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Kashu7100 commited on
Commit
d26a68d
·
1 Parent(s): 9721124

add ur10e

Browse files
Files changed (15) hide show
  1. arms/universal_ur10e/assets/base.dae +3 -0
  2. arms/universal_ur10e/assets/base.stl +3 -0
  3. arms/universal_ur10e/assets/forearm.dae +3 -0
  4. arms/universal_ur10e/assets/forearm.stl +3 -0
  5. arms/universal_ur10e/assets/shoulder.dae +3 -0
  6. arms/universal_ur10e/assets/shoulder.stl +3 -0
  7. arms/universal_ur10e/assets/upperarm.dae +3 -0
  8. arms/universal_ur10e/assets/upperarm.stl +3 -0
  9. arms/universal_ur10e/assets/wrist1.dae +3 -0
  10. arms/universal_ur10e/assets/wrist1.stl +3 -0
  11. arms/universal_ur10e/assets/wrist2.dae +3 -0
  12. arms/universal_ur10e/assets/wrist2.stl +3 -0
  13. arms/universal_ur10e/assets/wrist3.dae +3 -0
  14. arms/universal_ur10e/assets/wrist3.stl +3 -0
  15. arms/universal_ur10e/ur10e.urdf +196 -0
arms/universal_ur10e/assets/base.dae ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:28226d95af8c1579a49fe69b62a00d9133a2a05258dad550bb9b583c80dc938f
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+ size 370618
arms/universal_ur10e/assets/base.stl ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:8a214f3f650e703fa081bd4bd8b1caeb0667598bec22d8b0e572efb97d06e957
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+ size 22984
arms/universal_ur10e/assets/forearm.dae ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:24d909834c380cceb0490181dae40bcdfcfa4a7fb0c6807d6e58794cdfadcf6e
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+ size 1375880
arms/universal_ur10e/assets/forearm.stl ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:7005ed835336ec03ce6a299a356c774bfe2ba989051e37b2a66406173dcb3c96
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+ size 67284
arms/universal_ur10e/assets/shoulder.dae ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:1c38a6afedfb8f064117da87b60c2dcb9ccd107f957e4c5e0a198f4c2bb63d36
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+ size 2344671
arms/universal_ur10e/assets/shoulder.stl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:3f7c5f7ee742cf2d57130829be9f20b25625b3513d676ac5e20ca46ae84fd528
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+ size 85284
arms/universal_ur10e/assets/upperarm.dae ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:f9d2380d14127440f4a50ed79ab4e7562f86289cd6131016c3d49a3e7483e6ed
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+ size 3168984
arms/universal_ur10e/assets/upperarm.stl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:663a935951c802b1c16ad7478e7ce754b2d48efb828bbe5d3915fb6bb51cd7db
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+ size 93784
arms/universal_ur10e/assets/wrist1.dae ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:643717d042920313dd9daa81511bd9afa66a877625967e6dd8d359ec851b4237
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+ size 1241549
arms/universal_ur10e/assets/wrist1.stl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:1408c3a0a29385fefe30ed44fceca56d2254f51ea93c75c404976816992324cc
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+ size 66984
arms/universal_ur10e/assets/wrist2.dae ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:b820e8c8a4488563c7a21fe73bf2fa4038ec9f882dcf9db12e2d1df928253793
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+ size 1428002
arms/universal_ur10e/assets/wrist2.stl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:4b9e74eab991af3dc9d38c3dfaad2c5bc69591fadc855f7966627ba4d0956579
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+ size 89184
arms/universal_ur10e/assets/wrist3.dae ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:52ace7588f131dc43b49ba88d1c83c1f871e6d00659ea84b1f437e2a7f1ab7fe
