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hangX
2025-08-03 16:21:23 +08:00
commit 07547cd755
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cmake_minimum_required(VERSION 2.8.3)
project(rm_75_6f_description)
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)

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controller_joint_names: ['', 'joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6', 'joint7', ]

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2023-02-07 19:23:02,977 INFO Logger.cs: 70 -
--------------------------------------------------------------------------------
2023-02-07 19:23:02,993 INFO Logger.cs: 71 - Logging commencing for SW2URDF exporter
2023-02-07 19:23:02,994 INFO Logger.cs: 73 - Commit version 1.6.0-1-g15f4949
2023-02-07 19:23:02,994 INFO Logger.cs: 74 - Build version 1.6.7594.29634
2023-02-07 19:23:02,995 INFO SwAddin.cs: 192 - Attempting to connect to SW
2023-02-07 19:23:02,995 INFO SwAddin.cs: 197 - Setting up callbacks
2023-02-07 19:23:02,995 INFO SwAddin.cs: 201 - Setting up command manager
2023-02-07 19:23:02,996 INFO SwAddin.cs: 204 - Adding command manager
2023-02-07 19:23:02,998 INFO SwAddin.cs: 263 - Adding Assembly export to file menu
2023-02-07 19:23:03,005 INFO SwAddin.cs: 272 - Adding Part export to file menu
2023-02-07 19:23:03,005 INFO SwAddin.cs: 210 - Adding event handlers
2023-02-07 19:23:03,015 INFO SwAddin.cs: 217 - Connecting plugin to SolidWorks

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usd/RM75-6F/RM75/urdf/rm_75_6f_description/launch/display.launch Normal file
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<launch>
<arg
name="model" />
<param
name="robot_description"
textfile="$(find rm_75_6f_description)/urdf/rm_75_6f_description.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 rm_75_6f_description)/urdf.rviz" />
</launch>

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usd/RM75-6F/RM75/urdf/rm_75_6f_description/launch/gazebo.launch Normal file
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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 rm_75_6f_description)/urdf/rm_75_6f_description.urdf -urdf -model rm_75_6f_description"
output="screen" />
<node
name="fake_joint_calibration"
pkg="rostopic"
type="rostopic"
args="pub /calibrated std_msgs/Bool true" />
</launch>

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usd/RM75-6F/RM75/urdf/rm_75_6f_description/package.xml Normal file
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<package format="2">
<name>rm_75_6f_description</name>
<version>1.0.0</version>
<description>
<p>URDF Description package for rm_75_6f_description</p>
<p>This package contains configuration data, 3D models and launch files
for rm_75_6f_description 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>

