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  1. texture_urdf/家具/30-chest-of-drawers/URDF_Data/meshes/dae/wood (bump).jpg +3 -0
  2. texture_urdf/家具/30-chest-of-drawers/URDF_Data/meshes/dae/wood.jpg +3 -0
  3. texture_urdf/家具/30-chest-of-drawers/URDF_Data/meshes/dae/wood.jpg.001.jpg +3 -0
  4. texture_urdf/家具/30-chest-of-drawers/URDF_Data/meshes/dae/wood.jpg.002.jpg +3 -0
  5. texture_urdf/家具/30-chest-of-drawers/chest of drawers/wood.jpg +3 -0
  6. urdf/按钮/red-emergency-switch-16mm-1 2 STP/URDF_Data/urdf/URDF_Data.urdf +105 -0
  7. urdf/桶/5-gallon-water-bottle 5 SW/URDF_Data/CMakeLists.txt +14 -0
  8. urdf/桶/5-gallon-water-bottle 5 SW/URDF_Data/config/joint_names_URDF_Data.yaml +1 -0
  9. urdf/桶/5-gallon-water-bottle 5 SW/URDF_Data/export.log +0 -0
  10. urdf/桶/5-gallon-water-bottle 5 SW/URDF_Data/launch/display.launch +20 -0
  11. urdf/桶/5-gallon-water-bottle 5 SW/URDF_Data/launch/gazebo.launch +20 -0
  12. urdf/桶/5-gallon-water-bottle 5 SW/URDF_Data/package.xml +21 -0
  13. urdf/桶/5-gallon-water-bottle 5 SW/URDF_Data/urdf/URDF_Data.csv +3 -0
  14. urdf/桶/5-gallon-water-bottle 5 SW/URDF_Data/urdf/URDF_Data.urdf +123 -0
  15. urdf/桶/50-gallon-drum STP STL/50 G Drum.STEP +0 -0
  16. urdf/桶/50-gallon-drum STP STL/URDF_Data/CMakeLists.txt +14 -0
  17. urdf/桶/50-gallon-drum STP STL/URDF_Data/config/joint_names_URDF_Data.yaml +1 -0
  18. urdf/桶/50-gallon-drum STP STL/URDF_Data/export.log +0 -0
  19. urdf/桶/50-gallon-drum STP STL/URDF_Data/launch/display.launch +20 -0
  20. urdf/桶/50-gallon-drum STP STL/URDF_Data/launch/gazebo.launch +20 -0
  21. urdf/桶/50-gallon-drum STP STL/URDF_Data/package.xml +21 -0
  22. urdf/桶/50-gallon-drum STP STL/URDF_Data/urdf/URDF_Data.csv +3 -0
  23. urdf/桶/50-gallon-drum STP STL/URDF_Data/urdf/URDF_Data.urdf +105 -0
  24. urdf/桶/55 galln barrel drum 3DS IGS/55 gallon barrel.iges +0 -0
  25. urdf//346/241/266/55 galln barrel drum 3DS IGS/55 gallons barrel 2d.dwg +0 -0
  26. urdf/桶/55 galln barrel drum 3DS IGS/URDF_Data/CMakeLists.txt +14 -0
  27. urdf/桶/55 galln barrel drum 3DS IGS/URDF_Data/config/joint_names_URDF_Data.yaml +1 -0
  28. urdf/桶/55 galln barrel drum 3DS IGS/URDF_Data/export.log +0 -0
  29. urdf/桶/55 galln barrel drum 3DS IGS/URDF_Data/launch/display.launch +20 -0
  30. urdf/桶/55 galln barrel drum 3DS IGS/URDF_Data/launch/gazebo.launch +20 -0
  31. urdf/桶/55 galln barrel drum 3DS IGS/URDF_Data/package.xml +21 -0
  32. urdf/桶/55 galln barrel drum 3DS IGS/URDF_Data/urdf/URDF_Data.csv +3 -0
  33. urdf/桶/55 galln barrel drum 3DS IGS/URDF_Data/urdf/URDF_Data.urdf +105 -0
  34. urdf/桶/55-usg-closed-top-plastic-drum SW STP IGS/2in_Drum Plug Dust Cap.IGS +223 -0
  35. urdf/桶/55-usg-closed-top-plastic-drum SW STP IGS/2in_Drum Plug Dust Cap.STEP +435 -0
  36. urdf/桶/55-usg-closed-top-plastic-drum SW STP IGS/55 Gal Closed Top Plastic Drum.IGS +0 -0
  37. urdf/桶/55-usg-closed-top-plastic-drum SW STP IGS/55 Gal Closed Top Plastic Drum.STEP +0 -0
  38. urdf/桶/55-usg-closed-top-plastic-drum SW STP IGS/55 Gal Closed Top Plastic Drum.x_t +0 -0
  39. urdf/桶/55-usg-closed-top-plastic-drum SW STP IGS/URDF_Data/CMakeLists.txt +14 -0
  40. urdf/桶/55-usg-closed-top-plastic-drum SW STP IGS/URDF_Data/config/joint_names_URDF_Data.yaml +1 -0
  41. urdf/桶/55-usg-closed-top-plastic-drum SW STP IGS/URDF_Data/export.log +0 -0
  42. urdf/桶/55-usg-closed-top-plastic-drum SW STP IGS/URDF_Data/launch/display.launch +20 -0
  43. urdf/桶/55-usg-closed-top-plastic-drum SW STP IGS/URDF_Data/launch/gazebo.launch +20 -0
  44. urdf/桶/55-usg-closed-top-plastic-drum SW STP IGS/URDF_Data/package.xml +21 -0
  45. urdf/桶/55-usg-closed-top-plastic-drum SW STP IGS/URDF_Data/urdf/URDF_Data.csv +4 -0
  46. urdf/桶/55-usg-closed-top-plastic-drum SW STP IGS/URDF_Data/urdf/URDF_Data.urdf +163 -0
  47. urdf/桶/Bucket/meshes/Body_1_2_Mesh_0.obj +0 -0
  48. urdf/桶/Bucket/meshes/Hanger_1_3_Mesh_1.obj +0 -0
  49. urdf/桶/Bucket/urdf/Bucket_sim.urdf +38 -0
  50. urdf/桶/Bucket/urdf/meshes/Body_1_2_Mesh_0.obj +0 -0
texture_urdf/家具/30-chest-of-drawers/URDF_Data/meshes/dae/wood (bump).jpg ADDED

