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fix: remove spaces from link names to support Jammy

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Viz doesn't work when the links have spaces in their names on Jammy ._.
This commit is contained in:
David Sharpe
2025-08-24 21:02:15 -05:00
committed by David
parent d72a9a3b5e
commit d92ca3ae5a
13 changed files with 88 additions and 88 deletions
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2
src/arm_pkg/arm_pkg/arm_node.py
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@@ -360,7 +360,7 @@ class SerialRelay(Node):
self.joint_state.header.stamp = self.get_clock().now().to_msg() self.joint_state.header.stamp = self.get_clock().now().to_msg()
self.joint_state_pub.publish(self.joint_state) self.joint_state_pub.publish(self.joint_state)
self.odom_trans.header.stamp = self.get_clock().now().to_msg() # self.odom_trans.header.stamp = self.get_clock().now().to_msg()
self.tf_broadcaster.sendTransform(self.odom_trans) self.tf_broadcaster.sendTransform(self.odom_trans)
else: else:
self.get_logger().info("Invalid angle feedback input format") self.get_logger().info("Invalid angle feedback input format")

2
src/arm_pkg/urdf/arm12.urdf
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@@ -45,7 +45,7 @@
<origin xyz="-0.175 0 0" rpy="0 0 0" /> <origin xyz="-0.175 0 0" rpy="0 0 0" />
<geometry> <geometry>
<!-- <cylinder radius="0.15" length="0.059" /> --> <!-- <cylinder radius="0.15" length="0.059" /> -->
<mesh filename="package://arm_pkg/urdf/Axis 0 Plate.STL" scale="1 1 1"/> <mesh filename="package://arm_pkg/urdf/Axis_0_Plate.STL" scale="1 1 1"/>
</geometry> </geometry>
<material name="Axis_0-material"> <material name="Axis_0-material">
<color rgba="0.3515325994898463 0.4735314961384573 0.9301108583738498 1" /> <color rgba="0.3515325994898463 0.4735314961384573 0.9301108583738498 1" />

66
src/astra_arm_moveit_config/config/ASTRA_Arm.srdf
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@@ -19,8 +19,8 @@
<joint name="Wrist-EF_Roll_Joint"/> <joint name="Wrist-EF_Roll_Joint"/>
</group> </group>
<group name="Hand"> <group name="Hand">
<link name="EF Gripper Left"/> <link name="EF_Gripper_Left"/>
<link name="EF Gripper Right"/> <link name="EF_Gripper_Right"/>
</group> </group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'--> <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="Zero Position" group="astra_arm"> <group_state name="Zero Position" group="astra_arm">
@@ -56,39 +56,39 @@
<joint name="Gripper_Slider_Right" value="-0.0215"/> <joint name="Gripper_Slider_Right" value="-0.0215"/>
</group_state> </group_state>
<!--END EFFECTOR: Purpose: Represent information about an end effector.--> <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="Hand" parent_link="End Effector" group="Hand"/> <end_effector name="Hand" parent_link="End_Effector" group="Hand"/>
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)--> <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="base_link"/> <virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="base_link"/>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. --> <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="Axis 0 Plate" link2="Axis 1 Segment" reason="Adjacent"/> <disable_collisions link1="Axis_0_Plate" link2="Axis_1_Segment" reason="Adjacent"/>
<disable_collisions link1="Axis 0 Plate" link2="Axis 2 Segment" reason="Never"/> <disable_collisions link1="Axis_0_Plate" link2="Axis_2_Segment" reason="Never"/>
<disable_collisions link1="Axis 0 Plate" link2="Diff Carrier" reason="Never"/> <disable_collisions link1="Axis_0_Plate" link2="Diff_Carrier" reason="Never"/>
<disable_collisions link1="Axis 0 Plate" link2="End Effector" reason="Never"/> <disable_collisions link1="Axis_0_Plate" link2="End_Effector" reason="Never"/>
<disable_collisions link1="Axis 0 Plate" link2="Wrist" reason="Never"/> <disable_collisions link1="Axis_0_Plate" link2="Wrist" reason="Never"/>
<disable_collisions link1="Axis 0 Plate" link2="base_link" reason="Adjacent"/> <disable_collisions link1="Axis_0_Plate" link2="base_link" reason="Adjacent"/>
<disable_collisions link1="Axis 1 Segment" link2="Axis 2 Segment" reason="Adjacent"/> <disable_collisions link1="Axis_1_Segment" link2="Axis_2_Segment" reason="Adjacent"/>
<disable_collisions link1="Axis 1 Segment" link2="Diff Carrier" reason="Never"/> <disable_collisions link1="Axis_1_Segment" link2="Diff_Carrier" reason="Never"/>
<disable_collisions link1="Axis 1 Segment" link2="EF Gripper Left" reason="Never"/> <disable_collisions link1="Axis_1_Segment" link2="EF_Gripper_Left" reason="Never"/>
<disable_collisions link1="Axis 1 Segment" link2="EF Gripper Right" reason="Never"/> <disable_collisions link1="Axis_1_Segment" link2="EF_Gripper_Right" reason="Never"/>