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usd/RM75-6F/RM75/urdf/rm_75_6f_description/urdf/rm_75_6f_description.csv Normal file
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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,0.00043296,3.5291E-05,0.059942,0,0,0,0.84105,0.0017261,2.5275E-06,3.6769E-05,0.0017099,-1.68E-06,0.00090402,0,0,0,0,0,0,package://rm_75_6f_description/meshes/base_link.STL,1,1,1,1,0,0,0,0,0,0,package://rm_75_6f_description/meshes/base_link.STL,,连杆1-1,baselink,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
Link1,-2.1376E-07,0.025186,-0.021108,0,0,0,0.59356,0.0012661,-9.8019E-09,-1.2951E-08,0.00056135,-0.00021122,0.0011817,0,0,0,0,0,0,package://rm_75_6f_description/meshes/Link1.STL,1,1,1,1,0,0,0,0,0,0,package://rm_75_6f_description/meshes/Link1.STL,,连杆2-1,Link1,axis1,joint1,revolute,0,0,0.2405,-1.5708,0,0,base_link,0,1,0,100,1,-3.107,3.107,,,,,,,,
Link2,4.1111E-07,0.011078,0.076129,0,0,0,0.43285,0.0012584,5.6315E-09,1.3348E-09,0.0012225,0.000279,0.00031747,0,0,0,0,0,0,package://rm_75_6f_description/meshes/Link2.STL,1,1,1,1,0,0,0,0,0,0,package://rm_75_6f_description/meshes/Link2.STL,,连杆3-1,Link2,axis2,joint2,revolute,0,0,0,1.5708,0,0,Link1,0,1,0,100,1,-2.269,2.269,,,,,,,,
Link3,-4.7932E-07,0.027347,-0.023544,0,0,0,0.43132,0.00079433,1.0334E-08,-2.329E-09,0.00031507,-0.00014262,0.00073037,0,0,0,0,0,0,package://rm_75_6f_description/meshes/Link3.STL,1,1,1,1,0,0,0,0,0,0,package://rm_75_6f_description/meshes/Link3.STL,,连杆4-1,Link3,axis3,joint3,revolute,0,0,0.256,-1.5708,0,0,Link2,0,1,0,100,1,-3.107,3.107,,,,,,,,
Link4,5.0444E-06,0.010569,0.059593,0,0,0,0.28963,0.00063737,-3.8666E-08,7.0522E-08,0.00061418,0.00014461,0.00015648,0,0,0,0,0,0,package://rm_75_6f_description/meshes/Link4.STL,1,1,1,1,0,0,0,0,0,0,package://rm_75_6f_description/meshes/Link4.STL,,连杆5-1,Link4,axis4,joint4,revolute,0,0,0,1.5708,0,0,Link3,0,1,0,100,1,-2.356,2.356,,,,,,,,
Link5,1.1466E-06,0.021541,-0.018041,0,0,0,0.23941,0.00028594,1.8435E-09,2.6611E-09,0.00011989,-4.4238E-05,0.00026273,0,0,0,0,0,0,package://rm_75_6f_description/meshes/Link5.STL,1,1,1,1,0,0,0,0,0,0,package://rm_75_6f_description/meshes/Link5.STL,,连杆6-1,Link5,axis5,joint5,revolute,0,0,0.21,-1.5708,0,0,Link4,0,-1,0,100,1,-3.107,3.107,,,,,,,,
Link6,4.5754E-06,0.0073681,0.059382,0,0,0,0.21879,0.00035053,-1.7437E-08,3.1653E-08,0.00033447,7.824E-05,0.00010492,0,0,0,0,0,0,package://rm_75_6f_description/meshes/Link6.STL,1,1,1,1,0,0,0,0,0,0,package://rm_75_6f_description/meshes/Link6.STL,,连杆7-RM75-6F-23.2.4-1,Link6,axis6,joint6,revolute,0,0,0,1.5708,0,0,Link5,0,1,0,100,1,-2.234,2.234,,,,,,,,
Link7,0.00032231,-0.0001782,-0.028676,0,0,0,0.14433,3.6119E-05,-1.3242E-06,-3.2733E-08,3.4626E-05,7.6694E-09,6.1463E-05,0,0,0,0,0,0,package://rm_75_6f_description/meshes/Link7.STL,1,1,1,1,0,0,0,0,0,0,package://rm_75_6f_description/meshes/Link7.STL,,六维力末端-RM75-6F-23.2.4-1,Link7,axis7,joint7,revolute,0,0,0.1725,0,0,0,Link6,0,0,1,100,1,-6.283,6.283,,,,,,,,
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 0.00043296 3.5291E-05 0.059942 0 0 0 0.84105 0.0017261 2.5275E-06 3.6769E-05 0.0017099 -1.68E-06 0.00090402 0 0 0 0 0 0 package://rm_75_6f_description/meshes/base_link.STL 1 1 1 1 0 0 0 0 0 0 package://rm_75_6f_description/meshes/base_link.STL 连杆1-1 baselink 0 0 0 0 0 0 0 0 0
3 Link1 -2.1376E-07 0.025186 -0.021108 0 0 0 0.59356 0.0012661 -9.8019E-09 -1.2951E-08 0.00056135 -0.00021122 0.0011817 0 0 0 0 0 0 package://rm_75_6f_description/meshes/Link1.STL 1 1 1 1 0 0 0 0 0 0 package://rm_75_6f_description/meshes/Link1.STL 连杆2-1 Link1 axis1 joint1 revolute 0 0 0.2405 -1.5708 0 0 base_link 0 1 0 100 1 -3.107 3.107
4 Link2 4.1111E-07 0.011078 0.076129 0 0 0 0.43285 0.0012584 5.6315E-09 1.3348E-09 0.0012225 0.000279 0.00031747 0 0 0 0 0 0 package://rm_75_6f_description/meshes/Link2.STL 1 1 1 1 0 0 0 0 0 0 package://rm_75_6f_description/meshes/Link2.STL 连杆3-1 Link2 axis2 joint2 revolute 0 0 0 1.5708 0 0 Link1 0 1 0 100 1 -2.269 2.269
5 Link3 -4.7932E-07 0.027347 -0.023544 0 0 0 0.43132 0.00079433 1.0334E-08 -2.329E-09 0.00031507 -0.00014262 0.00073037 0 0 0 0 0 0 package://rm_75_6f_description/meshes/Link3.STL 1 1 1 1 0 0 0 0 0 0 package://rm_75_6f_description/meshes/Link3.STL 连杆4-1 Link3 axis3 joint3 revolute 0 0 0.256 -1.5708 0 0 Link2 0 1 0 100 1 -3.107 3.107
6 Link4 5.0444E-06 0.010569 0.059593 0 0 0 0.28963 0.00063737 -3.8666E-08 7.0522E-08 0.00061418 0.00014461 0.00015648 0 0 0 0 0 0 package://rm_75_6f_description/meshes/Link4.STL 1 1 1 1 0 0 0 0 0 0 package://rm_75_6f_description/meshes/Link4.STL 连杆5-1 Link4 axis4 joint4 revolute 0 0 0 1.5708 0 0 Link3 0 1 0 100 1 -2.356 2.356
7 Link5 1.1466E-06 0.021541 -0.018041 0 0 0 0.23941 0.00028594 1.8435E-09 2.6611E-09 0.00011989 -4.4238E-05 0.00026273 0 0 0 0 0 0 package://rm_75_6f_description/meshes/Link5.STL 1 1 1 1 0 0 0 0 0 0 package://rm_75_6f_description/meshes/Link5.STL 连杆6-1 Link5 axis5 joint5 revolute 0 0 0.21 -1.5708 0 0 Link4 0 -1 0 100 1 -3.107 3.107
8 Link6 4.5754E-06 0.0073681 0.059382 0 0 0 0.21879 0.00035053 -1.7437E-08 3.1653E-08 0.00033447 7.824E-05 0.00010492 0 0 0 0 0 0 package://rm_75_6f_description/meshes/Link6.STL 1 1 1 1 0 0 0 0 0 0 package://rm_75_6f_description/meshes/Link6.STL 连杆7-RM75-6F-23.2.4-1 Link6 axis6 joint6 revolute 0 0 0 1.5708 0 0 Link5 0 1 0 100 1 -2.234 2.234
9 Link7 0.00032231 -0.0001782 -0.028676 0 0 0 0.14433 3.6119E-05 -1.3242E-06 -3.2733E-08 3.4626E-05 7.6694E-09 6.1463E-05 0 0 0 0 0 0 package://rm_75_6f_description/meshes/Link7.STL 1 1 1 1 0 0 0 0 0 0 package://rm_75_6f_description/meshes/Link7.STL 六维力末端-RM75-6F-23.2.4-1 Link7 axis7 joint7 revolute 0 0 0.1725 0 0 0 Link6 0 0 1 100 1 -6.283 6.283