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texture_urdf/家具/30-chest-of-drawers/URDF_Data/meshes/dae/wood.jpg ADDED

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texture_urdf/家具/30-chest-of-drawers/URDF_Data/meshes/dae/wood.jpg.001.jpg ADDED

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texture_urdf/家具/30-chest-of-drawers/URDF_Data/meshes/dae/wood.jpg.002.jpg ADDED

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texture_urdf/家具/30-chest-of-drawers/chest of drawers/wood.jpg ADDED

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urdf/按钮/red-emergency-switch-16mm-1 2 STP/URDF_Data/urdf/URDF_Data.urdf ADDED
@@ -0,0 +1,105 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" encoding="utf-8"?>
2
+ <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
3
+ Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
4
+ For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
5
+ <robot
6
+ name="URDF_Data">
7
+ <link
8
+ name="base_link">
9
+ <inertial>
10
+ <origin
11
+ xyz="2.7512E-07 1.7277E-05 -0.0026947"
12
+ rpy="0 0 0" />
13
+ <mass
14
+ value="0.0070745" />
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+ <inertia
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+ ixx="2.4752E-07"
17
+ ixy="1.1389E-11"
18
+ ixz="6.8742E-11"
19
+ iyy="2.4868E-07"
20
+ iyz="8.8072E-11"
21
+ izz="2.9692E-07" />
22
+ </inertial>
23
+ <visual>
24
+ <origin
25
+ xyz="0 0 0"
26
+ rpy="0 0 0" />
27
+ <geometry>
28
+ <mesh
29
+ filename="package://URDF_Data/meshes/base_link.STL" />
30
+ </geometry>
31
+ <material
32
+ name="">
33
+ <color
34
+ rgba="0.91765 0.91765 0.91765 1" />
35
+ </material>
36
+ </visual>
37
+ <collision>
38
+ <origin
39
+ xyz="0 0 0"
40
+ rpy="0 0 0" />
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+ <geometry>
42
+ <mesh
43
+ filename="package://URDF_Data/meshes/base_link.STL" />
44
+ </geometry>
45
+ </collision>
46
+ </link>
47
+ <link
48
+ name="Link_0">
49
+ <inertial>
50
+ <origin
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+ xyz="1.6291E-05 3.2538E-08 -0.0047555"
52
+ rpy="0 0 0" />
53
+ <mass
54
+ value="0.0055051" />
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+ <inertia
56
+ ixx="2.912E-07"
57
+ ixy="2.1054E-15"
58
+ ixz="-6.7116E-10"
59
+ iyy="2.912E-07"
60
+ iyz="-6.076E-13"
61
+ izz="4.8489E-07" />
62
+ </inertial>
63
+ <visual>
64
+ <origin
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+ xyz="0 0 0"
66
+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="package://URDF_Data/meshes/Link_0.STL" />
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+ </geometry>
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+ <material
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+ name="">
73
+ <color
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+ rgba="0.78039 0 0 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
81
+ <geometry>
82
+ <mesh
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+ filename="package://URDF_Data/meshes/Link_0.STL" />
84
+ </geometry>
85
+ </collision>
86
+ </link>
87
+ <joint
88
+ name="Joint_0"
89
+ type="prismatic">
90
+ <origin
91
+ xyz="0 0 0.020536"
92
+ rpy="0 0.0034651 0" />
93
+ <parent
94
+ link="base_link" />
95
+ <child
96
+ link="Link_0" />
97
+ <axis
98
+ xyz="0 0 -1" />
99
+ <limit
100
+ lower="0"
101
+ upper="0.0025"
102
+ effort="0"
103
+ velocity="0" />
104
+ </joint>
105
+ </robot>
urdf/桶/5-gallon-water-bottle 5 SW/URDF_Data/CMakeLists.txt ADDED
@@ -0,0 +1,14 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ cmake_minimum_required(VERSION 2.8.3)
2
+
3
+ project(URDF_Data)
4
+
5
+ find_package(catkin REQUIRED)
6
+
7
+ catkin_package()
8
+
9
+ find_package(roslaunch)
10
+
11
+ foreach(dir config launch meshes urdf)
12
+ install(DIRECTORY ${dir}/
13
+ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
14
+ endforeach(dir)
urdf/桶/5-gallon-water-bottle 5 SW/URDF_Data/config/joint_names_URDF_Data.yaml ADDED
@@ -0,0 +1 @@
 
 
1
+ controller_joint_names: ['joint_0', 'joint_0', ]
urdf/桶/5-gallon-water-bottle 5 SW/URDF_Data/export.log ADDED
The diff for this file is too large to render. See raw diff
 