<disable_collisions link1="Axis 1 Segment" link2="End Effector" reason="Never"/> <disable_collisions link1="Axis_1_Segment" link2="End_Effector" reason="Never"/>
<disable_collisions link1="Axis 1 Segment" link2="Wrist" reason="Never"/> <disable_collisions link1="Axis_1_Segment" link2="Wrist" reason="Never"/>
<disable_collisions link1="Axis 1 Segment" link2="base_link" reason="Never"/> <disable_collisions link1="Axis_1_Segment" link2="base_link" reason="Never"/>
<disable_collisions link1="Axis 2 Segment" link2="Diff Carrier" reason="Never"/> <disable_collisions link1="Axis_2_Segment" link2="Diff_Carrier" reason="Never"/>
<disable_collisions link1="Axis 2 Segment" link2="EF Gripper Left" reason="Never"/> <disable_collisions link1="Axis_2_Segment" link2="EF_Gripper_Left" reason="Never"/>
<disable_collisions link1="Axis 2 Segment" link2="EF Gripper Right" reason="Never"/> <disable_collisions link1="Axis_2_Segment" link2="EF_Gripper_Right" reason="Never"/>
<disable_collisions link1="Axis 2 Segment" link2="End Effector" reason="Never"/> <disable_collisions link1="Axis_2_Segment" link2="End_Effector" reason="Never"/>
<disable_collisions link1="Axis 2 Segment" link2="Wrist" reason="Adjacent"/> <disable_collisions link1="Axis_2_Segment" link2="Wrist" reason="Adjacent"/>
<disable_collisions link1="Axis 2 Segment" link2="base_link" reason="Never"/> <disable_collisions link1="Axis_2_Segment" link2="base_link" reason="Never"/>
<disable_collisions link1="Diff Carrier" link2="EF Gripper Left" reason="Never"/> <disable_collisions link1="Diff_Carrier" link2="EF_Gripper_Left" reason="Never"/>
<disable_collisions link1="Diff Carrier" link2="EF Gripper Right" reason="Never"/> <disable_collisions link1="Diff_Carrier" link2="EF_Gripper_Right" reason="Never"/>
<disable_collisions link1="Diff Carrier" link2="End Effector" reason="Adjacent"/> <disable_collisions link1="Diff_Carrier" link2="End_Effector" reason="Adjacent"/>
<disable_collisions link1="Diff Carrier" link2="Wrist" reason="Adjacent"/> <disable_collisions link1="Diff_Carrier" link2="Wrist" reason="Adjacent"/>
<disable_collisions link1="Diff Carrier" link2="base_link" reason="Never"/> <disable_collisions link1="Diff_Carrier" link2="base_link" reason="Never"/>
<disable_collisions link1="EF Gripper Left" link2="End Effector" reason="Adjacent"/> <disable_collisions link1="EF_Gripper_Left" link2="End_Effector" reason="Adjacent"/>
<disable_collisions link1="EF Gripper Left" link2="Wrist" reason="Never"/> <disable_collisions link1="EF_Gripper_Left" link2="Wrist" reason="Never"/>
<disable_collisions link1="EF Gripper Right" link2="End Effector" reason="Adjacent"/> <disable_collisions link1="EF_Gripper_Right" link2="End_Effector" reason="Adjacent"/>
<disable_collisions link1="EF Gripper Right" link2="Wrist" reason="Never"/> <disable_collisions link1="EF_Gripper_Right" link2="Wrist" reason="Never"/>
<disable_collisions link1="End Effector" link2="Wrist" reason="Never"/> <disable_collisions link1="End_Effector" link2="Wrist" reason="Never"/>
<disable_collisions link1="End Effector" link2="base_link" reason="Never"/> <disable_collisions link1="End_Effector" link2="base_link" reason="Never"/>
<disable_collisions link1="Wrist" link2="base_link" reason="Never"/> <disable_collisions link1="Wrist" link2="base_link" reason="Never"/>
</robot> </robot>

12
src/astra_arm_moveit_config/config/joint_limits.yaml
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@@ -10,22 +10,22 @@ default_acceleration_scaling_factor: 1
joint_limits: joint_limits:
Axis_0_Joint: Axis_0_Joint:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 3.141593 max_velocity: 31.41593
has_acceleration_limits: true has_acceleration_limits: true
max_acceleration: 0.5 max_acceleration: 0.5
Axis_1_Joint: Axis_1_Joint:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 3.141593 max_velocity: 31.41593
has_acceleration_limits: true has_acceleration_limits: true
max_acceleration: 0.5 max_acceleration: 0.5
Axis_2_Joint: Axis_2_Joint:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 3.141593 max_velocity: 31.41593
has_acceleration_limits: true has_acceleration_limits: true
max_acceleration: 0.5 max_acceleration: 0.5
Axis_3_Joint: Axis_3_Joint:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 3.141593 max_velocity: 31.41593
has_acceleration_limits: true has_acceleration_limits: true
max_acceleration: 0.5 max_acceleration: 0.5
Gripper_Slider_Left: Gripper_Slider_Left:
@@ -40,11 +40,11 @@ joint_limits:
max_acceleration: 0.5 max_acceleration: 0.5
Wrist_Differential_Joint: Wrist_Differential_Joint:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 3.141593 max_velocity: 31.41593
has_acceleration_limits: true has_acceleration_limits: true
max_acceleration: 0.5 max_acceleration: 0.5
Wrist-EF_Roll_Joint: Wrist-EF_Roll_Joint:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 3.141593 max_velocity: 31.41593
