0.000175
|
||||
z: -0.0423
|
||||
@@ -0,0 +1,92 @@
|
||||
mesh_files:
|
||||
base:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/visual/base.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/collision/base.stl
|
||||
|
||||
shoulder:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/visual/shoulder.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/collision/shoulder.stl
|
||||
|
||||
upperarm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/visual/upperarm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/collision/upperarm.stl
|
||||
mesh_files:
|
||||
|
||||
forearm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/visual/forearm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/collision/forearm.stl
|
||||
|
||||
wrist_1:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/visual/wrist1.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/collision/wrist1.stl
|
||||
|
||||
wrist_2:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/visual/wrist2.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/collision/wrist2.stl
|
||||
|
||||
wrist_3:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/visual/wrist3.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/collision/wrist3.stl
|
||||
@@ -0,0 +1,43 @@
|
||||
kinematics:
|
||||
shoulder:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0.1625
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
upperarm:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
forearm:
|
||||
x: -0.4270
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_1:
|
||||
x: -0.3905
|
||||
y: 0
|
||||
z: 0.1475
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_2:
|
||||
x: 0
|
||||
y: -0.0965
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_3:
|
||||
x: 0
|
||||
y: 0.0920
|
||||
z: 0
|
||||
roll: -1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
@@ -0,0 +1,61 @@
|
||||
joint_limits:
|
||||
shoulder_pan_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 150.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
shoulder_lift_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 150.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
elbow_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 150.0
|
||||
max_position: !degrees 180.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -180.0
|
||||
wrist_1_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 28.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_2_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 28.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_3_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 28.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
@@ -0,0 +1,99 @@
|
||||
# Physical parameters
|
||||
|
||||
dh_parameters:
|
||||
d1: 0.1625
|
||||
a2: -0.4270
|
||||
a3: -0.3905
|
||||
d4: 0.1475
|
||||
d5: 0.0965
|
||||
d6: 0.0920
|
||||
|
||||
inertia_parameters:
|
||||
base_mass: 0.57127 # base mass, base inertia, base cog might be incorrect
|
||||
shoulder_mass: 4.521
|
||||
upperarm_mass: 7.533
|
||||
forearm_mass: 3.009
|
||||
wrist_1_mass: 1.559
|
||||
wrist_2_mass: 1.447
|
||||
wrist_3_mass: 0.500
|
||||
|
||||
inertia:
|
||||
base:
|
||||
ixx: 0.0010759
|
||||
ixy: 7.8337E-08
|
||||
ixz: -1.3213E-05
|
||||
iyy: 0.0010109
|
||||
iyz: 4.5992E-07
|
||||
izz: 0.001408
|
||||
shoulder:
|
||||
ixx: 0.014192
|
||||
ixy: 1.7839E-05
|
||||
ixz: -1.027E-06
|
||||
iyy: 0.0091982
|
||||
iyz: -4.6778E-05
|
||||
izz: 0.012777
|
||||
upperarm:
|
||||
ixx: 0.13719
|
||||
ixy: -7.5676E-05
|
||||
ixz: -0.17551
|
||||
iyy: 0.6614
|
||||
iyz: 7.59E-06
|
||||
izz: 0.53649
|
||||
forearm:
|
||||
ixx: 0.0087604
|
||||
ixy: 1.7762E-05
|
||||
ixz: -0.010765
|
||||
iyy: 0.22281
|
||||
iyz: -4.13E-07
|
||||
izz: 0.2176
|
||||
wrist_1:
|
||||
ixx: 0.0045009
|
||||
ixy: 1.961E-06
|
||||
ixz: -2.646E-06
|
||||
iyy: 0.0042164
|
||||
iyz: -3.58E-07
|
||||
izz: 0.0014539
|
||||
wrist_2:
|
||||
ixx: 0.0023787
|
||||
ixy: 1.953E-06
|
||||
ixz: 2.643E-06
|
||||
iyy: 0.0020859
|
||||
iyz: 5.584E-06
|
||||
izz: 0.0013191
|
||||
wrist_3:
|
||||
ixx: 0.0014314
|
||||
ixy: -2.32E-07
|
||||
ixz: 7.955E-06
|
||||
iyy: 0.0014299
|
||||
iyz: 1.266E-06
|
||||
izz: 0.0003265
|
||||
|
||||
center_of_mass:
|
||||
base_cog:
|
||||
x: -0.00060346
|
||||
y: 1.4311E-05
|
||||
z: 0.060221
|
||||
shoulder_cog:
|
||||
x: 2.2E-05
|
||||
y: -0.016526
|
||||
z: -0.014442