urdf/桶/5-gallon-water-bottle 5 SW/URDF_Data/launch/display.launch ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <launch>
2
+ <arg
3
+ name="model" />
4
+ <param
5
+ name="robot_description"
6
+ textfile="$(find URDF_Data)/urdf/URDF_Data.urdf" />
7
+ <node
8
+ name="joint_state_publisher_gui"
9
+ pkg="joint_state_publisher_gui"
10
+ type="joint_state_publisher_gui" />
11
+ <node
12
+ name="robot_state_publisher"
13
+ pkg="robot_state_publisher"
14
+ type="robot_state_publisher" />
15
+ <node
16
+ name="rviz"
17
+ pkg="rviz"
18
+ type="rviz"
19
+ args="-d $(find URDF_Data)/urdf.rviz" />
20
+ </launch>
urdf/桶/5-gallon-water-bottle 5 SW/URDF_Data/launch/gazebo.launch ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ <launch>
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+ <include
3
+ file="$(find gazebo_ros)/launch/empty_world.launch" />
4
+ <node
5
+ name="tf_footprint_base"
6
+ pkg="tf"
7
+ type="static_transform_publisher"
8
+ args="0 0 0 0 0 0 base_link base_footprint 40" />
9
+ <node
10
+ name="spawn_model"
11
+ pkg="gazebo_ros"
12
+ type="spawn_model"
13
+ args="-file $(find URDF_Data)/urdf/URDF_Data.urdf -urdf -model URDF_Data"
14
+ output="screen" />
15
+ <node
16
+ name="fake_joint_calibration"
17
+ pkg="rostopic"
18
+ type="rostopic"
19
+ args="pub /calibrated std_msgs/Bool true" />
20
+ </launch>
urdf/桶/5-gallon-water-bottle 5 SW/URDF_Data/package.xml ADDED
@@ -0,0 +1,21 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <package format="2">
2
+ <name>URDF_Data</name>
3
+ <version>1.0.0</version>
4
+ <description>
5
+ <p>URDF Description package for URDF_Data</p>
6
+ <p>This package contains configuration data, 3D models and launch files
7
+ for URDF_Data robot</p>
8
+ </description>
9
+ <author>TODO</author>
10
+ <maintainer email="TODO@email.com" />
11
+ <license>BSD</license>
12
+ <buildtool_depend>catkin</buildtool_depend>
13
+ <depend>roslaunch</depend>
14
+ <depend>robot_state_publisher</depend>
15
+ <depend>rviz</depend>
16
+ <depend>joint_state_publisher_gui</depend>
17
+ <depend>gazebo</depend>
18
+ <export>
19
+ <architecture_independent />
20
+ </export>
21
+ </package>
urdf/桶/5-gallon-water-bottle 5 SW/URDF_Data/urdf/URDF_Data.csv ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
2
+ base_link,-1.4311E-17,2.1473E-05,0.18533,0,0,0,2.0123,0.049799,-5.6774E-22,-4.4103E-19,0.049799,1.2937E-06,0.026815,0,0,0,0,0,0,package://URDF_Data/meshes/base_link.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://URDF_Data/meshes/base_link.STL,,base-1,坐标系1,?????????2,joint_0,prismatic,0,0,0.48793,0,0,0,base_link,0,0,-1,0,0,-0.05,0,,,,,,,,
3
+ link_0,-0.00034687,0.0001839,-0.0061536,0,0,0,0.017673,5.744E-06,-7.2543E-23,-1.6852E-23,5.744E-06,-7.6434E-11,1.0648E-05,0,0,0,0,0,0,package://URDF_Data/meshes/link_0.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://URDF_Data/meshes/link_0.STL,,1-1,坐标系2,基准轴2,joint_0,prismatic,0,0,0.48793,0,0,0,base_link,0,0,-1,0,0,0,0.05,,,,,,,,
urdf/桶/5-gallon-water-bottle 5 SW/URDF_Data/urdf/URDF_Data.urdf ADDED
@@ -0,0 +1,123 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" encoding="utf-8"?>
2
+ <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
3
+ Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
4
+ For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
5
+ <robot
6
+ name="URDF_Data">
7
+ <link
8
+ name="base_link">
9
+ <inertial>
10
+ <origin
11
+ xyz="-1.4311E-17 2.1473E-05 0.18533"
12
+ rpy="0 0 0" />
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+ <mass
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+ value="2.0123" />
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+ <inertia
16
+ ixx="0.049799"
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+ ixy="-5.6774E-22"
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+ ixz="-4.4103E-19"
19
+ iyy="0.049799"
20
+ iyz="1.2937E-06"
21
+ izz="0.026815" />
22
+ </inertial>
23
+ <visual>
24
+ <origin
25
+ xyz="0 0 0"
26
+ rpy="0 0 0" />
27
+ <geometry>
28
+ <mesh
29
+ filename="package://URDF_Data/meshes/base_link.STL" />
30
+ </geometry>
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+ <material
32
+ name="">
33
+ <color
34
+ rgba="0.79216 0.81961 0.93333 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
41
+ <geometry>
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+ <mesh
43
+ filename="package://URDF_Data/meshes/base_link.STL" />
44
+ </geometry>
45
+ </collision>
46
+ </link>
47
+ <joint
48
+ name="joint_0"
49
+ type="prismatic">
50
+ <origin
51
+ xyz="0 0 0.48793"
52
+ rpy="0 0 0" />
53
+ <parent
54
+ link="base_link" />
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+ <child
56
+ link="link_0" />
57
+ <axis
58
+ xyz="0 0 -1" />
59
+ <limit
60
+ lower="-0.05"
61
+ upper="0"
62
+ effort="0"
63
+ velocity="0" />
64
+ </joint>
65
+ <link
66
+ name="link_0">
67
+ <inertial>
68
+ <origin
69
+ xyz="-0.00034687 0.0001839 -0.0061536"
70
+ rpy="0 0 0" />
71
+ <mass
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+ value="0.017673" />
73
+ <inertia
74
+ ixx="5.744E-06"
75
+ ixy="-7.2543E-23"
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+ ixz="-1.6852E-23"
77
+ iyy="5.744E-06"
78
+ iyz="-7.6434E-11"
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+ izz="1.0648E-05" />
80
+ </inertial>
81
+ <visual>
82
+ <origin
83
+ xyz="0 0 0"
84
+ rpy="0 0 0" />
85
+ <geometry>
86
+ <mesh
87
+ filename="package://URDF_Data/meshes/link_0.STL" />
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+ </geometry>
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+ <material
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+ name="">
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+ <color
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+ rgba="0.79216 0.81961 0.93333 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
101
+ filename="package://URDF_Data/meshes/link_0.STL" />
102
+ </geometry>
103
+ </collision>
104
+ </link>
105
+ <joint
106
+ name="joint_0"
107
+ type="prismatic">
108
+ <origin
109
+ xyz="0 0 0.48793"
110
+ rpy="0 0 0" />
111
+ <parent
112
+ link="base_link" />
113
+ <child
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+ link="link_0" />
115
+ <axis
116
+ xyz="0 0 -1" />
117
+ <limit
118
+ lower="-0.05"
119
+ upper="0"
120
+ effort="0"
121
+ velocity="0" />
122
+ </joint>
123
+ </robot>
urdf/桶/50-gallon-drum STP STL/50 G Drum.STEP ADDED
The diff for this file is too large to render. See raw diff
 