has_acceleration_limits: true has_acceleration_limits: true
max_acceleration: 0.5 max_acceleration: 0.5

0
src/rover_urdf_pkg/meshes/Axis 0 Plate.STL → src/rover_urdf_pkg/meshes/Axis_0_Plate.STL
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0
src/rover_urdf_pkg/meshes/Axis 1 Segment.STL → src/rover_urdf_pkg/meshes/Axis_1_Segment.STL
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0
src/rover_urdf_pkg/meshes/Axis 2 Segment.STL → src/rover_urdf_pkg/meshes/Axis_2_Segment.STL
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0
src/rover_urdf_pkg/meshes/Diff Carrier.STL → src/rover_urdf_pkg/meshes/Diff_Carrier.STL
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0
src/rover_urdf_pkg/meshes/EF Gripper Left.STL → src/rover_urdf_pkg/meshes/EF_Gripper_Left.STL
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0
src/rover_urdf_pkg/meshes/EF Gripper Right.STL → src/rover_urdf_pkg/meshes/EF_Gripper_Right.STL
View File

0
src/rover_urdf_pkg/meshes/End Effector.STL → src/rover_urdf_pkg/meshes/End_Effector.STL
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16
src/rover_urdf_pkg/urdf/ASTRA_Arm.csv
View File

@@ -1,10 +1,10 @@
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 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,0.026661,-0.017083,-0.072681,0,0,0,1.344,0.0071986,-1.8109E-06,-4.371E-06,0.0087125,1.3418E-07,0.015884,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/base_link.STL,0.89804,0.91765,0.92941,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/base_link.STL,,Turret Assembly-1/Base Plate OLD-2;Turret Assembly-1/Magnet Ring-1;Turret Assembly-1/Bearing Stack Pinch Ring-1;Turret Assembly-1/Ring Gear-1,Origin_global,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,, base_link,0.026661,-0.017083,-0.072681,0,0,0,1.344,0.0071986,-1.8109E-06,-4.371E-06,0.0087125,1.3418E-07,0.015884,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/base_link.STL,0.89804,0.91765,0.92941,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/base_link.STL,,Turret Assembly-1/Base Plate OLD-2;Turret Assembly-1/Magnet Ring-1;Turret Assembly-1/Bearing Stack Pinch Ring-1;Turret Assembly-1/Ring Gear-1,Origin_global,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
Axis 0 Plate,0.025635,0.047115,0.021109,0,0,0,2.045,0.0097744,2.0744E-07,0.00060246,0.012437,-2.2545E-05,0.00611,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis 0 Plate.STL,0.89804,0.91765,0.92941,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis 0 Plate.STL,,Turret Assembly-1/Pinion Gear Mounting Plate-1;Turret Assembly-1/Motor Adjustment Plate-1;Turret Assembly-1/17HS19-1684S-PG14.step-1;Turret Assembly-1/Spur Gear Retainer-1;Turret Assembly-1/1088A31_Inside-Corner Reinforcing Bracket-1;Turret Assembly-1/1088A31_Inside-Corner Reinforcing Bracket-2;Turret Assembly-1/1088A31_Inside-Corner Reinforcing Bracket-4;Turret Assembly-1/Electrical Box Assembly-1/Clamshell-1;Turret Assembly-1/Electrical Box Assembly-1/Sheet Base-2;Turret Assembly-1/Electrical Box Assembly-1/Cam Slot-2;Turret Assembly-1/Electrical Box Assembly-1/Slot guide-2;Turret Assembly-1/Electrical Box Assembly-1/Slot guide-1;Turret Assembly-1/Electrical Box Assembly-1/Cam Slot-1;Axis 1 Full Assembly-1/Axis 1 Outer Frame-1/ASTRA-01-00-005-2;Axis 1 Full Assembly-1/Axis 1 Outer Frame-1/ASTRA-01-00-005-1;Turret Assembly-1/1088A31_Inside-Corner Reinforcing Bracket-3,Origin_Axis_0_Joint,Axis1,Axis_0_Joint,revolute,0.018772,-0.020734,-0.04971,1.5708,0,3.1115,base_link,0,-1,0,0,0,0,0,,,,,,,, Axis_0_Plate,0.025635,0.047115,0.021109,0,0,0,2.045,0.0097744,2.0744E-07,0.00060246,0.012437,-2.2545E-05,0.00611,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis_0_Plate.STL,0.89804,0.91765,0.92941,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis_0_Plate.STL,,Turret Assembly-1/Pinion Gear Mounting Plate-1;Turret Assembly-1/Motor Adjustment Plate-1;Turret Assembly-1/17HS19-1684S-PG14.step-1;Turret Assembly-1/Spur Gear Retainer-1;Turret Assembly-1/1088A31_Inside-Corner Reinforcing Bracket-1;Turret Assembly-1/1088A31_Inside-Corner Reinforcing Bracket-2;Turret Assembly-1/1088A31_Inside-Corner Reinforcing Bracket-4;Turret Assembly-1/Electrical Box Assembly-1/Clamshell-1;Turret Assembly-1/Electrical Box Assembly-1/Sheet Base-2;Turret Assembly-1/Electrical Box Assembly-1/Cam Slot-2;Turret Assembly-1/Electrical Box Assembly-1/Slot guide-2;Turret Assembly-1/Electrical Box Assembly-1/Slot guide-1;Turret Assembly-1/Electrical Box Assembly-1/Cam Slot-1;Axis 1 Full Assembly-1/Axis 1 Outer Frame-1/ASTRA-01-00-005-2;Axis 1 Full Assembly-1/Axis 1 Outer Frame-1/ASTRA-01-00-005-1;Turret Assembly-1/1088A31_Inside-Corner Reinforcing Bracket-3,Origin_Axis_0_Joint,Axis1,Axis_0_Joint,revolute,0.018772,-0.020734,-0.04971,1.5708,0,3.1115,base_link,0,-1,0,0,0,0,0,,,,,,,,