453
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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: 1.6.0-1-g15f4949 Build Version: 1.6.7594.29634
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="rm_75_6f_description">
<link
name="base_link">
<inertial>
<origin
xyz="0.00043296 3.5291E-05 0.059942"
rpy="0 0 0" />
<mass
value="0.84105" />
<inertia
ixx="0.0017261"
ixy="2.5275E-06"
ixz="3.6769E-05"
iyy="0.0017099"
iyz="-1.68E-06"
izz="0.00090402" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rm_75_6f_description/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rm_75_6f_description/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="Link1">
<inertial>
<origin
xyz="-2.1376E-07 0.025186 -0.021108"
rpy="0 0 0" />
<mass
value="0.59356" />
<inertia
ixx="0.0012661"
ixy="-9.8019E-09"
ixz="-1.2951E-08"
iyy="0.00056135"
iyz="-0.00021122"
izz="0.0011817" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rm_75_6f_description/meshes/Link1.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rm_75_6f_description/meshes/Link1.STL" />
</geometry>
</collision>
</link>
<joint
name="joint1"
type="revolute">
<origin
xyz="0 0 0.2405"
rpy="-1.5708 0 0" />
<parent
link="base_link" />
<child
link="Link1" />
<axis
xyz="0 -1 0" />
<limit
lower="-3.107"
upper="3.107"
effort="100"
velocity="1" />
</joint>
<link
name="Link2">
<inertial>
<origin
xyz="4.1111E-07 0.011078 0.076129"
rpy="0 0 0" />
<mass
value="0.43285" />
<inertia
ixx="0.0012584"
ixy="5.6315E-09"
ixz="1.3348E-09"
iyy="0.0012225"
iyz="0.000279"
izz="0.00031747" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rm_75_6f_description/meshes/Link2.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rm_75_6f_description/meshes/Link2.STL" />
</geometry>
</collision>
</link>
<joint
name="joint2"
type="revolute">
<origin
xyz="0 0 0"
rpy="1.5708 0 0" />
<parent
link="Link1" />
<child
link="Link2" />
<axis
xyz="0 1 0" />
<limit
lower="-2.269"
upper="2.269"
effort="100"
velocity="1" />
</joint>
<link
name="Link3">
<inertial>
<origin
xyz="-4.7932E-07 0.027347 -0.023544"
rpy="0 0 0" />
<mass
value="0.43132" />
<inertia
ixx="0.00079433"
ixy="1.0334E-08"
ixz="-2.329E-09"
iyy="0.00031507"
iyz="-0.00014262"
izz="0.00073037" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rm_75_6f_description/meshes/Link3.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rm_75_6f_description/meshes/Link3.STL" />
</geometry>
</collision>
</link>
<joint
name="joint3"
type="revolute">
<origin
xyz="0 0 0.256"
rpy="-1.5708 0 0" />
<parent
link="Link2" />
<child
link="Link3" />
<axis
xyz="0 -1 0" />
<limit
lower="-3.107"
upper="3.107"
effort="100"
velocity="1" />
</joint>
<link
name="Link4">
<inertial>
<origin
xyz="5.0444E-06 0.010569 0.059593"
rpy="0 0 0" />
<mass
value="0.28963" />
<inertia
ixx="0.00063737"
ixy="-3.8666E-08"
ixz="7.0522E-08"
iyy="0.00061418"
iyz="0.00014461"
izz="0.00015648" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rm_75_6f_description/meshes/Link4.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rm_75_6f_description/meshes/Link4.STL" />
</geometry>
</collision>
</link>
<joint
name="joint4"
type="revolute">
<origin
xyz="0 0 0"
rpy="1.5708 0 0" />
<parent
link="Link3" />
<child
link="Link4" />
<axis
xyz="0 1 0" />
<limit
lower="-2.356"
upper="2.356"
effort="100"
velocity="1" />
</joint>
<link
name="Link5">
<inertial>
<origin
xyz="1.1466E-06 0.021541 -0.018041"
rpy="0 0 0" />
<mass
value="0.23941" />
<inertia
ixx="0.00028594"
ixy="1.8435E-09"
ixz="2.6611E-09"
iyy="0.00011989"
iyz="-4.4238E-05"
izz="0.00026273" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rm_75_6f_description/meshes/Link5.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rm_75_6f_description/meshes/Link5.STL" />
</geometry>
</collision>
</link>
<joint
name="joint5"
type="revolute">
<origin
xyz="0 0 0.21"
rpy="-1.5708 0 0" />
<parent
link="Link4" />
<child
link="Link5" />
<axis
xyz="0 -1 0" />
<limit
lower="-3.107"
upper="3.107"
effort="100"
velocity="1" />
</joint>
<link
name="Link6">
<inertial>
<origin
xyz="4.5754E-06 0.0073681 0.059382"
rpy="0 0 0" />
<mass
value="0.21879" />
<inertia
ixx="0.00035053"
ixy="-1.7437E-08"
ixz="3.1653E-08"
iyy="0.00033447"
iyz="7.824E-05"
izz="0.00010492" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rm_75_6f_description/meshes/Link6.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rm_75_6f_description/meshes/Link6.STL" />
</geometry>
</collision>
</link>
<joint
name="joint6"
type="revolute">
<origin
xyz="0 0 0"
rpy="1.5708 0 0" />
<parent
link="Link5" />
<child
link="Link6" />
<axis
xyz="0 1 0" />
<limit
lower="-2.234"
upper="2.234"
effort="100"
velocity="1" />
</joint>
<link
name="Link7">
<inertial>
<origin
xyz="0.00032231 -0.0001782 -0.028676"
rpy="0 0 0" />
<mass
value="0.14433" />
<inertia
ixx="3.6119E-05"
ixy="-1.3242E-06"
ixz="-3.2733E-08"
iyy="3.4626E-05"
iyz="7.6694E-09"
izz="6.1463E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rm_75_6f_description/meshes/Link7.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rm_75_6f_description/meshes/Link7.STL" />
</geometry>
</collision>
</link>
<joint
name="joint7"
type="revolute">
<origin
xyz="0 0 0.1725"
rpy="0 0 0" />
<parent
link="Link6" />
<child
link="Link7" />
<axis
xyz="0 0 1" />
<limit
lower="-6.283"
upper="6.283"
effort="100"
velocity="1" />
</joint>
</robot>

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usd/RM75-6F/RM75/urdf/rm_75_6fb_description/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 2.8.3)
project(RM75-6F)
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)

1
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controller_joint_names: ['', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6', 'joint7', ]

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<launch>
<arg
name="model" />
<param
name="robot_description"
textfile="$(find RM75-6F)/urdf/RM75-6F.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 RM75-6F)/urdf.rviz" />
</launch>

20
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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 RM75-6F)/urdf/RM75-6F.urdf -urdf -model RM75-6F"
output="screen" />
<node
name="fake_joint_calibration"
pkg="rostopic"
type="rostopic"
args="pub /calibrated std_msgs/Bool true" />
</launch>

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<package format="2">
<name>RM75-6F</name>
<version>1.0.0</version>
<description>
<p>URDF Description package for RM75-6F</p>
<p>This package contains configuration data, 3D models and launch files
for RM75-6F 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>