urdf/桶/50-gallon-drum STP STL/URDF_Data/CMakeLists.txt ADDED
@@ -0,0 +1,14 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ cmake_minimum_required(VERSION 2.8.3)
2
+
3
+ project(URDF_Data)
4
+
5
+ find_package(catkin REQUIRED)
6
+
7
+ catkin_package()
8
+
9
+ find_package(roslaunch)
10
+
11
+ foreach(dir config launch meshes urdf)
12
+ install(DIRECTORY ${dir}/
13
+ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
14
+ endforeach(dir)
urdf/桶/50-gallon-drum STP STL/URDF_Data/config/joint_names_URDF_Data.yaml ADDED
@@ -0,0 +1 @@
 
 
1
+ controller_joint_names: ['', 'joint_0', ]
urdf/桶/50-gallon-drum STP STL/URDF_Data/export.log ADDED
The diff for this file is too large to render. See raw diff
 
urdf/桶/50-gallon-drum STP STL/URDF_Data/launch/display.launch ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <launch>
2
+ <arg
3
+ name="model" />
4
+ <param
5
+ name="robot_description"
6
+ textfile="$(find URDF_Data)/urdf/URDF_Data.urdf" />
7
+ <node
8
+ name="joint_state_publisher_gui"
9
+ pkg="joint_state_publisher_gui"
10
+ type="joint_state_publisher_gui" />
11
+ <node
12
+ name="robot_state_publisher"
13
+ pkg="robot_state_publisher"
14
+ type="robot_state_publisher" />
15
+ <node
16
+ name="rviz"
17
+ pkg="rviz"
18
+ type="rviz"
19
+ args="-d $(find URDF_Data)/urdf.rviz" />
20
+ </launch>
urdf/桶/50-gallon-drum STP STL/URDF_Data/launch/gazebo.launch ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <launch>
2
+ <include
3
+ file="$(find gazebo_ros)/launch/empty_world.launch" />
4
+ <node
5
+ name="tf_footprint_base"
6
+ pkg="tf"
7
+ type="static_transform_publisher"
8
+ args="0 0 0 0 0 0 base_link base_footprint 40" />
9
+ <node
10
+ name="spawn_model"
11
+ pkg="gazebo_ros"
12
+ type="spawn_model"
13
+ args="-file $(find URDF_Data)/urdf/URDF_Data.urdf -urdf -model URDF_Data"
14
+ output="screen" />
15
+ <node
16
+ name="fake_joint_calibration"
17
+ pkg="rostopic"
18
+ type="rostopic"
19
+ args="pub /calibrated std_msgs/Bool true" />
20
+ </launch>
urdf/桶/50-gallon-drum STP STL/URDF_Data/package.xml ADDED
@@ -0,0 +1,21 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <package format="2">
2
+ <name>URDF_Data</name>
3
+ <version>1.0.0</version>
4
+ <description>
5
+ <p>URDF Description package for URDF_Data</p>
6
+ <p>This package contains configuration data, 3D models and launch files
7
+ for URDF_Data robot</p>
8
+ </description>
9
+ <author>TODO</author>
10
+ <maintainer email="TODO@email.com" />
11
+ <license>BSD</license>
12
+ <buildtool_depend>catkin</buildtool_depend>
13
+ <depend>roslaunch</depend>
14
+ <depend>robot_state_publisher</depend>
15
+ <depend>rviz</depend>
16
+ <depend>joint_state_publisher_gui</depend>
17
+ <depend>gazebo</depend>
18
+ <export>
19
+ <architecture_independent />
20
+ </export>
21
+ </package>
urdf/桶/50-gallon-drum STP STL/URDF_Data/urdf/URDF_Data.csv ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
2
+ base_link,-1.4225E-16,5.8287E-16,0.36196,0,0,0,3.7456,0.31615,6.2989E-18,2.0436E-16,0.31615,9.4588E-17,0.28279,0,0,0,0,0,0,package://URDF_Data/meshes/base_link.STL,0.37647,0.47843,0.78824,1,0,0,0,0,0,0,package://URDF_Data/meshes/base_link.STL,,50 G Drum.STEP-1/drum.STEP-1,坐标系1,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
3
+ link_0,6.6613E-16,-4.7184E-16,-0.0027541,0,0,0,0.52946,0.013623,-4.2981E-18,1.0316E-18,0.013623,-1.3626E-18,0.027223,0,0,0,0,0,0,package://URDF_Data/meshes/link_0.STL,0.69412,0.094118,0.094118,1,0,0,0,0,0,0,package://URDF_Data/meshes/link_0.STL,,50 G Drum.STEP-1/Drum Loose Cover.STEP-1,坐标系2,基准轴2,joint_0,prismatic,0,0,0.79915,0,0,0,base_link,0,0,-1,0,0,0,0.05,,,,,,,,
urdf/桶/50-gallon-drum STP STL/URDF_Data/urdf/URDF_Data.urdf ADDED
@@ -0,0 +1,105 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" encoding="utf-8"?>
2
+ <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
3
+ Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
4
+ For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
5
+ <robot
6
+ name="URDF_Data">
7
+ <link
8
+ name="base_link">
9
+ <inertial>
10
+ <origin
11
+ xyz="-1.4225E-16 5.8287E-16 0.36196"
12
+ rpy="0 0 0" />
13
+ <mass
14
+ value="3.7456" />
15
+ <inertia
16
+ ixx="0.31615"
17
+ ixy="6.2989E-18"
18
+ ixz="2.0436E-16"
19
+ iyy="0.31615"
20
+ iyz="9.4588E-17"
21
+ izz="0.28279" />
22
+ </inertial>
23
+ <visual>
24
+ <origin
25
+ xyz="0 0 0"
26
+ rpy="0 0 0" />
27
+ <geometry>
28
+ <mesh
29
+ filename="package://URDF_Data/meshes/base_link.STL" />
30
+ </geometry>
31
+ <material
32
+ name="">
33
+ <color
34
+ rgba="0.37647 0.47843 0.78824 1" />
35
+ </material>
36
+ </visual>
37
+ <collision>
38
+ <origin
39
+ xyz="0 0 0"
40
+ rpy="0 0 0" />
41
+ <geometry>
42
+ <mesh
43
+ filename="package://URDF_Data/meshes/base_link.STL" />
44
+ </geometry>
45
+ </collision>
46
+ </link>
47
+ <link
48
+ name="link_0">
49
+ <inertial>
50
+ <origin
51
+ xyz="6.6613E-16 -4.7184E-16 -0.0027541"
52
+ rpy="0 0 0" />
53
+ <mass
54
+ value="0.52946" />
55
+ <inertia
56
+ ixx="0.013623"
57
+ ixy="-4.2981E-18"
58
+ ixz="1.0316E-18"
59
+ iyy="0.013623"
60
+ iyz="-1.3626E-18"
61
+ izz="0.027223" />
62
+ </inertial>
63
+ <visual>
64
+ <origin
65
+ xyz="0 0 0"
66
+ rpy="0 0 0" />
67
+ <geometry>
68
+ <mesh
69
+ filename="package://URDF_Data/meshes/link_0.STL" />
70
+ </geometry>
71
+ <material
72
+ name="">
73
+ <color
74
+ rgba="0.69412 0.094118 0.094118 1" />
75
+ </material>
76
+ </visual>
77
+ <collision>
78
+ <origin
79
+ xyz="0 0 0"
80
+ rpy="0 0 0" />
81
+ <geometry>
82
+ <mesh
83
+ filename="package://URDF_Data/meshes/link_0.STL" />
84
+ </geometry>
85
+ </collision>
86
+ </link>
87
+ <joint
88
+ name="joint_0"
89
+ type="prismatic">
90
+ <origin
91
+ xyz="0 0 0.79915"
92
+ rpy="0 0 0" />
93
+ <parent
94
+ link="base_link" />
95
+ <child
96
+ link="link_0" />
97
+ <axis
98
+ xyz="0 0 -1" />
99
+ <limit
100
+ lower="-0.05"
101
+ upper="0"
102
+ effort="0"
103
+ velocity="0" />
104
+ </joint>
105
+ </robot>
urdf/桶/55 galln barrel drum 3DS IGS/55 gallon barrel.iges ADDED
The diff for this file is too large to render. See raw diff
 