Axis 1 Segment,0.317731812584795,0.0226837932394467,-2.94234579792906E-05,0,0,0,2.10107115350287,0.00185099460285527,-6.85595125576909E-06,-2.99093842113918E-07,0.00462248035875048,2.91093713403385E-07,0.00297641069201651,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis 1 Segment.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis 1 Segment.STL,,Axis 1 Full Assembly-1/Axis 1 Outer Ring-1/ASTRA-01-01-002-1;Axis 1 Full Assembly-1/Axis 1 Outer Ring-1/ASTRA-01-01-001-1;Axis 1 Full Assembly-1/Axis 1 Outer Ring-1/ASTRA-01-01-002-2;Axis 0-1 Forearm-1/ASTRA-02-00-009-1;Axis 0-1 Forearm-1/2024 Axis 0-1 CF Tube-1;Axis 0-1 Forearm-1/ASTRA-02-00-009-2;ASTRA-02-00-000-2/ASTRA-02-00-006-1;ASTRA-02-00-000-2/ASTRA-02-00-007-2;ASTRA-02-00-000-2/ASTRA-02-00-007-1;ASTRA-02-00-000-2/Encoder Assembly 20 30-1/Encoder Mount 20 30-1;ASTRA-02-00-000-2/Encoder Assembly 20 30-1/Encoder Board V2-1;ASTRA-02-00-000-2/Encoder Assembly 20 30-1/Encoder Board Top 2030-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox Output-1/REV-41-1604.STEP-1/REV-41-1604-1.STEP-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/Cy NEO 550 Adapter Plate Axis 2-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Motor Gearbox Mount-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-2;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-3;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox Output-1/REV-41-1604.STEP-1/REV-41-1604-2.STEP-1,Origin_Axis_1_Joint,Axis2,Axis_1_Joint,revolute,-0.0271654135185528,0.0927245490180083,0.00384109909109076,-3.14159265358977,-0.00524713054608625,1.5707963267949,Axis 0 Plate,0,-1,0,0,0,0,0,,,,,,,, Axis_1_Segment,0.317731812584795,0.0226837932394467,-2.94234579792906E-05,0,0,0,2.10107115350287,0.00185099460285527,-6.85595125576909E-06,-2.99093842113918E-07,0.00462248035875048,2.91093713403385E-07,0.00297641069201651,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis_1_Segment.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis_1_Segment.STL,,Axis 1 Full Assembly-1/Axis 1 Outer Ring-1/ASTRA-01-01-002-1;Axis 1 Full Assembly-1/Axis 1 Outer Ring-1/ASTRA-01-01-001-1;Axis 1 Full Assembly-1/Axis 1 Outer Ring-1/ASTRA-01-01-002-2;Axis 0-1 Forearm-1/ASTRA-02-00-009-1;Axis 0-1 Forearm-1/2024 Axis 0-1 CF Tube-1;Axis 0-1 Forearm-1/ASTRA-02-00-009-2;ASTRA-02-00-000-2/ASTRA-02-00-006-1;ASTRA-02-00-000-2/ASTRA-02-00-007-2;ASTRA-02-00-000-2/ASTRA-02-00-007-1;ASTRA-02-00-000-2/Encoder Assembly 20 30-1/Encoder Mount 20 30-1;ASTRA-02-00-000-2/Encoder Assembly 20 30-1/Encoder Board V2-1;ASTRA-02-00-000-2/Encoder Assembly 20 30-1/Encoder Board Top 2030-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox Output-1/REV-41-1604.STEP-1/REV-41-1604-1.STEP-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/Cy NEO 550 Adapter Plate Axis 2-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Motor Gearbox Mount-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-2;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-3;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox Output-1/REV-41-1604.STEP-1/REV-41-1604-2.STEP-1,Origin_Axis_1_Joint,Axis2,Axis_1_Joint,revolute,-0.0271654135185528,0.0927245490180083,0.00384109909109076,-3.14159265358977,-0.00524713054608625,1.5707963267949,Axis_0_Plate,0,-1,0,0,0,0,0,,,,,,,,
Axis 2 Segment,0.179701426719665,-0.0176131583689303,5.71147464441535E-05,0,0,0,3.13644489009951,0.00172062005671382,1.49995165753112E-05,3.0146547850231E-07,0.00419573957161135,2.86281305896603E-07,0.00280821030835127,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis 2 Segment.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis 2 Segment.STL,,ASTRA-02-00-000-2/ASTRA-02-00-003-1;ASTRA-02-00-000-2/ASTRA-02-00-004-1;ASTRA-02-00-000-2/ASTRA-02-00-003-2;Axis 1-2 Forearm-1/ASTRA-02-00-009-1;Axis 1-2 Forearm-1/2024 Axis 1-2 CF Tube-1;ASTRA-02-00-000-2/Encoder Assembly 20 30-1/Encoder Board Arm 2030-1;Axis 1-2 Forearm-1/ASTRA-02-00-009-2;ASTRA-03-00-000-1/ASTRA-02-00-006-1;ASTRA-03-00-000-1/ASTRA-02-00-007-1;ASTRA-03-00-000-1/ASTRA-02-00-007-2;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Mount 20 30-1;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Board V2-1;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Board Top 2030-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/Cy NEO 550 Adapter Plate Axis 2-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox Output-1/REV-41-1604.STEP-1/REV-41-1604-2.STEP-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox Output-1/REV-41-1604.STEP-1/REV-41-1604-1.STEP-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-3;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-2;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Motor Gearbox Mount-1,Origin_Axis_2_Joint,Axis3,Axis_2_Joint,revolute,0.470027000000004,0.0126999999999999,0,3.14159265358979,0.000449358059257729,0,Axis 1 Segment,0,-1,0,0,0,0,0,,,,,,,, Axis_2_Segment,0.179701426719665,-0.0176131583689303,5.71147464441535E-05,0,0,0,3.13644489009951,0.00172062005671382,1.49995165753112E-05,3.0146547850231E-07,0.00419573957161135,2.86281305896603E-07,0.00280821030835127,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis_2_Segment.