9
usd/RM75-6F/RM75/urdf/rm_75_6fb_description/urdf/RM75-6F.csv Normal file
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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,-0.000498402948737483,-5.19350130878639E-05,0.0600202841401171,0,0,0,0.838885280844646,0.00172321229512274,3.09076921222496E-06,-3.79221267118429E-05,0.00170514762450234,1.38793623479102E-06,0.000901589030446515,0,0,0,0,0,0,package://RM75-6F/meshes/base_link.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://RM75-6F/meshes/base_link.STL,,RM65-B(2)^RM65-B-3/____1-1,base_link,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
Link_1,-2.05546069214312E-07,0.0211077047188954,-0.0251861970792274,0,0,0,0.593542243994357,0.00126611498055767,-5.09885204907568E-09,-6.36116302372621E-09,0.00118165919048932,-0.000211204511668188,0.000561320297380402,0,0,0,0,0,0,package://RM75-6F/meshes/Link_1.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://RM75-6F/meshes/Link_1.STL,,RM65-B(2)^RM65-B-3/____2-1,Link1,axis1,joint_1,revolute,0,0,0.2405,0,0,0,base_link,0,0,-1,60,3.14,-3.105,3.105,,,,,,,,
Link_2,0.0763136648673591,2.25604659488516E-07,0.0110351066749764,0,0,0,0.431793252622024,0.000268635809354835,5.38400195758634E-09,0.000118398752097738,0.000673392413923473,2.775451517012E-09,0.000685025365005804,0,0,0,0,0,0,package://RM75-6F/meshes/Link_2.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://RM75-6F/meshes/Link_2.STL,,RM65-B(2)^RM65-B-3/____3-1,Link2,axis2,joint_2,revolute,0,0,0,1.5708,-1.5708,0,Link_1,0,0,1,60,3.14,-2.269,2.269,,,,,,,,
Link_3,-9.34564886744581E-07,0.0235439812552188,-0.0273474841772198,0,0,0,0.431326296657269,0.000794346293776048,-2.46594666817154E-09,1.38182845522653E-08,0.000730368377150695,-0.00014262661201261,0.000315064686122022,0,0,0,0,0,0,package://RM75-6F/meshes/Link_3.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://RM75-6F/meshes/Link_3.STL,,RM65-B(2)^RM65-B-3/____4-1,link7,axis7,joint_3,revolute,0.256,0,0,-1.5708,0,-1.5708,Link_2,0,0,-1,30,3.14,-3.105,3.105,,,,,,,,
Link_4,7.61611062783666E-06,-0.0596805348465099,0.0105473801339158,0,0,0,0.289205850325182,0.000311664175411657,-3.91365932508812E-08,-2.84168303215913E-08,0.000127702692259508,-5.25208251519262E-05,0.000316876178970335,0,0,0,0,0,0,package://RM75-6F/meshes/Link_4.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://RM75-6F/meshes/Link_4.STL,,RM65-B(2)^RM65-B-3/____5-1,Link3,axis3,joint_4,revolute,0,0,0,-1.5708,0,-3.1416,Link_3,0,0,1,30,3.14,-2.356,2.356,,,,,,,,
Link_5,1.32071622473062E-06,-0.0180437560522369,-0.0215381587841798,0,0,0,0.239430992940448,0.00028594979957681,-2.14337423072154E-09,1.40294693821108E-09,0.000262735545580892,4.4240809689715E-05,0.000119899058385996,0,0,0,0,0,0,package://RM75-6F/meshes/Link_5.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://RM75-6F/meshes/Link_5.STL,,RM65-B(2)^RM65-B-3/____6-1,Link4,axis4,joint_5,revolute,0,-0.21,0,1.5708,0,0,Link_4,0,0,-1,10,3.14,-3.105,3.105,,,,,,,,
Link_6,3.94055196472009E-06,-0.0593816138583267,0.00736784728352519,0,0,0,0.218795337037201,0.000189208616222452,6.22975410150677E-08,1.40847423709659E-08,8.86255082812279E-05,-2.96217754141107E-05,0.000189447410140766,0,0,0,0,0,0,package://RM75-6F/meshes/Link_6.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://RM75-6F/meshes/Link_6.STL,,RM65-B(2)^RM65-B-3/____7-1,Link5,axis5,joint_6,revolute,0,0,0,-1.5708,0,0,Link_5,0,0,1,10,3.14,-2.234,2.234,,,,,,,,
Link7,0.000138925080192131,-0.00576165054429959,-0.535978793667801,0,0,0,3.04299766417153,0.170786992717885,4.94423147160512E-07,0.000151102187588839,0.169944975345681,0.00105675739316114,0.00305291105869872,0,0,0,0,0,0,package://RM75-6F/meshes/Link7.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://RM75-6F/meshes/Link7.STL,,6f-1,Link6,axis6,joint7,revolute,0,-0.1613,0,1.5708,0,0,Link_6,0,0,1,10,3.14,-6.28,6.28,,,,,,,,
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 -0.000498402948737483 -5.19350130878639E-05 0.0600202841401171 0 0 0 0.838885280844646 0.00172321229512274 3.09076921222496E-06 -3.79221267118429E-05 0.00170514762450234 1.38793623479102E-06 0.000901589030446515 0 0 0 0 0 0 package://RM75-6F/meshes/base_link.STL 0.752941176470588 0.752941176470588 0.752941176470588 1 0 0 0 0 0 0 package://RM75-6F/meshes/base_link.STL RM65-B(2)^RM65-B-3/____1-1 base_link 0 0 0 0 0 0 0 0 0
3 Link_1 -2.05546069214312E-07 0.0211077047188954 -0.0251861970792274 0 0 0 0.593542243994357 0.00126611498055767 -5.09885204907568E-09 -6.36116302372621E-09 0.00118165919048932 -0.000211204511668188 0.000561320297380402 0 0 0 0 0 0 package://RM75-6F/meshes/Link_1.STL 0.752941176470588 0.752941176470588 0.752941176470588 1 0 0 0 0 0 0 package://RM75-6F/meshes/Link_1.STL RM65-B(2)^RM65-B-3/____2-1 Link1 axis1 joint_1 revolute 0 0 0.2405 0 0 0 base_link 0 0 -1 60 3.14 -3.105 3.105
4 Link_2 0.0763136648673591 2.25604659488516E-07 0.0110351066749764 0 0 0 0.431793252622024 0.000268635809354835 5.38400195758634E-09 0.000118398752097738 0.000673392413923473 2.775451517012E-09 0.000685025365005804 0 0 0 0 0 0 package://RM75-6F/meshes/Link_2.STL 0.752941176470588 0.752941176470588 0.752941176470588 1 0 0 0 0 0 0 package://RM75-6F/meshes/Link_2.STL RM65-B(2)^RM65-B-3/____3-1 Link2 axis2 joint_2 revolute 0 0 0 1.5708 -1.5708 0 Link_1 0 0 1 60 3.14 -2.269 2.269
5 Link_3 -9.34564886744581E-07 0.0235439812552188 -0.0273474841772198 0 0 0 0.431326296657269 0.000794346293776048 -2.46594666817154E-09 1.38182845522653E-08 0.000730368377150695 -0.00014262661201261 0.000315064686122022 0 0 0 0 0 0 package://RM75-6F/meshes/Link_3.STL 0.752941176470588 0.752941176470588 0.752941176470588 1 0 0 0 0 0 0 package://RM75-6F/meshes/Link_3.STL RM65-B(2)^RM65-B-3/____4-1 link7 axis7 joint_3 revolute 0.256 0 0 -1.5708 0 -1.5708 Link_2 0 0 -1 30 3.14 -3.105 3.105
6 Link_4 7.61611062783666E-06 -0.0596805348465099 0.0105473801339158 0 0 0 0.289205850325182 0.000311664175411657 -3.91365932508812E-08 -2.84168303215913E-08 0.000127702692259508 -5.25208251519262E-05 0.000316876178970335 0 0 0 0 0 0 package://RM75-6F/meshes/Link_4.STL 0.752941176470588 0.752941176470588 0.752941176470588 1 0 0 0 0 0 0 package://RM75-6F/meshes/Link_4.STL RM65-B(2)^RM65-B-3/____5-1 Link3 axis3 joint_4 revolute 0 0 0 -1.5708 0 -3.1416 Link_3 0 0 1 30 3.14 -2.356 2.356
7 Link_5 1.32071622473062E-06 -0.0180437560522369 -0.0215381587841798 0 0 0 0.239430992940448 0.00028594979957681 -2.14337423072154E-09 1.40294693821108E-09 0.000262735545580892 4.4240809689715E-05 0.000119899058385996 0 0 0 0 0 0 package://RM75-6F/meshes/Link_5.STL 0.752941176470588 0.752941176470588 0.752941176470588 1 0 0 0 0 0 0 package://RM75-6F/meshes/Link_5.STL RM65-B(2)^RM65-B-3/____6-1 Link4 axis4 joint_5 revolute 0 -0.21 0 1.5708 0 0 Link_4 0 0 -1 10 3.14 -3.105 3.105
8 Link_6 3.94055196472009E-06 -0.0593816138583267 0.00736784728352519 0 0 0 0.218795337037201 0.000189208616222452 6.22975410150677E-08 1.40847423709659E-08 8.86255082812279E-05 -2.96217754141107E-05 0.000189447410140766 0 0 0 0 0 0 package://RM75-6F/meshes/Link_6.STL 0.752941176470588 0.752941176470588 0.752941176470588 1 0 0 0 0 0 0 package://RM75-6F/meshes/Link_6.STL RM65-B(2)^RM65-B-3/____7-1 Link5 axis5 joint_6 revolute 0 0 0 -1.5708 0 0 Link_5 0 0 1 10 3.14 -2.234 2.234
9 Link7 0.000138925080192131 -0.00576165054429959 -0.535978793667801 0 0 0 3.04299766417153 0.170786992717885 4.94423147160512E-07 0.000151102187588839 0.169944975345681 0.00105675739316114 0.00305291105869872 0 0 0 0 0 0 package://RM75-6F/meshes/Link7.STL 0.792156862745098 0.819607843137255 0.933333333333333 1 0 0 0 0 0 0 package://RM75-6F/meshes/Link7.STL 6f-1 Link6 axis6 joint7 revolute 0 -0.1613 0 1.5708 0 0 Link_6 0 0 1 10 3.14 -6.28 6.28