urdf//346/241/266/55 galln barrel drum 3DS IGS/55 gallons barrel 2d.dwg ADDED
urdf/桶/55 galln barrel drum 3DS IGS/URDF_Data/CMakeLists.txt ADDED
@@ -0,0 +1,14 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ cmake_minimum_required(VERSION 2.8.3)
2
+
3
+ project(URDF_Data)
4
+
5
+ find_package(catkin REQUIRED)
6
+
7
+ catkin_package()
8
+
9
+ find_package(roslaunch)
10
+
11
+ foreach(dir config launch meshes urdf)
12
+ install(DIRECTORY ${dir}/
13
+ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
14
+ endforeach(dir)
urdf/桶/55 galln barrel drum 3DS IGS/URDF_Data/config/joint_names_URDF_Data.yaml ADDED
@@ -0,0 +1 @@
 
 
1
+ controller_joint_names: ['', 'joint_0', ]
urdf/桶/55 galln barrel drum 3DS IGS/URDF_Data/export.log ADDED
The diff for this file is too large to render. See raw diff
 
urdf/桶/55 galln barrel drum 3DS IGS/URDF_Data/launch/display.launch ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <launch>
2
+ <arg
3
+ name="model" />
4
+ <param
5
+ name="robot_description"
6
+ textfile="$(find URDF_Data)/urdf/URDF_Data.urdf" />
7
+ <node
8
+ name="joint_state_publisher_gui"
9
+ pkg="joint_state_publisher_gui"
10
+ type="joint_state_publisher_gui" />
11
+ <node
12
+ name="robot_state_publisher"
13
+ pkg="robot_state_publisher"
14
+ type="robot_state_publisher" />
15
+ <node
16
+ name="rviz"
17
+ pkg="rviz"
18
+ type="rviz"
19
+ args="-d $(find URDF_Data)/urdf.rviz" />
20
+ </launch>
urdf/桶/55 galln barrel drum 3DS IGS/URDF_Data/launch/gazebo.launch ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <launch>
2
+ <include
3
+ file="$(find gazebo_ros)/launch/empty_world.launch" />
4
+ <node
5
+ name="tf_footprint_base"
6
+ pkg="tf"
7
+ type="static_transform_publisher"
8
+ args="0 0 0 0 0 0 base_link base_footprint 40" />
9
+ <node
10
+ name="spawn_model"
11
+ pkg="gazebo_ros"
12
+ type="spawn_model"
13
+ args="-file $(find URDF_Data)/urdf/URDF_Data.urdf -urdf -model URDF_Data"
14
+ output="screen" />
15
+ <node
16
+ name="fake_joint_calibration"
17
+ pkg="rostopic"
18
+ type="rostopic"
19
+ args="pub /calibrated std_msgs/Bool true" />
20
+ </launch>
urdf/桶/55 galln barrel drum 3DS IGS/URDF_Data/package.xml ADDED
@@ -0,0 +1,21 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <package format="2">
2
+ <name>URDF_Data</name>
3
+ <version>1.0.0</version>
4
+ <description>
5
+ <p>URDF Description package for URDF_Data</p>
6
+ <p>This package contains configuration data, 3D models and launch files
7
+ for URDF_Data robot</p>
8
+ </description>
9
+ <author>TODO</author>
10
+ <maintainer email="TODO@email.com" />
11
+ <license>BSD</license>
12
+ <buildtool_depend>catkin</buildtool_depend>
13
+ <depend>roslaunch</depend>
14
+ <depend>robot_state_publisher</depend>
15
+ <depend>rviz</depend>
16
+ <depend>joint_state_publisher_gui</depend>
17
+ <depend>gazebo</depend>
18
+ <export>
19
+ <architecture_independent />
20
+ </export>
21
+ </package>
urdf/桶/55 galln barrel drum 3DS IGS/URDF_Data/urdf/URDF_Data.csv ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
2
+ base_link,1.0029E-06,8.9869E-06,0.85286,0,0,0,0.46051,0.014402,-8.7321E-06,6.4661E-06,0.014359,-1.0087E-05,0.028739,0,0,0,0,0,0,package://URDF_Data/meshes/base_link.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://URDF_Data/meshes/base_link.STL,,base-1,坐标系1,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
3
+ link_0,1.0029E-06,8.9864E-06,0.0022216,0,0,0,0.46053,0.0144,-8.7321E-06,6.467E-06,0.014357,-1.008E-05,0.028739,0,0,0,0,0,0,package://URDF_Data/meshes/link_0.STL,0.79216,0.2,0.93333,1,0,0,0,0,0,0,package://URDF_Data/meshes/link_0.STL,,1-1,坐标系2,基准轴1,joint_0,prismatic,0,0,0.85063,0,0,0,base_link,0,0,-1,0,0,0,-0.05,,,,,,,,
urdf/桶/55 galln barrel drum 3DS IGS/URDF_Data/urdf/URDF_Data.urdf ADDED