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis_2_Segment.STL,,ASTRA-02-00-000-2/ASTRA-02-00-003-1;ASTRA-02-00-000-2/ASTRA-02-00-004-1;ASTRA-02-00-000-2/ASTRA-02-00-003-2;Axis 1-2 Forearm-1/ASTRA-02-00-009-1;Axis 1-2 Forearm-1/2024 Axis 1-2 CF Tube-1;ASTRA-02-00-000-2/Encoder Assembly 20 30-1/Encoder Board Arm 2030-1;Axis 1-2 Forearm-1/ASTRA-02-00-009-2;ASTRA-03-00-000-1/ASTRA-02-00-006-1;ASTRA-03-00-000-1/ASTRA-02-00-007-1;ASTRA-03-00-000-1/ASTRA-02-00-007-2;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Mount 20 30-1;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Board V2-1;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Board Top 2030-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/Cy NEO 550 Adapter Plate Axis 2-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox Output-1/REV-41-1604.STEP-1/REV-41-1604-2.STEP-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox Output-1/REV-41-1604.STEP-1/REV-41-1604-1.STEP-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-3;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-2;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Motor Gearbox Mount-1,Origin_Axis_2_Joint,Axis3,Axis_2_Joint,revolute,0.470027000000004,0.0126999999999999,0,3.14159265358979,0.000449358059257729,0,Axis_1_Segment,0,-1,0,0,0,0,0,,,,,,,,
Wrist,0.0258890113931529,-0.0205223442970055,6.01641698143966E-05,0,0,0,1.95105877103309,0.00117490634970832,8.14355696873965E-06,2.37060433355634E-09,0.0025492938141431,-4.81227026285992E-09,0.00159235737231991,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Wrist.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Wrist.STL,,ASTRA-03-00-000-1/ASTRA-02-00-003-1;ASTRA-03-00-000-1/ASTRA-03-00-004-1;ASTRA-03-00-000-1/ASTRA-02-00-003-2;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Board Arm 2030-1;Wrist Interface-1;FULLWristAssembly-1/Servobox-1/ServoBoxTruss-1;FULLWristAssembly-1/Servobox-1/LSS-Public-2/LSS-Public.STEP-1/LSS - Casing_LSS Generic.STEP-1;FULLWristAssembly-1/Servobox-1/LSS-Public-1/LSS-Public.STEP-1/LSS - Casing_LSS Generic.STEP-1;FULLWristAssembly-1/Servobox-1/ServoBoxBottomPlate-1;FULLWristAssembly-1/Servobox-1/GearBoxMountingPlate-1;FULLWristAssembly-1/Servobox-1/ServoBoxTruss-2;FULLWristAssembly-1/Servobox-1/ServoMountingWall-1;FULLWristAssembly-1/Servobox-1/ServoMountingWall-2;FULLWristAssembly-1/Differential Gear box-1/ShaftSupport-2;FULLWristAssembly-1/Differential Gear box-1/ShaftSupport-1;FULLWristAssembly-1/Servobox-1/Modified 266N381 For interface-1;FULLWristAssembly-1/Differential Gear box-1/2664N381_Metal Gear - 20 Degree Pressure Angle-3;FULLWristAssembly-1/TensionBar-1;FULLWristAssembly-1/Servobox-1/ServoHornAdapater-1;FULLWristAssembly-1/Servobox-1/ServoHornAdapater-2;FULLWristAssembly-1/Servobox-1/Modified 266N381 For interface-2;FULLWristAssembly-1/Differential Gear box-1/2664N381_Metal Gear - 20 Degree Pressure Angle-4;FULLWristAssembly-1/TensionBar-2,Origin_Axis_3_Joint,Axis4,Axis_3_Joint,revolute,0.393826999999998,0,0,0,-0.000409495780687665,0,Axis 2 Segment,0,-1,0,0,0,0,0,,,,,,,, Wrist,0.0258890113931529,-0.0205223442970055,6.01641698143966E-05,0,0,0,1.95105877103309,0.00117490634970832,8.14355696873965E-06,2.37060433355634E-09,0.0025492938141431,-4.81227026285992E-09,0.00159235737231991,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Wrist.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Wrist.STL,,ASTRA-03-00-000-1/ASTRA-02-00-003-1;ASTRA-03-00-000-1/ASTRA-03-00-004-1;ASTRA-03-00-000-1/ASTRA-02-00-003-2;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Board Arm 2030-1;Wrist Interface-1;FULLWristAssembly-1/Servobox-1/ServoBoxTruss-1;FULLWristAssembly-1/Servobox-1/LSS-Public-2/LSS-Public.STEP-1/LSS - Casing_LSS Generic.STEP-1;FULLWristAssembly-1/Servobox-1/LSS-Public-1/LSS-Public.STEP-1/LSS - Casing_LSS Generic.STEP-1;FULLWristAssembly-1/Servobox-1/ServoBoxBottomPlate-1;FULLWristAssembly-1/Servobox-1/GearBoxMountingPlate-1;FULLWristAssembly-1/Servobox-1/ServoBoxTruss-2;FULLWristAssembly-1/Servobox-1/ServoMountingWall-1;FULLWristAssembly-1/Servobox-1/ServoMountingWall-2;FULLWristAssembly-1/Differential Gear box-1/ShaftSupport-2;FULLWristAssembly-1/Differential Gear box-1/ShaftSupport-1;FULLWristAssembly-1/Servobox-1/Modified 266N381 For interface-1;FULLWristAssembly-1/Differential Gear box-1/2664N381_Metal Gear - 20 Degree Pressure Angle-3;FULLWristAssembly-1/TensionBar-1;FULLWristAssembly-1/Servobox-1/ServoHornAdapater-1;FULLWristAssembly-1/Servobox-1/ServoHornAdapater-2;FULLWristAssembly-1/Servobox-1/Modified 266N381 For interface-2;FULLWristAssembly-1/Differential Gear box-1/2664N381_Metal Gear - 20 Degree Pressure Angle-4;FULLWristAssembly-1/TensionBar-2,Origin_Axis_3_Joint,Axis4,Axis_3_Joint,revolute,0.393826999999998,0,0,0,-0.000409495780687665,0,Axis_2_Segment,0,-1,0,0,0,0,0,,,,,,,,