453
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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: 1.6.0-1-g15f4949 Build Version: 1.6.7594.29634
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="RM75-6F">
<link
name="base_link">
<inertial>
<origin
xyz="-0.000498402948737483 -5.19350130878639E-05 0.0600202841401171"
rpy="0 0 0" />
<mass
value="0.838885280844646" />
<inertia
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<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.6.0-1-g15f4949 Build Version: 1.6.7594.29634
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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filename="/home/ubuntu/RM75/urdf/rm_75_6fb_description/meshes/Link7.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/ubuntu/RM75/urdf/rm_75_6fb_description/meshes/Link7.STL" />
</geometry>
</collision>
</link>
<joint
name="joint7"
type="revolute">
<origin
xyz="0 -0.1613 0"
rpy="1.5708 0 0" />
<parent
link="Link_6" />
<child
link="Link7" />
<axis
xyz="0 0 1" />
<limit
lower="-6.28"
upper="6.28"
effort="10"
velocity="3.14" />
</joint>
</robot>

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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: 1.6.0-1-g15f4949 Build Version: 1.6.7594.29634
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="RM75-6F">
<link
name="base_link">
<inertial>
<origin
xyz="-0.000498402948737483 -5.19350130878639E-05 0.0600202841401171"
rpy="0 0 0" />
<mass
value="0.838885280844646" />
<inertia
ixx="0.00172321229512274"
ixy="3.09076921222496E-06"
ixz="-3.79221267118429E-05"
iyy="0.00170514762450234"
iyz="1.38793623479102E-06"
izz="0.000901589030446515" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/ubuntu/RM75/urdf/rm_75_6fb_description/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/ubuntu/RM75/urdf/rm_75_6fb_description/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="Link_1">
<inertial>
<origin
xyz="-2.05546069214312E-07 0.0211077047188954 -0.0251861970792274"
rpy="0 0 0" />
<mass
value="0.593542243994357" />
<inertia
ixx="0.00126611498055767"
ixy="-5.09885204907568E-09"
ixz="-6.36116302372621E-09"
iyy="0.00118165919048932"
iyz="-0.000211204511668188"
izz="0.000561320297380402" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/ubuntu/RM75/urdf/rm_75_6fb_description/meshes/Link_1.STL" />
</geometry>
<material
name="">
<color
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/ubuntu/RM75/urdf/rm_75_6fb_description/meshes/Link_1.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_1"
type="revolute">
<origin
xyz="0 0 0.2405"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="Link_1" />
<axis
xyz="0 0 -1" />
<limit
lower="-3.105"
upper="3.105"
effort="60"
velocity="3.14" />
</joint>
<link
name="Link_2">
<inertial>
<origin
xyz="0.0763136648673591 2.25604659488516E-07 0.0110351066749764"
rpy="0 0 0" />
<mass
value="0.431793252622024" />
<inertia
ixx="0.000268635809354835"
ixy="5.38400195758634E-09"
ixz="0.000118398752097738"
iyy="0.000673392413923473"
iyz="2.775451517012E-09"
izz="0.000685025365005804" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/ubuntu/RM75/urdf/rm_75_6fb_description/meshes/Link_2.STL" />
</geometry>
<material
name="">
<color
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/ubuntu/RM75/urdf/rm_75_6fb_description/meshes/Link_2.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_2"
type="revolute">
<origin
xyz="0 0 0"
rpy="1.5708 -1.5708 0" />
<parent
link="Link_1" />
<child
link="Link_2" />
<axis
xyz="0 0 1" />
<limit
lower="-2.269"
upper="2.269"
effort="60"
velocity="3.14" />
</joint>
<link
name="Link_3">
<inertial>
<origin
xyz="-9.34564886744581E-07 0.0235439812552188 -0.0273474841772198"
rpy="0 0 0" />
<mass
value="0.431326296657269" />
<inertia
ixx="0.000794346293776048"
ixy="-2.46594666817154E-09"
ixz="1.38182845522653E-08"
iyy="0.000730368377150695"
iyz="-0.00014262661201261"
izz="0.000315064686122022" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/ubuntu/RM75/urdf/rm_75_6fb_description/meshes/Link_3.STL" />
</geometry>
<material
name="">
<color
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/ubuntu/RM75/urdf/rm_75_6fb_description/meshes/Link_3.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_3"
type="revolute">
<origin
xyz="0.256 0 0"
rpy="-1.5708 0 -1.5708" />
<parent
link="Link_2" />
<child
link="Link_3" />
<axis
xyz="0 0 -1" />
<limit
lower="-3.105"
upper="3.105"
effort="30"
velocity="3.14" />
</joint>
<link
name="Link_4">
<inertial>
<origin
xyz="7.61611062783666E-06 -0.0596805348465099 0.0105473801339158"
rpy="0 0 0" />
<mass
value="0.289205850325182" />
<inertia
ixx="0.000311664175411657"
ixy="-3.91365932508812E-08"
ixz="-2.84168303215913E-08"
iyy="0.000127702692259508"
iyz="-5.25208251519262E-05"
izz="0.000316876178970335" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/ubuntu/RM75/urdf/rm_75_6fb_description/meshes/Link_4.STL" />
</geometry>
<material
name="">
<color
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/ubuntu/RM75/urdf/rm_75_6fb_description/meshes/Link_4.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_4"
type="revolute">
<origin