@@ -0,0 +1,105 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" encoding="utf-8"?>
2
+ <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
3
+ Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
4
+ For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
5
+ <robot
6
+ name="URDF_Data">
7
+ <link
8
+ name="base_link">
9
+ <inertial>
10
+ <origin
11
+ xyz="1.0029E-06 8.9869E-06 0.85286"
12
+ rpy="0 0 0" />
13
+ <mass
14
+ value="0.46051" />
15
+ <inertia
16
+ ixx="0.014402"
17
+ ixy="-8.7321E-06"
18
+ ixz="6.4661E-06"
19
+ iyy="0.014359"
20
+ iyz="-1.0087E-05"
21
+ izz="0.028739" />
22
+ </inertial>
23
+ <visual>
24
+ <origin
25
+ xyz="0 0 0"
26
+ rpy="0 0 0" />
27
+ <geometry>
28
+ <mesh
29
+ filename="package://URDF_Data/meshes/base_link.STL" />
30
+ </geometry>
31
+ <material
32
+ name="">
33
+ <color
34
+ rgba="0.79216 0.81961 0.93333 1" />
35
+ </material>
36
+ </visual>
37
+ <collision>
38
+ <origin
39
+ xyz="0 0 0"
40
+ rpy="0 0 0" />
41
+ <geometry>
42
+ <mesh
43
+ filename="package://URDF_Data/meshes/base_link.STL" />
44
+ </geometry>
45
+ </collision>
46
+ </link>
47
+ <link
48
+ name="link_0">
49
+ <inertial>
50
+ <origin
51
+ xyz="1.0029E-06 8.9864E-06 0.0022216"
52
+ rpy="0 0 0" />
53
+ <mass
54
+ value="0.46053" />
55
+ <inertia
56
+ ixx="0.0144"
57
+ ixy="-8.7321E-06"
58
+ ixz="6.467E-06"
59
+ iyy="0.014357"
60
+ iyz="-1.008E-05"
61
+ izz="0.028739" />
62
+ </inertial>
63
+ <visual>
64
+ <origin
65
+ xyz="0 0 0"
66
+ rpy="0 0 0" />
67
+ <geometry>
68
+ <mesh
69
+ filename="package://URDF_Data/meshes/link_0.STL" />
70
+ </geometry>
71
+ <material
72
+ name="">
73
+ <color
74
+ rgba="0.79216 0.2 0.93333 1" />
75
+ </material>
76
+ </visual>
77
+ <collision>
78
+ <origin
79
+ xyz="0 0 0"
80
+ rpy="0 0 0" />
81
+ <geometry>
82
+ <mesh
83
+ filename="package://URDF_Data/meshes/link_0.STL" />
84
+ </geometry>
85
+ </collision>
86
+ </link>
87
+ <joint
88
+ name="joint_0"
89
+ type="prismatic">
90
+ <origin
91
+ xyz="0 0 0.85063"
92
+ rpy="0 0 0" />
93
+ <parent
94
+ link="base_link" />
95
+ <child
96
+ link="link_0" />
97
+ <axis
98
+ xyz="0 0 -1" />
99
+ <limit
100
+ lower="-0.05"
101
+ upper="0"
102
+ effort="0"
103
+ velocity="0" />
104
+ </joint>
105
+ </robot>
urdf/桶/55-usg-closed-top-plastic-drum SW STP IGS/2in_Drum Plug Dust Cap.IGS ADDED
@@ -0,0 +1,223 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ SolidWorks IGES file using NURBS representation for surfaces S 1
2
+ 1H,,1H;,29H2in_Drum Plug Dust Cap.SLDPRT,61HC:\Users\Natrix\Desktop\WorkG 1
3
+ Table\2in_Drum Plug Dust Cap.IGS,15HSolidWorks 2018,15HSolidWorks 2018,G 2
4
+ 32,308,15,308,15,29H2in_Drum Plug Dust Cap.SLDPRT,1.,1,2HIN,50,0.125, G 3
5
+ 13H181015.145601,1E-08,19684.6456692913,6HNatrix,,11,0,13H181015.145601;G 4
6
+ 124 1 0 0 0 00000000D 1
7
+ 124 0 0 1 0 0D 2
8
+ 110 2 0 0 0 1 00020000D 3
9
+ 110 0 0 1 0 0D 4
10
+ 110 3 0 0 0 1 00020000D 5
11
+ 110 0 0 1 0 0D 6
12
+ 110 4 0 0 0 1 00020000D 7
13
+ 110 0 0 1 0 0D 8
14
+ 110 5 0 0 0 1 00020000D 9
15
+ 110 0 0 1 0 0D 10
16
+ 110 6 0 0 0 1 00020000D 11
17
+ 110 0 0 1 0 0D 12
18
+ 110 7 0 0 0 1 00020000D 13
19
+ 110 0 0 1 0 0D 14
20
+ 110 8 0 0 0 1 00020000D 15
21
+ 110 0 0 1 0 0D 16
22
+ 110 9 0 0 0 1 00020000D 17
23
+ 110 0 0 1 0 0D 18
24
+ 110 10 0 0 0 1 00020000D 19
25
+ 110 0 0 1 0 0D 20
26
+ 110 11 0 0 0 1 00020000D 21
27
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urdf/桶/55-usg-closed-top-plastic-drum SW STP IGS/55 Gal Closed Top Plastic Drum.IGS ADDED
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urdf/桶/55-usg-closed-top-plastic-drum SW STP IGS/55 Gal Closed Top Plastic Drum.STEP ADDED
The diff for this file is too large to render. See raw diff
 