Diff Carrier,-8.64620358677695E-06,-0.00516792807449162,-7.22608790769408E-07,0,0,0,0.0655351660884378,1.65846526943977E-05,3.62206129298215E-09,5.09422122565314E-10,4.25479683866677E-05,2.86164802173259E-10,3.87760449919773E-05,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Diff Carrier.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Diff Carrier.STL,,FULLWristAssembly-1/Differential Gear box-1/Endefector plate-2;FULLWristAssembly-1/Differential Gear box-1/2515N313_Metal Pinion-1;FULLWristAssembly-1/Differential Gear box-1/2515N314_Metal Bevel Gear-1;FULLWristAssembly-1/Differential Gear box-1/2515N313_Metal Pinion-2,Origin_Wrist_Differential_Joint,Axis5,Wrist_Differential_Joint,revolute,0.176692001200001,-0.00622300000004081,0,-3.05263944120951,1.57079631189374,1.65994236547327,Wrist,-1,0,0,0,0,0,0,,,,,,,, Diff_Carrier,-8.64620358677695E-06,-0.00516792807449162,-7.22608790769408E-07,0,0,0,0.0655351660884378,1.65846526943977E-05,3.62206129298215E-09,5.09422122565314E-10,4.25479683866677E-05,2.86164802173259E-10,3.87760449919773E-05,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Diff_Carrier.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Diff_Carrier.STL,,FULLWristAssembly-1/Differential Gear box-1/Endefector plate-2;FULLWristAssembly-1/Differential Gear box-1/2515N313_Metal Pinion-1;FULLWristAssembly-1/Differential Gear box-1/2515N314_Metal Bevel Gear-1;FULLWristAssembly-1/Differential Gear box-1/2515N313_Metal Pinion-2,Origin_Wrist_Differential_Joint,Axis5,Wrist_Differential_Joint,revolute,0.176692001200001,-0.00622300000004081,0,-3.05263944120951,1.57079631189374,1.65994236547327,Wrist,-1,0,0,0,0,0,0,,,,,,,,
End Effector,-0.00327558376591462,0.00327411156667146,-0.0553569354578649,0,0,0,0.397605677640027,0.000631368000075726,-1.01357929540856E-09,-3.06601632900158E-06,0.000105800099414061,2.32813748604228E-09,0.000592001119919064,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/End Effector.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/End Effector.STL,,Assembley-1/Copy End_Effector_Mount-1;Assembley-1/Real Shit - Pin-1;Assembley-1/copy End Effector Mount Center Block-1;Assembley-1/copy Real Shit - Middle Spacer Plate-1;Assembley-1/Copy Real Shit - Right Plate-1;Assembley-1/Copy Real Shit - Left Plate-1;Assembley-1/motor end deffector-1;Assembley-1/Motor adapter-2;Assembley-1/Copy Carbon Rod-1;Assembley-1/Copy Lead Screw-1;Assembley-1/Copy Carbon Rod-2,Origin_Wrist-EF_Roll_Joint,Axis6,Wrist-EF_Roll_Joint,continuous,0,0.01,0,-1.5708,-0.21566,-3.1416,Diff Carrier,0,0,1,,,,,,,,,,,, End_Effector,-0.00327558376591462,0.00327411156667146,-0.0553569354578649,0,0,0,0.397605677640027,0.000631368000075726,-1.01357929540856E-09,-3.06601632900158E-06,0.000105800099414061,2.32813748604228E-09,0.000592001119919064,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/End_Effector.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/End_Effector.STL,,Assembley-1/Copy End_Effector_Mount-1;Assembley-1/Real Shit - Pin-1;Assembley-1/copy End_Effector Mount Center Block-1;Assembley-1/copy Real Shit - Middle Spacer Plate-1;Assembley-1/Copy Real Shit - Right Plate-1;Assembley-1/Copy Real Shit - Left Plate-1;Assembley-1/motor end deffector-1;Assembley-1/Motor adapter-2;Assembley-1/Copy Carbon Rod-1;Assembley-1/Copy Lead Screw-1;Assembley-1/Copy Carbon Rod-2,Origin_Wrist-EF_Roll_Joint,Axis6,Wrist-EF_Roll_Joint,continuous,0,0.01,0,-1.5708,-0.21566,-3.1416,Diff_Carrier,0,0,1,,,,,,,,,,,,
EF Gripper Right,3.60822483003176E-16,0.0395187564799554,-0.0785892929086096,0,0,0,0.0859306256217421,8.1015302646778E-05,2.5410988417629E-21,3.75123099070348E-19,8.51028632685389E-05,1.00631950096307E-08,5.50169350148622E-06,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF Gripper Right.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF Gripper Right.STL,,Assembley-1/Copy Left_Jaw_Bracket-3;Assembley-1/Gripper-2;Assembley-1/Copy Real Shit - Left Jaw Plate-2;Assembley-1/lead screw nut-2;Assembley-1/Copy Bushing Bearing - Bushing Bearing-1;Assembley-1/Copy Bushing Bearing - Bushing Bearing-4,Origin_Gripper_Slider_Right,Axis7,Gripper_Slider_Right,prismatic,0,0,-0.031677,0,0,3.1416,End Effector,0,1,0,0,0,0,0,,,,,,,, EF_Gripper_Right,3.60822483003176E-16,0.0395187564799554,-0.0785892929086096,0,0,0,0.0859306256217421,8.1015302646778E-05,2.5410988417629E-21,3.75123099070348E-19,8.51028632685389E-05,1.00631950096307E-08,5.50169350148622E-06,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF_Gripper_Right.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF_Gripper_Right.STL,,Assembley-1/Copy Left_Jaw_Bracket-3;Assembley-1/Gripper-2;Assembley-1/Copy Real Shit - Left Jaw Plate-2;Assembley-1/lead screw nut-2;Assembley-1/Copy Bushing Bearing - Bushing Bearing-1;Assembley-1/Copy Bushing Bearing - Bushing Bearing-4,Origin_Gripper_Slider_Right,Axis7,Gripper_Slider_Right,prismatic,0,0,-0.031677,0,0,3.1416,End_Effector,0,1,0,0,0,0,0,,,,,,,,
