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urdf/电水壶/electric_kettle_2/URDF_Data/urdf/URDF_Data.urdf

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+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="URDF_Data">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="0.013237 -2.387E-06 0.041289"
+        rpy="0 0 0" />
+      <mass
+        value="0.55232" />
+      <inertia
+        ixx="0.0011898"
+        ixy="1.2867E-07"
+        ixz="-0.00048041"
+        iyy="0.001743"
+        iyz="1.4688E-07"
+        izz="0.0015238" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://URDF_Data/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.5 0.5 0.5 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://URDF_Data/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link_0">
+    <inertial>
+      <origin
+        xyz="-0.06628 0.019407 2.6188E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.21543" />
+      <inertia
+        ixx="0.00019952"
+        ixy="5.7023E-05"
+        ixz="4.3324E-09"
+        iyy="0.00033263"
+        iyz="-1.4823E-09"
+        izz="0.0001922" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://URDF_Data/meshes/link_0.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.5 1 0.5 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://URDF_Data/meshes/link_0.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_0"
+    type="revolute">
+    <origin
+      xyz="0.06951 0 0.16607"
+      rpy="1.5707 0 -0.00035618" />
+    <parent
+      link="base_link" />
+    <child
+      link="link_0" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.349065850398866"
+      upper="1.22173047639603"
+      effort="0"
+      velocity="0" />
+  </joint>
+</robot>

urdf/电水壶/electric_kettle_3/URDF_Data/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+
+project(URDF_Data)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+find_package(roslaunch)
+
+foreach(dir config launch meshes urdf)
+	install(DIRECTORY ${dir}/
+		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)

urdf/电水壶/electric_kettle_3/URDF_Data/config/joint_names_URDF_Data.yaml

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+controller_joint_names: ['', 'joint_0', 'joint_0_0', ]

urdf/电水壶/electric_kettle_3/URDF_Data/launch/display.launch

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+<launch>
+  <arg
+    name="model" />
+  <param
+    name="robot_description"
+    textfile="$(find URDF_Data)/urdf/URDF_Data.urdf" />
+  <node
+    name="joint_state_publisher_gui"
+    pkg="joint_state_publisher_gui"
+    type="joint_state_publisher_gui" />
+  <node
+    name="robot_state_publisher"
+    pkg="robot_state_publisher"
+    type="robot_state_publisher" />
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(find URDF_Data)/urdf.rviz" />
+</launch>

urdf/电水壶/electric_kettle_3/URDF_Data/launch/gazebo.launch

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+<launch>
+  <include
+    file="$(find gazebo_ros)/launch/empty_world.launch" />
+  <node
+    name="tf_footprint_base"
+    pkg="tf"
+    type="static_transform_publisher"
+    args="0 0 0 0 0 0 base_link base_footprint 40" />
+  <node
+    name="spawn_model"
+    pkg="gazebo_ros"
+    type="spawn_model"
+    args="-file $(find URDF_Data)/urdf/URDF_Data.urdf -urdf -model URDF_Data"
+    output="screen" />
+  <node
+    name="fake_joint_calibration"
+    pkg="rostopic"
+    type="rostopic"
+    args="pub /calibrated std_msgs/Bool true" />
+</launch>

urdf/电水壶/electric_kettle_3/URDF_Data/package.xml

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+<package format="2">
+  <name>URDF_Data</name>
+  <version>1.0.0</version>
+  <description>
+    <p>URDF Description package for URDF_Data</p>
+    <p>This package contains configuration data, 3D models and launch files
+for URDF_Data robot</p>
+  </description>
+  <author>TODO</author>
+  <maintainer email="TODO@email.com" />
+  <license>BSD</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>roslaunch</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>rviz</depend>
+  <depend>joint_state_publisher_gui</depend>
+  <depend>gazebo</depend>
+  <export>
+    <architecture_independent />
+  </export>
+</package>

urdf/电水壶/electric_kettle_3/URDF_Data/urdf/URDF_Data.csv

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+Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
+base_link,0.05,-0.20901,0.11901,0,0,0,323.68,175.91,23.236,0.63307,85.74,-2.6084,258.28,0,0,0,0,0,0,package://URDF_Data/meshes/base_link.STL,0.29804,0.29804,0.29804,1,0,0,0,0,0,0,package://URDF_Data/meshes/base_link.STL,,Дет1-1,frame0,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
+link_0,-0.31147,-0.0043356,0.89404,0,0,0,1265,1021.2,-3.6401,170.94,1280.7,2.3604,582.97,0,0,0,0,0,0,package://URDF_Data/meshes/link_0.STL,0.5,0.5,0.5,1,0,0,0,0,0,0,package://URDF_Data/meshes/link_0.STL,,Дет2-1,frame1,line1,joint_0,continuous,0,0,0.18,0,0,0,base_link,0,0,-1,,,,,,,,,,,,
+link_0_0,0.60845,0.64034,-0.02264,0,0,0,158.74,12.443,-3.5386,0.014968,9.991,0.023932,13.472,0,0,0,0,0,0,package://URDF_Data/meshes/link_0_0.STL,0.5,1,1,1,0,0,0,0,0,0,package://URDF_Data/meshes/link_0_0.STL,,Дет3-1,frame2,line2,joint_0_0,revolute,-0.62973,-0.02383,1.67,1.5708,0,0,link_0,-0.014019,0,-0.9999,0,0,-1.5708,0,,,,,,,,