urdf/桶/55-usg-closed-top-plastic-drum SW STP IGS/55 Gal Closed Top Plastic Drum.x_t ADDED
The diff for this file is too large to render. See raw diff
 
urdf/桶/55-usg-closed-top-plastic-drum SW STP IGS/URDF_Data/CMakeLists.txt ADDED
@@ -0,0 +1,14 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ cmake_minimum_required(VERSION 2.8.3)
2
+
3
+ project(URDF_Data)
4
+
5
+ find_package(catkin REQUIRED)
6
+
7
+ catkin_package()
8
+
9
+ find_package(roslaunch)
10
+
11
+ foreach(dir config launch meshes urdf)
12
+ install(DIRECTORY ${dir}/
13
+ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
14
+ endforeach(dir)
urdf/桶/55-usg-closed-top-plastic-drum SW STP IGS/URDF_Data/config/joint_names_URDF_Data.yaml ADDED
@@ -0,0 +1 @@
 
 
1
+ controller_joint_names: ['', 'joint_0', 'joint_1', ]
urdf/桶/55-usg-closed-top-plastic-drum SW STP IGS/URDF_Data/export.log ADDED
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urdf/桶/55-usg-closed-top-plastic-drum SW STP IGS/URDF_Data/launch/display.launch ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <launch>
2
+ <arg
3
+ name="model" />
4
+ <param
5
+ name="robot_description"
6
+ textfile="$(find URDF_Data)/urdf/URDF_Data.urdf" />
7
+ <node
8
+ name="joint_state_publisher_gui"
9
+ pkg="joint_state_publisher_gui"
10
+ type="joint_state_publisher_gui" />
11
+ <node
12
+ name="robot_state_publisher"
13
+ pkg="robot_state_publisher"
14
+ type="robot_state_publisher" />
15
+ <node
16
+ name="rviz"
17
+ pkg="rviz"
18
+ type="rviz"
19
+ args="-d $(find URDF_Data)/urdf.rviz" />
20
+ </launch>
urdf/桶/55-usg-closed-top-plastic-drum SW STP IGS/URDF_Data/launch/gazebo.launch ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <launch>
2
+ <include
3
+ file="$(find gazebo_ros)/launch/empty_world.launch" />
4
+ <node
5
+ name="tf_footprint_base"
6
+ pkg="tf"
7
+ type="static_transform_publisher"
8
+ args="0 0 0 0 0 0 base_link base_footprint 40" />
9
+ <node
10
+ name="spawn_model"
11
+ pkg="gazebo_ros"
12
+ type="spawn_model"
13
+ args="-file $(find URDF_Data)/urdf/URDF_Data.urdf -urdf -model URDF_Data"
14
+ output="screen" />
15
+ <node
16
+ name="fake_joint_calibration"
17
+ pkg="rostopic"
18
+ type="rostopic"
19
+ args="pub /calibrated std_msgs/Bool true" />
20
+ </launch>
urdf/桶/55-usg-closed-top-plastic-drum SW STP IGS/URDF_Data/package.xml ADDED
@@ -0,0 +1,21 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <package format="2">
2
+ <name>URDF_Data</name>
3
+ <version>1.0.0</version>
4
+ <description>
5
+ <p>URDF Description package for URDF_Data</p>
6
+ <p>This package contains configuration data, 3D models and launch files
7
+ for URDF_Data robot</p>
8
+ </description>
9
+ <author>TODO</author>
10
+ <maintainer email="TODO@email.com" />
11
+ <license>BSD</license>
12
+ <buildtool_depend>catkin</buildtool_depend>
13
+ <depend>roslaunch</depend>
14
+ <depend>robot_state_publisher</depend>
15
+ <depend>rviz</depend>
16
+ <depend>joint_state_publisher_gui</depend>
17
+ <depend>gazebo</depend>
18
+ <export>
19
+ <architecture_independent />
20
+ </export>
21
+ </package>
urdf/桶/55-usg-closed-top-plastic-drum SW STP IGS/URDF_Data/urdf/URDF_Data.csv ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
+ Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
2
+ base_link,5.8626E-05,2.1056E-08,0.4864,0,0,0,4.8576,0.65907,3.4062E-06,-0.0001052,0.6618,-3.4884E-08,0.36148,0,0,0,0,0,0,package://URDF_Data/meshes/base_link.STL,0,1,1,1,0,0,0,0,0,0,package://URDF_Data/meshes/base_link.STL,,55 Gal Closed Top Plastic Drum^55 Gal Closed Top Plastic Drum-1,坐标系1,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
3
+ link_0,-0.00036557,-5.1748E-05,-0.01182,0,0,0,0.041301,1.7001E-05,8.867E-10,5.2372E-09,1.7006E-05,-1.0614E-09,2.9115E-05,0,0,0,0,0,0,package://URDF_Data/meshes/link_0.STL,0.49804,0.49804,0.49804,1,0,0,0,0,0,0,package://URDF_Data/meshes/link_0.STL,,2in_NPS Drum Plug^55 Gal Closed Top Plastic Drum-2,坐标系2,基准轴2,joint_0,prismatic,0.19124,0.00037652,0.86638,0.092437,0,1.5708,base_link,0,0,1,0,0,0,0.1,,,,,,,,
4
+ link_1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,package://URDF_Data/meshes/link_1.STL,0.49804,0.49804,0.49804,1,0,0,0,0,0,0,package://URDF_Data/meshes/link_1.STL,,2in_Buttress Drum Plug^55 Gal Closed Top Plastic Drum-2,坐标系3,基准轴3,joint_1,prismatic,-0.19127,0.00059267,0.86685,0.092437,0,-1.5708,base_link,0,0,1,0,0,0,0.1,,,,,,,,
urdf/桶/55-usg-closed-top-plastic-drum SW STP IGS/URDF_Data/urdf/URDF_Data.urdf ADDED
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1
+ <?xml version="1.0" encoding="utf-8"?>
2
+ <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
3
+ Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
4
+ For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
5
+ <robot
6
+ name="URDF_Data">
7
+ <link
8
+ name="base_link">
9
+ <inertial>
10
+ <origin
11
+ xyz="5.8626E-05 2.1056E-08 0.4864"
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+ rpy="0 0 0" />
13
+ <mass
14
+ value="4.8576" />
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+ <inertia
16
+ ixx="0.65907"
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+ ixy="3.4062E-06"
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+ ixz="-0.0001052"
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+ iyy="0.6618"
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+ iyz="-3.4884E-08"
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+ izz="0.36148" />
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+ </inertial>
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+ <visual>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="package://URDF_Data/meshes/base_link.STL" />
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+ </geometry>
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+ <material
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+ name="">
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+ <color
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+ rgba="0 1 1 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="package://URDF_Data/meshes/base_link.STL" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <link
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+ name="link_0">
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+ <inertial>
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+ <origin
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+ xyz="-0.00036557 -5.1748E-05 -0.01182"
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+ rpy="0 0 0" />
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+ <mass
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+ value="0.041301" />
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+ <inertia
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+ ixx="1.7001E-05"