EF Gripper Left,0.000260261090099842,0.0391877753208171,-0.0810862651363518,0,0,0,0.0813132558225319,7.92230074239095E-05,8.60239969339994E-10,-3.27617434511821E-07,8.29877943429396E-05,9.84609377733742E-09,4.98027032334885E-06,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF Gripper Left.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF Gripper Left.STL,,Assembley-1/Copy Left_Jaw_Bracket-1;Assembley-1/Copy Real Shit - Left Jaw Plate-1;Assembley-1/Gripper-1;Assembley-1/lead screw nut-1;Assembley-1/Copy Bushing Bearing - Bushing Bearing-2;Assembley-1/Copy Bushing Bearing - Bushing Bearing-3,Origin_Gripper_Slider_Left,Axis7,Gripper_Slider_Left,prismatic,0,0,-0.031677,0,0,0,End Effector,0,-1,0,0,0,0,0,,,,,,,, EF_Gripper_Left,0.000260261090099842,0.0391877753208171,-0.0810862651363518,0,0,0,0.0813132558225319,7.92230074239095E-05,8.60239969339994E-10,-3.27617434511821E-07,8.29877943429396E-05,9.84609377733742E-09,4.98027032334885E-06,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF_Gripper_Left.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF_Gripper_Left.STL,,Assembley-1/Copy Left_Jaw_Bracket-1;Assembley-1/Copy Real Shit - Left Jaw Plate-1;Assembley-1/Gripper-1;Assembley-1/lead screw nut-1;Assembley-1/Copy Bushing Bearing - Bushing Bearing-2;Assembley-1/Copy Bushing Bearing - Bushing Bearing-3,Origin_Gripper_Slider_Left,Axis7,Gripper_Slider_Left,prismatic,0,0,-0.031677,0,0,0,End_Effector,0,-1,0,0,0,0,0,,,,,,,,
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 0.026661 -0.017083 -0.072681 0 0 0 1.344 0.0071986 -1.8109E-06 -4.371E-06 0.0087125 1.3418E-07 0.015884 0 0 0 0 0 0 package://URDF v2 - axes added/meshes/base_link.STL 0.89804 0.91765 0.92941 1 0 0 0 0 0 0 package://URDF v2 - axes added/meshes/base_link.STL Turret Assembly-1/Base Plate OLD-2;Turret Assembly-1/Magnet Ring-1;Turret Assembly-1/Bearing Stack Pinch Ring-1;Turret Assembly-1/Ring Gear-1 Origin_global 0 0 0 0 0 0 0 0 0
3 Axis 0 Plate Axis_0_Plate 0.025635 0.047115 0.021109 0 0 0 2.045 0.0097744 2.0744E-07 0.00060246 0.012437 -2.2545E-05 0.00611 0 0 0 0 0 0 package://URDF v2 - axes added/meshes/Axis 0 Plate.STL package://URDF v2 - axes added/meshes/Axis_0_Plate.STL 0.89804 0.91765 0.92941 1 0 0 0 0 0 0 package://URDF v2 - axes added/meshes/Axis 0 Plate.STL package://URDF v2 - axes added/meshes/Axis_0_Plate.STL Turret Assembly-1/Pinion Gear Mounting Plate-1;Turret Assembly-1/Motor Adjustment Plate-1;Turret Assembly-1/17HS19-1684S-PG14.step-1;Turret Assembly-1/Spur Gear Retainer-1;Turret Assembly-1/1088A31_Inside-Corner Reinforcing Bracket-1;Turret Assembly-1/1088A31_Inside-Corner Reinforcing Bracket-2;Turret Assembly-1/1088A31_Inside-Corner Reinforcing Bracket-4;Turret Assembly-1/Electrical Box Assembly-1/Clamshell-1;Turret Assembly-1/Electrical Box Assembly-1/Sheet Base-2;Turret Assembly-1/Electrical Box Assembly-1/Cam Slot-2;Turret Assembly-1/Electrical Box Assembly-1/Slot guide-2;Turret Assembly-1/Electrical Box Assembly-1/Slot guide-1;Turret Assembly-1/Electrical Box Assembly-1/Cam Slot-1;Axis 1 Full Assembly-1/Axis 1 Outer Frame-1/ASTRA-01-00-005-2;Axis 1 Full Assembly-1/Axis 1 Outer Frame-1/ASTRA-01-00-005-1;Turret Assembly-1/1088A31_Inside-Corner Reinforcing Bracket-3 Origin_Axis_0_Joint Axis1 Axis_0_Joint revolute 0.018772 -0.020734 -0.04971 1.5708 0 3.1115 base_link 0 -1 0 0 0 0 0
4 Axis 1 Segment Axis_1_Segment 0.317731812584795 0.0226837932394467 -2.94234579792906E-05 0 0 0 2.10107115350287 0.00185099460285527 -6.85595125576909E-06 -2.99093842113918E-07 0.00462248035875048 2.91093713403385E-07 0.00297641069201651 0 0 0 0 0 0 package://URDF v2 - axes added/meshes/Axis 1 Segment.STL package://URDF v2 - axes added/meshes/Axis_1_Segment.STL 0.898039215686275 0.917647058823529 0.929411764705882 1 0 0 0 0 0 0 package://URDF v2 - axes added/meshes/Axis 1 Segment.STL package://URDF v2 - axes added/meshes/Axis_1_Segment.STL Axis 1 Full Assembly-1/Axis 1 Outer Ring-1/ASTRA-01-01-002-1;Axis 1 Full Assembly-1/Axis 1 Outer Ring-1/ASTRA-01-01-001-1;Axis 1 Full Assembly-1/Axis 1 Outer Ring-1/ASTRA-01-01-002-2;Axis 0-1 Forearm-1/ASTRA-02-00-009-1;Axis 0-1 Forearm-1/2024 Axis 0-1 CF Tube-1;Axis 0-1 Forearm-1/ASTRA-02-00-009-2;ASTRA-02-00-000-2/ASTRA-02-00-006-1;ASTRA-02-00-000-2/ASTRA-02-00-007-2;ASTRA-02-00-000-2/ASTRA-02-00-007-1;ASTRA-02-00-000-2/Encoder Assembly 20 30-1/Encoder Mount 20 30-1;ASTRA-02-00-000-2/Encoder Assembly 20 30-1/Encoder Board