urdf/电水壶/electric_kettle_3/URDF_Data/urdf/URDF_Data.urdf

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+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="URDF_Data">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="0.05 -0.20901 0.11901"
+        rpy="0 0 0" />
+      <mass
+        value="323.68" />
+      <inertia
+        ixx="175.91"
+        ixy="23.236"
+        ixz="0.63307"
+        iyy="85.74"
+        iyz="-2.6084"
+        izz="258.28" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://URDF_Data/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.29804 0.29804 0.29804 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://URDF_Data/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link_0">
+    <inertial>
+      <origin
+        xyz="-0.31147 -0.0043356 0.89404"
+        rpy="0 0 0" />
+      <mass
+        value="1265" />
+      <inertia
+        ixx="1021.2"
+        ixy="-3.6401"
+        ixz="170.94"
+        iyy="1280.7"
+        iyz="2.3604"
+        izz="582.97" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://URDF_Data/meshes/link_0.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.5 0.5 0.5 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://URDF_Data/meshes/link_0.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_0"
+    type="continuous">
+    <origin
+      xyz="0 0 0.18"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="link_0" />
+    <axis
+      xyz="0 0 -1" />
+  </joint>
+  <link
+    name="link_0_0">
+    <inertial>
+      <origin
+        xyz="0.60845 0.64034 -0.02264"
+        rpy="0 0 0" />
+      <mass
+        value="158.74" />
+      <inertia
+        ixx="12.443"
+        ixy="-3.5386"
+        ixz="0.014968"
+        iyy="9.991"
+        iyz="0.023932"
+        izz="13.472" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://URDF_Data/meshes/link_0_0.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.5 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://URDF_Data/meshes/link_0_0.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_0_0"
+    type="revolute">
+    <origin
+      xyz="-0.62973 -0.02383 1.67"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link_0" />
+    <child
+      link="link_0_0" />
+    <axis
+      xyz="-0.014019 0 -0.9999" />
+    <limit
+      lower="-1.5708"
+      upper="0"
+      effort="0"
+      velocity="0" />
+  </joint>
+</robot>

urdf/箱子盒子/connector-terminal-connector-1 2 STP/connector-terminal-connector-1 2 STP/SMSAN-ZX-GD/URDF_Data/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+
+project(URDF_Data)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+find_package(roslaunch)
+
+foreach(dir config launch meshes urdf)
+	install(DIRECTORY ${dir}/
+		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)

urdf/箱子盒子/connector-terminal-connector-1 2 STP/connector-terminal-connector-1 2 STP/SMSAN-ZX-GD/URDF_Data/config/joint_names_URDF_Data.yaml

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+controller_joint_names: ['', 'Joint1', ]

urdf/箱子盒子/connector-terminal-connector-1 2 STP/connector-terminal-connector-1 2 STP/SMSAN-ZX-GD/URDF_Data/launch/display.launch

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+<launch>
+  <arg
+    name="model" />
+  <param
+    name="robot_description"
+    textfile="$(find URDF_Data)/urdf/URDF_Data.urdf" />
+  <node
+    name="joint_state_publisher_gui"
+    pkg="joint_state_publisher_gui"
+    type="joint_state_publisher_gui" />
+  <node
+    name="robot_state_publisher"
+    pkg="robot_state_publisher"
+    type="robot_state_publisher" />
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(find URDF_Data)/urdf.rviz" />
+</launch>

urdf/箱子盒子/connector-terminal-connector-1 2 STP/connector-terminal-connector-1 2 STP/SMSAN-ZX-GD/URDF_Data/launch/gazebo.launch

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+<launch>
+  <include
+    file="$(find gazebo_ros)/launch/empty_world.launch" />
+  <node
+    name="tf_footprint_base"
+    pkg="tf"
+    type="static_transform_publisher"
+    args="0 0 0 0 0 0 base_link base_footprint 40" />
+  <node
+    name="spawn_model"
+    pkg="gazebo_ros"
+    type="spawn_model"
+    args="-file $(find URDF_Data)/urdf/URDF_Data.urdf -urdf -model URDF_Data"
+    output="screen" />
+  <node
+    name="fake_joint_calibration"
+    pkg="rostopic"
+    type="rostopic"
+    args="pub /calibrated std_msgs/Bool true" />
+</launch>

urdf/箱子盒子/connector-terminal-connector-1 2 STP/connector-terminal-connector-1 2 STP/SMSAN-ZX-GD/URDF_Data/package.xml

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+<package format="2">
+  <name>URDF_Data</name>
+  <version>1.0.0</version>
+  <description>
+    <p>URDF Description package for URDF_Data</p>
+    <p>This package contains configuration data, 3D models and launch files
+for URDF_Data robot</p>
+  </description>
+  <author>TODO</author>
+  <maintainer email="TODO@email.com" />
+  <license>BSD</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>roslaunch</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>rviz</depend>
+  <depend>joint_state_publisher_gui</depend>
+  <depend>gazebo</depend>
+  <export>
+    <architecture_independent />
+  </export>
+</package>