xyz="0 0 0"
rpy="-1.5708 0 -3.1416" />
<parent
link="Link_3" />
<child
link="Link_4" />
<axis
xyz="0 0 1" />
<limit
lower="-2.356"
upper="2.356"
effort="30"
velocity="3.14" />
</joint>
<link
name="Link_5">
<inertial>
<origin
xyz="1.32071622473062E-06 -0.0180437560522369 -0.0215381587841798"
rpy="0 0 0" />
<mass
value="0.239430992940448" />
<inertia
ixx="0.00028594979957681"
ixy="-2.14337423072154E-09"
ixz="1.40294693821108E-09"
iyy="0.000262735545580892"
iyz="4.4240809689715E-05"
izz="0.000119899058385996" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/ubuntu/RM75/urdf/rm_75_6fb_description/meshes/Link_5.STL" />
</geometry>
<material
name="">
<color
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/ubuntu/RM75/urdf/rm_75_6fb_description/meshes/Link_5.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_5"
type="revolute">
<origin
xyz="0 -0.21 0"
rpy="1.5708 0 0" />
<parent
link="Link_4" />
<child
link="Link_5" />
<axis
xyz="0 0 -1" />
<limit
lower="-3.105"
upper="3.105"
effort="10"
velocity="3.14" />
</joint>
<link
name="Link_6">
<inertial>
<origin
xyz="3.94055196472009E-06 -0.0593816138583267 0.00736784728352519"
rpy="0 0 0" />
<mass
value="0.218795337037201" />
<inertia
ixx="0.000189208616222452"
ixy="6.22975410150677E-08"
ixz="1.40847423709659E-08"
iyy="8.86255082812279E-05"
iyz="-2.96217754141107E-05"
izz="0.000189447410140766" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/ubuntu/RM75/urdf/rm_75_6fb_description/meshes/Link_6.STL" />
</geometry>
<material
name="">
<color
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/ubuntu/RM75/urdf/rm_75_6fb_description/meshes/Link_6.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_6"
type="revolute">
<origin
xyz="0 0 0"
rpy="-1.5708 0 0" />
<parent
link="Link_5" />
<child
link="Link_6" />
<axis
xyz="0 0 1" />
<limit
lower="-2.234"
upper="2.234"
effort="10"
velocity="3.14" />
</joint>
<link
name="Link7">
<inertial>
<origin
xyz="0.000138925080192131 -0.00576165054429959 -0.535978793667801"
rpy="0 0 0" />
<mass
value="3.04299766417153" />
<inertia
ixx="0.170786992717885"
ixy="4.94423147160512E-07"
ixz="0.000151102187588839"
iyy="0.169944975345681"
iyz="0.00105675739316114"
izz="0.00305291105869872" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/ubuntu/50T/xh/learn/rm_models/RM75/urdf/rm_75_6fb_description/meshes/Link7.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="/home/ubuntu/RM75/urdf/rm_75_6fb_description/meshes/Link7.STL" />
</geometry>
</collision>
</link>
<joint
name="joint7"
type="revolute">
<origin
xyz="0 -0.1613 0"
rpy="1.5708 0 0" />
<parent
link="Link_6" />
<child
link="Link7" />
<axis
xyz="0 0 1" />
<limit
lower="-6.28"
upper="6.28"
effort="10"
velocity="3.14" />
</joint>
</robot>

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cmake_minimum_required(VERSION 2.8.3)
project(rm_75_b_description)
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)

1
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controller_joint_names: ['', 'joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6', 'joint7', ]

13
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2023-02-07 19:23:02,977 INFO Logger.cs: 70 -
--------------------------------------------------------------------------------
2023-02-07 19:23:02,993 INFO Logger.cs: 71 - Logging commencing for SW2URDF exporter
2023-02-07 19:23:02,994 INFO Logger.cs: 73 - Commit version 1.6.0-1-g15f4949
2023-02-07 19:23:02,994 INFO Logger.cs: 74 - Build version 1.6.7594.29634
2023-02-07 19:23:02,995 INFO SwAddin.cs: 192 - Attempting to connect to SW
2023-02-07 19:23:02,995 INFO SwAddin.cs: 197 - Setting up callbacks
2023-02-07 19:23:02,995 INFO SwAddin.cs: 201 - Setting up command manager
2023-02-07 19:23:02,996 INFO SwAddin.cs: 204 - Adding command manager
2023-02-07 19:23:02,998 INFO SwAddin.cs: 263 - Adding Assembly export to file menu
2023-02-07 19:23:03,005 INFO SwAddin.cs: 272 - Adding Part export to file menu
2023-02-07 19:23:03,005 INFO SwAddin.cs: 210 - Adding event handlers
2023-02-07 19:23:03,015 INFO SwAddin.cs: 217 - Connecting plugin to SolidWorks

20
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<launch>
<arg
name="model" />
<param
name="robot_description"
textfile="$(find rm_75_b_description)/urdf/rm_75_b_description.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 rm_75_b_description)/urdf.rviz" />
</launch>

20
usd/RM75-6F/RM75/urdf/rm_75_b_description/launch/gazebo.launch Normal file
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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 rm_75_b_description)/urdf/rm_75_b_description.urdf -urdf -model rm_75_b_description"
output="screen" />
<node
name="fake_joint_calibration"
pkg="rostopic"
type="rostopic"
args="pub /calibrated std_msgs/Bool true" />
</launch>

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<package format="2">
<name>rm_75_b_description</name>
<version>1.0.0</version>
<description>
<p>URDF Description package for rm_75_b_description</p>
<p>This package contains configuration data, 3D models and launch files
for rm_75_b_description 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>