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+ size 71927
arms/universal_ur10e/assets/wrist3.stl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:7038904dd03dfea56212191ac61d26746b379dbddfd517b905e13c01e1c12e6a
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+ size 6984
arms/universal_ur10e/ur10e.urdf ADDED
@@ -0,0 +1,196 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version='1.0' encoding='utf-8'?>
2
+ <robot name="ur10e_genesis">
3
+ <link name="world" />
4
+ <link name="base_link">
5
+ <visual>
6
+ <origin rpy="0 0 0" xyz="0 0 0" />
7
+ <geometry>
8
+ <mesh filename="./assets/base.dae" />
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <origin rpy="0 0 0" xyz="0 0 0" />
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+ <geometry>
14
+ <mesh filename="./assets/base.stl" />
15
+ </geometry>
16
+ </collision>
17
+ <inertial>
18
+ <mass value="4.0" />
19
+ <origin rpy="0 0 0" xyz="0 0 0" />
20
+ <inertia ixx="0.0061063308908" ixy="0.0" ixz="0.0" iyy="0.0061063308908" iyz="0.0" izz="0.01125" />
21
+ </inertial>
22
+ </link>
23
+ <link name="shoulder_link">
24
+ <visual>
25
+ <origin rpy="0 0 3.141592653589793" xyz="0 0 0" />
26
+ <geometry>
27
+ <mesh filename="./assets/shoulder.dae" />
28
+ </geometry>
29
+ </visual>
30
+ <collision>
31
+ <origin rpy="0 0 3.141592653589793" xyz="0 0 0" />
32
+ <geometry>
33
+ <mesh filename="./assets/shoulder.stl" />
34
+ </geometry>
35
+ </collision>
36
+ <inertial>
37
+ <mass value="7.369" />
38
+ <origin rpy="1.570796326794897 0 0" xyz="0.021 -0.027 0.0" />
39
+ <inertia ixx="0.03408" ixy="2e-05" ixz="-0.00425" iyy="0.03529" iyz="8e-05" izz="0.02156" />
40
+ </inertial>
41
+ </link>
42
+ <link name="upper_arm_link">
43
+ <visual>
44
+ <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.1762" />
45
+ <geometry>
46
+ <mesh filename="./assets/upperarm.dae" />
47
+ </geometry>
48
+ </visual>
49
+ <collision>
50
+ <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.1762" />
51
+ <geometry>
52
+ <mesh filename="./assets/upperarm.stl" />
53
+ </geometry>
54
+ </collision>
55
+ <inertial>
56
+ <mass value="13.051" />
57
+ <origin rpy="0 0 0" xyz="-0.2327 0.0 0.158" />
58
+ <inertia ixx="0.02814" ixy="5e-05" ixz="-0.01561" iyy="0.77068" iyz="2e-05" izz="0.76943" />
59
+ </inertial>
60
+ </link>
61
+ <link name="forearm_link">
62
+ <visual>
63
+ <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0393" />
64
+ <geometry>
65
+ <mesh filename="./assets/forearm.dae" />
66
+ </geometry>
67
+ </visual>
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+ <collision>
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+ <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0393" />
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+ <geometry>
71
+ <mesh filename="./assets/forearm.stl" />
72
+ </geometry>
73
+ </collision>
74
+ <inertial>
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+ <mass value="3.989" />
76
+ <origin rpy="0 0 0" xyz="-0.33155 0.0 0.068" />
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+ <inertia ixx="0.01014" ixy="8e-05" ixz="0.00916" iyy="0.30928" iyz="0.0" izz="0.30646" />
78
+ </inertial>
79
+ </link>
80
+ <link name="wrist_1_link">
81
+ <visual>
82
+ <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.135" />
83
+ <geometry>
84
+ <mesh filename="./assets/wrist1.dae" />
85
+ </geometry>
86
+ </visual>
87
+ <collision>
88
+ <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.135" />
89
+ <geometry>
90
+ <mesh filename="./assets/wrist1.stl" />
91
+ </geometry>
92
+ </collision>
93
+ <inertial>
94
+ <mass value="2.1" />
95
+ <origin rpy="1.570796326794897 0 0" xyz="0.0 -0.018 0.007" />
96
+ <inertia ixx="0.00296" ixy="-1e-05" ixz="0.0" iyy="0.00222" iyz="-0.00024" izz="0.00258" />
97
+ </inertial>
98
+ </link>
99
+ <link name="wrist_2_link">
100