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+ ixy="8.867E-10"
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+ ixz="5.2372E-09"
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+ iyy="1.7006E-05"
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+ iyz="-1.0614E-09"
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+ izz="2.9115E-05" />
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+ </inertial>
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+ <visual>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="package://URDF_Data/meshes/link_0.STL" />
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+ </geometry>
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+ <material
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+ name="">
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+ <color
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+ rgba="0.49804 0.49804 0.49804 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="package://URDF_Data/meshes/link_0.STL" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint
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+ name="joint_0"
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+ type="prismatic">
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+ <origin
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+ xyz="0.19124 0.00037652 0.86638"
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+ rpy="0.092437 0 1.5708" />
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+ <parent
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+ link="base_link" />
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+ <child
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+ link="link_0" />
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+ <axis
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+ xyz="0 0 1" />
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+ <limit
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+ lower="0"
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+ upper="0.1"
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+ effort="0"
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+ velocity="0" />
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+ </joint>
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+ <link
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+ name="link_1">
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+ <inertial>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <mass
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+ value="0" />
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+ <inertia
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+ ixx="0"
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+ ixy="0"
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+ ixz="0"
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+ iyy="0"
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+ iyz="0"
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+ izz="0" />
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+ </inertial>
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+ <visual>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="package://URDF_Data/meshes/link_1.STL" />
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+ </geometry>
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+ <material
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+ name="">
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+ <color
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+ rgba="0.49804 0.49804 0.49804 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="package://URDF_Data/meshes/link_1.STL" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint
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+ name="joint_1"
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+ type="prismatic">
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+ <origin
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+ xyz="-0.19127 0.00059267 0.86685"
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+ rpy="0.092437 0 -1.5708" />
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+ <parent
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+ link="base_link" />
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+ <child
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+ link="link_1" />
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+ <axis
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+ xyz="0 0 1" />
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+ <limit
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+ lower="0"
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+ upper="0.1"
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+ effort="0"
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+ velocity="0" />
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+ </joint>
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+ </robot>
urdf/桶/Bucket/meshes/Body_1_2_Mesh_0.obj ADDED
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urdf/桶/Bucket/meshes/Hanger_1_3_Mesh_1.obj ADDED
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urdf/桶/Bucket/urdf/Bucket_sim.urdf ADDED
@@ -0,0 +1,38 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" encoding="UTF-8"?>
2
+ <robot name="Bucket_sim">
3
+ <joint name="RevoluteJoint" type="revolute">
4
+ <origin xyz="0. 0. 2.8029237" rpy="1.5707963 0. 0. "/>
5
+ <parent link="Root"/>
6
+ <child link="Hanger_1_3_Mesh_1"/>
7
+ <axis xyz="0. 0. 1."/>
8
+ <limit lower="-2.0943951" upper="2.0943951" effort="0." velocity="0."/>
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+ </joint>
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+ <link name="Hanger_1_3_Mesh_1">
11
+ <visual>
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+ <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
13
+ <geometry>
14
+ <mesh filename="meshes/Hanger_1_3_Mesh_1_mesh.obj" scale="0.01 0.01 0.01"/>
15
+ </geometry>
16
+ </visual>
17
+ <collision>
18
+ <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
19
+ <geometry>
20
+ <mesh filename="meshes/Hanger_1_3_Mesh_1_mesh.obj" scale="0.01 0.01 0.01"/>
21
+ </geometry>
22
+ </collision>
23
+ </link>
24
+ <link name="Root">
25
+ <visual>
26
+ <origin xyz="0. 0. 0." rpy="1.5707964 0. 0. "/>
27
+ <geometry>
28
+ <mesh filename="meshes/Body_1_2_Mesh_0_mesh.obj" scale="0.01 0.01 0.01"/>
29
+ </geometry>
30
+ </visual>
31
+ <collision>
32
+ <origin xyz="0. 0. 0." rpy="1.5707964 0. 0. "/>
33
+ <geometry>
34
+ <mesh filename="meshes/Body_1_2_Mesh_0_mesh.obj" scale="0.01 0.01 0.01"/>
35
+ </geometry>
36
+ </collision>
37
+ </link>
38
+ </robot>
urdf/桶/Bucket/urdf/meshes/Body_1_2_Mesh_0.obj ADDED
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