9
usd/RM75-6F/RM75/urdf/rm_75_b_description/urdf/rm_75_b_description.csv Normal file
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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,0.00043296,3.5291E-05,0.059942,0,0,0,0.84105,0.0017261,2.5275E-06,3.6769E-05,0.0017099,-1.68E-06,0.00090402,0,0,0,0,0,0,package://rm_75_b_description/meshes/base_link.STL,1,1,1,1,0,0,0,0,0,0,package://rm_75_b_description/meshes/base_link.STL,,连杆1-1,baselink,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
Link1,-2.1376E-07,0.025186,-0.021108,0,0,0,0.59356,0.0012661,-9.8019E-09,-1.2951E-08,0.00056135,-0.00021122,0.0011817,0,0,0,0,0,0,package://rm_75_b_description/meshes/Link1.STL,1,1,1,1,0,0,0,0,0,0,package://rm_75_b_description/meshes/Link1.STL,,连杆2-1,Link1,axis1,joint1,revolute,0,0,0.2405,-1.5708,0,0,base_link,0,1,0,100,1,-3.107,3.107,,,,,,,,
Link2,4.1111E-07,0.011078,0.076129,0,0,0,0.43285,0.0012584,5.6315E-09,1.3348E-09,0.0012225,0.000279,0.00031747,0,0,0,0,0,0,package://rm_75_b_description/meshes/Link2.STL,1,1,1,1,0,0,0,0,0,0,package://rm_75_b_description/meshes/Link2.STL,,连杆3-1,Link2,axis2,joint2,revolute,0,0,0,1.5708,0,0,Link1,0,1,0,100,1,-2.269,2.269,,,,,,,,
Link3,-4.7932E-07,0.027347,-0.023544,0,0,0,0.43132,0.00079433,1.0334E-08,-2.329E-09,0.00031507,-0.00014262,0.00073037,0,0,0,0,0,0,package://rm_75_b_description/meshes/Link3.STL,1,1,1,1,0,0,0,0,0,0,package://rm_75_b_description/meshes/Link3.STL,,连杆4-1,Link3,axis3,joint3,revolute,0,0,0.256,-1.5708,0,0,Link2,0,1,0,100,1,-3.107,3.107,,,,,,,,
Link4,5.04435212973917E-06,0.0105690695133412,0.0595925665289757,0,0,0,0.289633678265103,0.000637371005109702,-3.86660305569649E-08,7.05218533863962E-08,0.000614178166422525,0.000144610362608661,0.00015648387937887,0,0,0,0,0,0,package://rm_75_b_description/meshes/Link4.STL,1,1,1,1,0,0,0,0,0,0,package://rm_75_b_description/meshes/Link4.STL,,连杆5-1,Link4,axis4,joint4,revolute,0,0,0,1.5708,0,0,Link3,0,1,0,100,1,-2.356,2.356,,,,,,,,
Link5,1.1466E-06,0.021541,-0.018041,0,0,0,0.23941,0.00028594,1.8435E-09,2.6611E-09,0.00011989,-4.4238E-05,0.00026273,0,0,0,0,0,0,package://rm_75_b_description/meshes/Link5.STL,1,1,1,1,0,0,0,0,0,0,package://rm_75_b_description/meshes/Link5.STL,,连杆6-1,Link5,axis5,joint5,revolute,0,0,0.21,-1.5708,0,0,Link4,0,-1,0,100,1,-3.107,3.107,,,,,,,,
Link6,4.5754E-06,0.0073681,0.059382,0,0,0,0.21879,0.00035053,-1.7437E-08,3.1653E-08,0.00033447,7.824E-05,0.00010492,0,0,0,0,0,0,package://rm_75_b_description/meshes/Link6.STL,1,1,1,1,0,0,0,0,0,0,package://rm_75_b_description/meshes/Link6.STL,,连杆7-RM75-6F-23.2.4-1,Link6,axis6,joint6,revolute,0,0,0,1.5708,0,0,Link5,0,1,0,100,1,-2.234,2.234,,,,,,,,
Link7,0.00081643,1.3288E-05,-0.012705,0,0,0,0.065035,2.1143E-05,-2.2878E-08,-2.5601E-08,1.811E-05,-1.0178E-08,3.19E-05,0,0,0,0,0,0,package://rm_75_b_description/meshes/Link7.STL,1,1,1,1,0,0,0,0,0,0,package://rm_75_b_description/meshes/Link7.STL,,RM75B末端23.2.6-1,Link7,axis7,joint7,revolute,0,0,0.144,0,0,0,Link6,0,0,1,100,1,-6.283,6.283,,,,,,,,
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 0.00043296 3.5291E-05 0.059942 0 0 0 0.84105 0.0017261 2.5275E-06 3.6769E-05 0.0017099 -1.68E-06 0.00090402 0 0 0 0 0 0 package://rm_75_b_description/meshes/base_link.STL 1 1 1 1 0 0 0 0 0 0 package://rm_75_b_description/meshes/base_link.STL 连杆1-1 baselink 0 0 0 0 0 0 0 0 0
3 Link1 -2.1376E-07 0.025186 -0.021108 0 0 0 0.59356 0.0012661 -9.8019E-09 -1.2951E-08 0.00056135 -0.00021122 0.0011817 0 0 0 0 0 0 package://rm_75_b_description/meshes/Link1.STL 1 1 1 1 0 0 0 0 0 0 package://rm_75_b_description/meshes/Link1.STL 连杆2-1 Link1 axis1 joint1 revolute 0 0 0.2405 -1.5708 0 0 base_link 0 1 0 100 1 -3.107 3.107
4 Link2 4.1111E-07 0.011078 0.076129 0 0 0 0.43285 0.0012584 5.6315E-09 1.3348E-09 0.0012225 0.000279 0.00031747 0 0 0 0 0 0 package://rm_75_b_description/meshes/Link2.STL 1 1 1 1 0 0 0 0 0 0 package://rm_75_b_description/meshes/Link2.STL 连杆3-1 Link2 axis2 joint2 revolute 0 0 0 1.5708 0 0 Link1 0 1 0 100 1 -2.269 2.269
5 Link3 -4.7932E-07 0.027347 -0.023544 0 0 0 0.43132 0.00079433 1.0334E-08 -2.329E-09 0.00031507 -0.00014262 0.00073037 0 0 0 0 0 0 package://rm_75_b_description/meshes/Link3.STL 1 1 1 1 0 0 0 0 0 0 package://rm_75_b_description/meshes/Link3.STL 连杆4-1 Link3 axis3 joint3 revolute 0 0 0.256 -1.5708 0 0 Link2 0 1 0 100 1 -3.107 3.107
6 Link4 5.04435212973917E-06 0.0105690695133412 0.0595925665289757 0 0 0 0.289633678265103 0.000637371005109702 -3.86660305569649E-08 7.05218533863962E-08 0.000614178166422525 0.000144610362608661 0.00015648387937887 0 0 0 0 0 0 package://rm_75_b_description/meshes/Link4.STL 1 1 1 1 0 0 0 0 0 0 package://rm_75_b_description/meshes/Link4.STL 连杆5-1 Link4 axis4 joint4 revolute 0 0 0 1.5708 0 0 Link3 0 1 0 100 1 -2.356 2.356
7 Link5 1.1466E-06 0.021541 -0.018041 0 0 0 0.23941 0.00028594 1.8435E-09 2.6611E-09 0.00011989 -4.4238E-05 0.00026273 0 0 0 0 0 0 package://rm_75_b_description/meshes/Link5.STL 1 1 1 1 0 0 0 0 0 0 package://rm_75_b_description/meshes/Link5.STL 连杆6-1 Link5 axis5 joint5 revolute 0 0 0.21 -1.5708 0 0 Link4 0 -1 0 100 1 -3.107 3.107
8 Link6 4.5754E-06 0.0073681 0.059382 0 0 0 0.21879 0.00035053 -1.7437E-08 3.1653E-08 0.00033447 7.824E-05 0.00010492 0 0 0 0 0 0 package://rm_75_b_description/meshes/Link6.STL 1 1 1 1 0 0 0 0 0 0 package://rm_75_b_description/meshes/Link6.STL 连杆7-RM75-6F-23.2.4-1 Link6 axis6 joint6 revolute 0 0 0 1.5708 0 0 Link5 0 1 0 100 1 -2.234 2.234
9 Link7 0.00081643 1.3288E-05 -0.012705 0 0 0 0.065035 2.1143E-05 -2.2878E-08 -2.5601E-08 1.811E-05 -1.0178E-08 3.19E-05 0 0 0 0 0 0 package://rm_75_b_description/meshes/Link7.STL 1 1 1 1 0 0 0 0 0 0 package://rm_75_b_description/meshes/Link7.STL RM75B末端23.2.6-1 Link7 axis7 joint7 revolute 0 0 0.144 0 0 0 Link6 0 0 1 100 1 -6.283 6.283

