usd

usd/RM75-6F/RM75/urdf/rm_75_6f_description/CMakeLists.txt

@@ -0,0 +1,14 @@
+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)

usd/RM75-6F/RM75/urdf/rm_75_6f_description/config/joint_names_rm_75_6f_description.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['', 'joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6', 'joint7', ]

usd/RM75-6F/RM75/urdf/rm_75_6f_description/export.log

@@ -0,0 +1,13 @@
+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

usd/RM75-6F/RM75/urdf/rm_75_6f_description/launch/display.launch

@@ -0,0 +1,20 @@
+<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>

usd/RM75-6F/RM75/urdf/rm_75_6f_description/launch/gazebo.launch

@@ -0,0 +1,20 @@
+<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>

usd/RM75-6F/RM75/urdf/rm_75_6f_description/package.xml

@@ -0,0 +1,21 @@
+<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>

usd/RM75-6F/RM75/urdf/rm_75_6f_description/urdf/rm_75_6f_description.csv

@@ -0,0 +1,9 @@
+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,,,,,,,,

usd/RM75-6F/RM75/urdf/rm_75_6f_description/urdf/rm_75_6f_description.urdf

@@ -0,0 +1,453 @@
+<?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>

usd/RM75-6F/RM75/urdf/rm_75_6fb_description/CMakeLists.txt

@@ -0,0 +1,14 @@
+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)

usd/RM75-6F/RM75/urdf/rm_75_6fb_description/config/joint_names_RM75-6F.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6', 'joint7', ]

usd/RM75-6F/RM75/urdf/rm_75_6fb_description/launch/display.launch

@@ -0,0 +1,20 @@
+<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>

usd/RM75-6F/RM75/urdf/rm_75_6fb_description/launch/gazebo.launch

@@ -0,0 +1,20 @@
+<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>

usd/RM75-6F/RM75/urdf/rm_75_6fb_description/package.xml

@@ -0,0 +1,21 @@
+<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>

usd/RM75-6F/RM75/urdf/rm_75_6fb_description/urdf/RM75-6F.csv

@@ -0,0 +1,9 @@
+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,,,,,,,,

usd/RM75-6F/RM75/urdf/rm_75_6fb_description/urdf/RM75-6F.urdf

@@ -0,0 +1,453 @@
+<?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="package://RM75-6F/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="package://RM75-6F/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="package://RM75-6F/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="package://RM75-6F/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="package://RM75-6F/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="package://RM75-6F/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="package://RM75-6F/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="package://RM75-6F/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="package://RM75-6F/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="package://RM75-6F/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="package://RM75-6F/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="package://RM75-6F/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="package://RM75-6F/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="package://RM75-6F/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="package://RM75-6F/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>

usd/RM75-6F/RM75/urdf/rm_75_6fb_description/urdf/RM75-6F_absolute_paths.urdf

@@ -0,0 +1,453 @@
+<?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/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>

usd/RM75-6F/RM75/urdf/rm_75_6fb_description/urdf/RM75-6F_fixed.urdf

@@ -0,0 +1,453 @@
+<?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>

usd/RM75-6F/RM75/urdf/rm_75_b_description/CMakeLists.txt

@@ -0,0 +1,14 @@
+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)

usd/RM75-6F/RM75/urdf/rm_75_b_description/config/joint_names_rm_75_b_description.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['', 'joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6', 'joint7', ]