+ <visual>
101
+ <origin rpy="0 0 0" xyz="0 0 -0.12" />
102
+ <geometry>
103
+ <mesh filename="./assets/wrist2.dae" />
104
+ </geometry>
105
+ </visual>
106
+ <collision>
107
+ <origin rpy="0 0 0" xyz="0 0 -0.12" />
108
+ <geometry>
109
+ <mesh filename="./assets/wrist2.stl" />
110
+ </geometry>
111
+ </collision>
112
+ <inertial>
113
+ <mass value="1.98" />
114
+ <origin rpy="-1.570796326794897 0 0" xyz="0.0 0.018 -0.007" />
115
+ <inertia ixx="0.00296" ixy="-1e-05" ixz="0.0" iyy="0.00222" iyz="-0.00024" izz="0.00258" />
116
+ </inertial>
117
+ </link>
118
+ <link name="wrist_3_link">
119
+ <visual>
120
+ <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.1168" />
121
+ <geometry>
122
+ <mesh filename="./assets/wrist3.dae" />
123
+ </geometry>
124
+ </visual>
125
+ <collision>
126
+ <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.1168" />
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+ <geometry>
128
+ <mesh filename="./assets/wrist3.stl" />
129
+ </geometry>
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+ </collision>
131
+ <inertial>
132
+ <mass value="0.615" />
133
+ <origin rpy="0 0 0" xyz="0.0 0.0 -0.026" />
134
+ <inertia ixx="0.0004" ixy="0.0" ixz="0.0" iyy="0.00041" iyz="0.0" izz="0.00034" />
135
+ </inertial>
136
+ </link>
137
+ <link name="ee_link" />
138
+ <joint name="world_to_base" type="fixed">
139
+ <origin rpy="0 0 0" xyz="0 0 0" />
140
+ <parent link="world" />
141
+ <child link="base_link" />
142
+ </joint>
143
+ <joint name="shoulder_pan" type="revolute">
144
+ <parent link="base_link" />
145
+ <child link="shoulder_link" />
146
+ <origin rpy="0 0 3.141592653589793" xyz="0 0 0.1807" />
147
+ <axis xyz="0 0 1" />
148
+ <limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.0943951023931953" />
149
+ <dynamics damping="0" friction="0" />
150
+ </joint>
151
+ <joint name="shoulder_lift" type="revolute">
152
+ <parent link="shoulder_link" />
153
+ <child link="upper_arm_link" />
154
+ <origin rpy="1.570796327 0 0" xyz="0 0 0" />
155
+ <axis xyz="0 0 1" />
156
+ <limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.0943951023931953" />
157
+ <dynamics damping="0" friction="0" />
158
+ </joint>
159
+ <joint name="elbow" type="revolute">
160
+ <parent link="upper_arm_link" />
161
+ <child link="forearm_link" />
162
+ <origin rpy="0 0 0" xyz="-0.6127 0 0" />
163
+ <axis xyz="0 0 1" />
164
+ <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793" />
165
+ <dynamics damping="0" friction="0" />
166
+ </joint>
167
+ <joint name="wrist_1" type="revolute">
168
+ <parent link="forearm_link" />
169
+ <child link="wrist_1_link" />
170
+ <origin rpy="0 0 0" xyz="-0.57155 0 0.17415" />
171
+ <axis xyz="0 0 1" />
172
+ <limit effort="54.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793" />
173
+ <dynamics damping="0" friction="0" />
174
+ </joint>
175
+ <joint name="wrist_2" type="revolute">
176
+ <parent link="wrist_1_link" />
177
+ <child link="wrist_2_link" />
178
+ <origin rpy="1.570796327 0 0" xyz="0 -0.11985 -2.458164590756244e-11" />
179
+ <axis xyz="0 0 1" />
180
+ <limit effort="54.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793" />
181
+ <dynamics damping="0" friction="0" />
182
+ </joint>
183
+ <joint name="wrist_3" type="revolute">
184
+ <parent link="wrist_2_link" />
185
+ <child link="wrist_3_link" />
186
+ <origin rpy="1.570796326589793 3.141592653589793 3.141592653589793" xyz="0 0.11655 -2.390480459346185e-11" />
187
+ <axis xyz="0 0 1" />
188
+ <limit effort="54.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793" />
189
+ <dynamics damping="0" friction="0" />
190
+ </joint>
191
+ <joint name="wrist_3_to_ee" type="fixed">
192
+ <parent link="wrist_3_link" />
193
+ <child link="ee_link" />
194
+ <origin rpy="0 0 4.712389" xyz="0 0 0" />
195
+ </joint>
196
+ </robot>