|
||||
upperarm_cog:
|
||||
x: -0.17828
|
||||
y: 4.0E-06
|
||||
z: 0.12803
|
||||
forearm_cog:
|
||||
x: -0.20416
|
||||
y: -7.0E-06
|
||||
z: 0.03064
|
||||
wrist_1_cog:
|
||||
x: 1.3E-05
|
||||
y: -0.00479
|
||||
z: -0.02274
|
||||
wrist_2_cog:
|
||||
x: -1.4E-05
|
||||
y: 0.005107
|
||||
z: -0.012702
|
||||
wrist_3_cog:
|
||||
x: -0.000684
|
||||
y: -0.000175
|
||||
z: -0.04234
|
||||
@@ -0,0 +1,92 @@
|
||||
mesh_files:
|
||||
base:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/visual/base.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/collision/base.stl
|
||||
|
||||
shoulder:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/visual/shoulder.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/collision/shoulder.stl
|
||||
|
||||
upperarm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/visual/upperarm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/collision/upperarm.stl
|
||||
mesh_files:
|
||||
|
||||
forearm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/visual/forearm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/collision/forearm.stl
|
||||
|
||||
wrist_1:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/visual/wrist1.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/collision/wrist1.stl
|
||||
|
||||
wrist_2:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/visual/wrist2.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/collision/wrist2.stl
|
||||
|
||||
wrist_3:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/visual/wrist3.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/collision/wrist3.stl
|
||||
@@ -0,0 +1,6 @@
|
||||
shoulder_pan_joint: 0.0
|
||||
shoulder_lift_joint: -1.57
|
||||
elbow_joint: 0.0
|
||||
wrist_1_joint: -1.57
|
||||
wrist_2_joint: 1.57
|
||||
wrist_3_joint: 0.0
|
||||
159
unilabos/device_mesh/devices/elite_robot/macro_device.xacro
Normal file
159
unilabos/device_mesh/devices/elite_robot/macro_device.xacro
Normal file
@@ -0,0 +1,159 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="elite_robot">
|
||||
<xacro:macro name="elite_robot" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' cs_type:='cs66' fake_dev:='true' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0" >
|
||||
<!-- robot name parameter -->
|
||||
<xacro:arg name="name" default="cs"/>
|
||||
<!-- import main macro -->
|
||||
<xacro:include filename="${mesh_path}/devices/elite_robot/urdf/cs_macro.xacro"/>
|
||||
|
||||
<!-- possible 'cs_type' values: cs63, cs66, cs612, cs616, cs620, cs625 -->
|
||||
<!-- the default value should raise an error in case this was called without defining the type -->
|
||||
<xacro:arg name="cs_type" default="${cs_type}"/>
|
||||
|
||||
<!-- parameters -->
|
||||
<xacro:arg name="tf_prefix" default="${station_name}${device_name}" />
|
||||
<xacro:arg name="joint_limit_params" default="${mesh_path}/devices/elite_robot/config/$(arg cs_type)/joint_limits.yaml"/>
|
||||
<xacro:arg name="kinematics_params" default="${mesh_path}/devices/elite_robot/config/$(arg cs_type)/default_kinematics.yaml"/>
|
||||
<xacro:arg name="physical_params" default="${mesh_path}/devices/elite_robot/config/$(arg cs_type)/physical_parameters.yaml"/>
|
||||
<xacro:arg name="visual_params" default="${mesh_path}/devices/elite_robot/config/$(arg cs_type)/visual_parameters.yaml"/>
|
||||
<xacro:arg name="transmission_hw_interface" default=""/>
|
||||
<xacro:arg name="safety_limits" default="false"/>
|
||||
<xacro:arg name="safety_pos_margin" default="0.15"/>
|
||||
<xacro:arg name="safety_k_position" default="20"/>
|
||||
<!-- ros2_control related parameters -->
|
||||
<xacro:arg name="headless_mode" default="false" />
|
||||
<xacro:arg name="robot_ip" default="0.0.0.0" />
|
||||
<xacro:arg name="script_filename" default=""/>
|
||||
<xacro:arg name="output_recipe_filename" default=""/>
|
||||
<xacro:arg name="input_recipe_filename" default=""/>
|
||||
<xacro:arg name="local_ip" default="0.0.0.0"/>
|
||||
<xacro:arg name="script_command_port" default="50004"/>
|
||||
<xacro:arg name="reverse_port" default="50001"/>
|
||||
<xacro:arg name="script_sender_port" default="50002"/>
|
||||
<xacro:arg name="trajectory_port" default="50003"/>
|
||||
<!-- tool communication related parameters-->
|
||||
<xacro:arg name="use_tool_communication" default="false" />
|
||||
<xacro:arg name="tool_voltage" default="0" />
|
||||