usd/RM75-6F/RM75/urdf/rm_75_b_description/export.log

@@ -0,0 +1,13 @@
+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

usd/RM75-6F/RM75/urdf/rm_75_b_description/launch/display.launch

@@ -0,0 +1,20 @@
+<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>

usd/RM75-6F/RM75/urdf/rm_75_b_description/launch/gazebo.launch

@@ -0,0 +1,20 @@
+<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>

usd/RM75-6F/RM75/urdf/rm_75_b_description/package.xml

@@ -0,0 +1,21 @@
+<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>

usd/RM75-6F/RM75/urdf/rm_75_b_description/urdf/rm_75_b_description.csv

@@ -0,0 +1,9 @@
+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,,,,,,,,

usd/RM75-6F/RM75/urdf/rm_75_b_description/urdf/rm_75_b_description.urdf

@@ -0,0 +1,450 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="rm_75_b_description">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="0.000433268851866144 3.54527840972405E-05 0.0599427623574736"
+        rpy="0 0 0" />
+      <mass
+        value="0.841071174772543" />
+      <inertia
+        ixx="0.00172611149818605"
+        ixy="2.52724703312125E-06"
+        ixz="3.67689528877993E-05"
+        iyy="0.00170987425756066"
+        iyz="-1.68009023667311E-06"
+        izz="0.000904023916742301" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://rm_75_b_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_b_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="Link1">
+    <inertial>
+      <origin
+        xyz="0.0251854224372461 1.19160585601655E-08 -0.021107996993288"
+        rpy="0 0 0" />
+      <mass
+        value="0.593563458735581" />
+      <inertia
+        ixx="0.000561352422092522"
+        ixy="9.8019294192418E-09"
+        ixz="-0.000211217278563478"
+        iyy="0.00126614121202124"
+        iyz="1.29510293158304E-08"
+        izz="0.0011816817861243" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://rm_75_b_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_b_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="-3.1"
+      upper="3.1"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="Link2">
+    <inertial>
+      <origin
+        xyz="2.72859133252335E-07 0.011077753037361 0.0761295106490881"
+        rpy="0 0 0" />
+      <mass
+        value="0.432849770310974" />
+      <inertia
+        ixx="0.00125838173873093"
+        ixy="5.63146579602116E-09"
+        ixz="1.33486683063366E-09"
+        iyy="0.00122245448121472"
+        iyz="0.000279003475762058"
+        izz="0.000317474184276672" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://rm_75_b_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_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>
+      <origin
+        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" />
+      <mass
+        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>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://rm_75_b_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_b_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="-2.355"
+      upper="2.355"
+      effort="30"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="Link5">
+    <inertial>
+      <origin
+        xyz="1.1551661767744E-06 0.0215394748352686 -0.0180424468598241"
+        rpy="0 0 0" />
+      <mass
+        value="0.239419768320061" />
+      <inertia
+        ixx="0.000285938919722783"
+        ixy="2.21994116852616E-09"
+        ixz="3.07101358617598E-09"
+        iyy="0.00011988808279186"
+        iyz="-4.4236583260078E-05"
+        izz="0.000262727540304212" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://rm_75_b_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_b_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="-3.1"
+      upper="3.1"
+      effort="10"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="Link6">
+    <inertial>
+      <origin
+        xyz="3.19794787018954E-06 0.00736804250989373 0.0593808368101291"
+        rpy="0 0 0" />
+      <mass
+        value="0.218799761431682" />
+      <inertia
+        ixx="0.000350540363914436"
+        ixy="-1.7705645712277E-08"
+        ixz="3.41781620449632E-08"
+        iyy="0.000334482418423991"
+        iyz="7.82431228462317E-05"
+        izz="0.000104927867487584" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://rm_75_b_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_b_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="-2.233"
+      upper="2.233"
+      effort="10"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="Link7">
+    <inertial>
+      <origin
+        xyz="0.000714238382876259 -0.000396711987952758 -0.0126723660946126"
+        rpy="0 0 0" />
+      <mass
+        value="0.0649018034311231" />
+      <inertia
+        ixx="2.02766547502765E-05"
+        ixy="-1.32505200276848E-06"
+        ixz="-2.58450915224912E-08"
+        iyy="1.87986725225022E-05"
+        iyz="3.39471452123283E-09"
+        izz="3.17885459163081E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://rm_75_b_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_b_description/meshes/link7.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint7"
+    type="revolute">
+    <origin
+      xyz="0 0 0.144"
+      rpy="0 0 0" />
+    <parent
+      link="Link6" />
+    <child
+      link="Link7" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-6.28"
+      upper="6.28"
+      effort="10"
+      velocity="3.92" />
+  </joint>
+</robot>