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<?xml version="1.0" encoding="utf-8"?>
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name="rm_75_b_description">
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name="base_link">
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xyz="0.000433268851866144 3.54527840972405E-05 0.0599427623574736"
rpy="0 0 0" />
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ixx="0.00172611149818605"
ixy="2.52724703312125E-06"
ixz="3.67689528877993E-05"
iyy="0.00170987425756066"
iyz="-1.68009023667311E-06"
izz="0.000904023916742301" />
</inertial>
<visual>
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xyz="0 0 0"
rpy="0 0 0" />
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filename="package://rm_75_b_description/meshes/base_link.STL" />
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<material
name="">
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rgba="1 1 1 1" />
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xyz="0 0 0"
rpy="0 0 0" />
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filename="package://rm_75_b_description/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="Link1">
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xyz="0.0251854224372461 1.19160585601655E-08 -0.021107996993288"
rpy="0 0 0" />
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ixy="9.8019294192418E-09"
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iyz="1.29510293158304E-08"
izz="0.0011816817861243" />
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xyz="0 0 0"
rpy="0 0 0" />
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filename="package://rm_75_b_description/meshes/link1.STL" />
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name="">
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rgba="1 1 1 1" />
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xyz="0 0 0"
rpy="0 0 0" />
<geometry>
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filename="package://rm_75_b_description/meshes/link1.STL" />
</geometry>
</collision>
</link>
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name="joint1"
type="revolute">
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xyz="0 0 0.2405"
rpy="-1.5708 0 0" />
<parent
link="base_link" />
<child
link="Link1" />
<axis
xyz="0 -1 0" />
<limit
lower="-3.1"
upper="3.1"
effort="60"
velocity="3.14" />
</joint>
<link
name="Link2">
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xyz="2.72859133252335E-07 0.011077753037361 0.0761295106490881"
rpy="0 0 0" />
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value="0.432849770310974" />
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ixy="5.63146579602116E-09"
ixz="1.33486683063366E-09"
iyy="0.00122245448121472"
iyz="0.000279003475762058"
izz="0.000317474184276672" />
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xyz="0 0 0"
rpy="0 0 0" />
<geometry>
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filename="package://rm_75_b_description/meshes/link2.STL" />
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name="">
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rgba="1 1 1 1" />
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xyz="0 0 0"
rpy="0 0 0" />
<geometry>
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filename="package://rm_75_b_description/meshes/link2.STL" />
</geometry>
</collision>
</link>
<joint
name="joint2"
type="revolute">
<origin
xyz="0 0 0"
rpy="1.5708 0 0" />
<parent
link="Link1" />
<child
link="Link2" />
<axis
xyz="0 1 0" />
<limit
lower="-2.268"
upper="2.268"
effort="60"
velocity="3.14" />
</joint>
<link
name="Link3">
<inertial>
<origin
xyz="6.84676164566044E-07 0.0273475408308154 -0.0235440119707943"
rpy="0 0 0" />
<mass
value="0.431325495678459" />
<inertia
ixx="0.000794332771462568"
ixy="1.03353218375171E-08"
ixz="-2.32798826854953E-09"
iyy="0.000315065343266245"
iyz="-0.000142620540462618"
izz="0.000730371131605455" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rm_75_b_description/meshes/link3.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
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xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rm_75_b_description/meshes/link3.STL" />
</geometry>
</collision>
</link>
<joint
name="joint3"
type="revolute">
<origin
xyz="0 0 0.256"
rpy="-1.5708 0 0" />
<parent
link="Link2" />
<child
link="Link3" />
<axis
xyz="0 -1 0" />
<limit
lower="-3.1"
upper="3.1"
effort="30"
velocity="3.92" />
</joint>
<link
name="Link4">
<inertial>
<origin
xyz="5.05312670298932E-06 0.0105690692118619 0.0595925663703773"
rpy="0 0 0" />
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value="0.289633681619295" />
<inertia
ixx="0.000637371004484591"
ixy="-3.86643270900744E-08"
ixz="7.05261290886955E-08"
iyy="0.000614178164759844"
iyz="0.000144610359942128"
izz="0.000156483880946498" />
</inertial>
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xyz="0 0 0"
rpy="0 0 0" />
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filename="package://rm_75_b_description/meshes/link4.STL" />
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<material
name="">
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rgba="1 1 1 1" />
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xyz="0 0 0"
rpy="0 0 0" />
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</collision>
</link>
<joint
name="joint4"
type="revolute">
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xyz="0 0 0"
rpy="1.5708 0 0" />
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link="Link4" />
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xyz="0 1 0" />
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upper="2.355"
effort="30"
velocity="3.92" />
</joint>
<link
name="Link5">
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rpy="0 0 0" />
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ixy="2.21994116852616E-09"
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iyz="-4.4236583260078E-05"
izz="0.000262727540304212" />
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rpy="0 0 0" />
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</link>
<joint
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type="revolute">
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velocity="3.92" />
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<link
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type="revolute">
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<link
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