<xacro:arg name="tool_parity" default="0" />
|
||||
<xacro:arg name="tool_baud_rate" default="115200" />
|
||||
<xacro:arg name="tool_stop_bits" default="1" />
|
||||
<xacro:arg name="tool_tcp_port" default="54321" />
|
||||
|
||||
<!-- Simulation parameters -->
|
||||
<xacro:arg name="use_fake_hardware" default="${fake_dev}" />
|
||||
<xacro:arg name="fake_sensor_commands" default="${fake_dev}" />
|
||||
<xacro:arg name="sim_gazebo" default="false" />
|
||||
<xacro:arg name="sim_ignition" default="false" />
|
||||
<xacro:arg name="simulation_controllers" default="" />
|
||||
|
||||
<!-- initial position for simulations (Fake Hardware, Gazebo, Ignition) -->
|
||||
<xacro:arg name="initial_positions_file" default="${mesh_path}/devices/elite_robot/config/initial_positions.yaml"/>
|
||||
|
||||
<!-- convert to property to use substitution in function -->
|
||||
<xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>
|
||||
|
||||
|
||||
|
||||
<joint name="${station_name}${device_name}base_link_joint" type="fixed">
|
||||
<origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
|
||||
<parent link="${parent_link}"/>
|
||||
<child link="${station_name}${device_name}device_link"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="${station_name}${device_name}device_link"/>
|
||||
|
||||
<!-- arm -->
|
||||
<xacro:cs_robot
|
||||
name="$(arg name)"
|
||||
tf_prefix="$(arg tf_prefix)"
|
||||
parent="${station_name}${device_name}device_link"
|
||||
joint_limits_parameters_file="$(arg joint_limit_params)"
|
||||
kinematics_parameters_file="$(arg kinematics_params)"
|
||||
physical_parameters_file="$(arg physical_params)"
|
||||
visual_parameters_file="$(arg visual_params)"
|
||||
transmission_hw_interface="$(arg transmission_hw_interface)"
|
||||
safety_limits="$(arg safety_limits)"
|
||||
safety_pos_margin="$(arg safety_pos_margin)"
|
||||
safety_k_position="$(arg safety_k_position)"
|
||||
use_fake_hardware="$(arg use_fake_hardware)"
|
||||
fake_sensor_commands="$(arg fake_sensor_commands)"
|
||||
sim_gazebo="$(arg sim_gazebo)"
|
||||
sim_ignition="$(arg sim_ignition)"
|
||||
headless_mode="$(arg headless_mode)"
|
||||
initial_positions="${xacro.load_yaml(initial_positions_file)}"
|
||||
use_tool_communication="$(arg use_tool_communication)"
|
||||
tool_voltage="$(arg tool_voltage)"
|
||||
tool_parity="$(arg tool_parity)"
|
||||
tool_baud_rate="$(arg tool_baud_rate)"
|
||||
tool_stop_bits="$(arg tool_stop_bits)"
|
||||
tool_tcp_port="$(arg tool_tcp_port)"
|
||||
robot_ip="$(arg robot_ip)"
|
||||
script_filename="$(arg script_filename)"
|
||||
output_recipe_filename="$(arg output_recipe_filename)"
|
||||
input_recipe_filename="$(arg input_recipe_filename)"
|
||||
local_ip="$(arg local_ip)"
|
||||
script_command_port="$(arg script_command_port)"
|
||||
reverse_port="$(arg reverse_port)"
|
||||
script_sender_port="$(arg script_sender_port)"
|
||||
trajectory_port="$(arg trajectory_port)"
|
||||
mesh_path="${mesh_path}"
|
||||
>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" /> <!-- position robot in the world -->
|
||||
</xacro:cs_robot>
|
||||
|
||||
<link name="${station_name}${device_name}gripper">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-2.76718112539598E-05 0.0255270141715087 0.0270559267296449"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.2571510360664" />
|
||||
<inertia
|
||||
ixx="0.000164806957167171"
|
||||
ixy="1.52519074989277E-08"
|
||||
ixz="9.6332716899636E-08"
|
||||
iyy="8.72759579414916E-05"
|
||||
iyz="-5.40735277087457E-07"
|
||||
izz="0.000196871100878503" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="file://${mesh_path}/devices/elite_robot/meshes/gripper.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.749019607843137 0.749019607843137 0.749019607843137 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="file://${mesh_path}/devices/elite_robot/meshes/gripper.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}gripper_joint"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0 0 -0.003"
|
||||
rpy="0 0 -2.356" />
|
||||
<parent
|
||||
link="${station_name}${device_name}tool0" />
|
||||
<child
|
||||
link="${station_name}${device_name}gripper" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
|
||||
</xacro:macro>
|
||||
|
||||
</robot>
|
||||
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Reference in New Issue
Block a user