V2-1;ASTRA-02-00-000-2/Encoder Assembly 20 30-1/Encoder Board Top 2030-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox Output-1/REV-41-1604.STEP-1/REV-41-1604-1.STEP-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/Cy NEO 550 Adapter Plate Axis 2-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Motor Gearbox Mount-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-2;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-3;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox Output-1/REV-41-1604.STEP-1/REV-41-1604-2.STEP-1 Origin_Axis_1_Joint Axis2 Axis_1_Joint revolute -0.0271654135185528 0.0927245490180083 0.00384109909109076 -3.14159265358977 -0.00524713054608625 1.5707963267949 Axis 0 Plate Axis_0_Plate 0 -1 0 0 0 0 0
5 Axis 2 Segment Axis_2_Segment 0.179701426719665 -0.0176131583689303 5.71147464441535E-05 0 0 0 3.13644489009951 0.00172062005671382 1.49995165753112E-05 3.0146547850231E-07 0.00419573957161135 2.86281305896603E-07 0.00280821030835127 0 0 0 0 0 0 package://URDF v2 - axes added/meshes/Axis 2 Segment.STL package://URDF v2 - axes added/meshes/Axis_2_Segment.STL 0.898039215686275 0.917647058823529 0.929411764705882 1 0 0 0 0 0 0 package://URDF v2 - axes added/meshes/Axis 2 Segment.STL package://URDF v2 - axes added/meshes/Axis_2_Segment.STL ASTRA-02-00-000-2/ASTRA-02-00-003-1;ASTRA-02-00-000-2/ASTRA-02-00-004-1;ASTRA-02-00-000-2/ASTRA-02-00-003-2;Axis 1-2 Forearm-1/ASTRA-02-00-009-1;Axis 1-2 Forearm-1/2024 Axis 1-2 CF Tube-1;ASTRA-02-00-000-2/Encoder Assembly 20 30-1/Encoder Board Arm 2030-1;Axis 1-2 Forearm-1/ASTRA-02-00-009-2;ASTRA-03-00-000-1/ASTRA-02-00-006-1;ASTRA-03-00-000-1/ASTRA-02-00-007-1;ASTRA-03-00-000-1/ASTRA-02-00-007-2;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Mount 20 30-1;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Board V2-1;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Board Top 2030-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/Cy NEO 550 Adapter Plate Axis 2-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox Output-1/REV-41-1604.STEP-1/REV-41-1604-2.STEP-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox Output-1/REV-41-1604.STEP-1/REV-41-1604-1.STEP-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-3;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-2;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Motor Gearbox Mount-1 Origin_Axis_2_Joint Axis3 Axis_2_Joint revolute 0.470027000000004 0.0126999999999999 0 3.14159265358979 0.000449358059257729 0 Axis 1 Segment Axis_1_Segment 0 -1 0 0 0 0 0
6 Wrist 0.0258890113931529 -0.0205223442970055 6.01641698143966E-05 0 0 0 1.95105877103309 0.00117490634970832 8.14355696873965E-06 2.37060433355634E-09 0.0025492938141431 -4.81227026285992E-09 0.00159235737231991 0 0 0 0 0 0 package://URDF v2 - axes added/meshes/Wrist.STL 0.898039215686275 0.917647058823529 0.929411764705882 1 0 0 0 0 0 0 package://URDF v2 - axes added/meshes/Wrist.STL ASTRA-03-00-000-1/ASTRA-02-00-003-1;ASTRA-03-00-000-1/ASTRA-03-00-004-1;ASTRA-03-00-000-1/ASTRA-02-00-003-2;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Board Arm 2030-1;Wrist Interface-1;FULLWristAssembly-1/Servobox-1/ServoBoxTruss-1;FULLWristAssembly-1/Servobox-1/LSS-Public-2/LSS-Public.STEP-1/LSS - Casing_LSS Generic.STEP-1;FULLWristAssembly-1/Servobox-1/LSS-Public-1/LSS-Public.STEP-1/LSS - Casing_LSS Generic.STEP-1;FULLWristAssembly-1/Servobox-1/ServoBoxBottomPlate-1;FULLWristAssembly-1/Servobox-1/GearBoxMountingPlate-1;FULLWristAssembly-1/Servobox-1/ServoBoxTruss-2;FULLWristAssembly-1/Servobox-1/ServoMountingWall-1;FULLWristAssembly-1/Servobox-1/ServoMountingWall-2;FULLWristAssembly-1/Differential Gear box-1/ShaftSupport-2;FULLWristAssembly-1/Differential Gear box-1/ShaftSupport-1;FULLWristAssembly-1/Servobox-1/Modified 266N381 For interface-1;FULLWristAssembly-1/Differential Gear box-1/2664N381_Metal Gear - 20 Degree Pressure Angle-3;FULLWristAssembly-1/TensionBar-1;FULLWristAssembly-1/Servobox-1/ServoHornAdapater-1;FULLWristAssembly-1/Servobox-1/ServoHornAdapater-2;FULLWristAssembly-1/Servobox-1/Modified 266N381 For interface-2;FULLWristAssembly-1/Differential Gear box-1/2664N381_Metal Gear - 20 Degree Pressure Angle-4;FULLWristAssembly-1/TensionBar-2 Origin_Axis_3_Joint Axis4 Axis_3_Joint revolute 0.393826999999998 0 0 0 -0.000409495780687665 0 Axis 2 Segment Axis_2_Segment 0 -1 0 0 0 0 0
7 Diff Carrier Diff_Carrier -8.64620358677695E-06 -0.00516792807449162 -7.22608790769408E-07 0 0 0 0.0655351660884378 1.65846526943977E-05 3.62206129298215E-09 5.09422122565314E-10 4.25479683866677E-05 2.86164802173259E-10 3.87760449919773E-05 0 0 0 0 0 0 package://URDF v2 - axes added/meshes/Diff Carrier.STL package://URDF v2 - axes added/meshes/Diff_Carrier.STL 0.792156862745098 0.819607843137255 0.933333333333333 1 0 0 0 0 0 0 package://URDF v2 - axes added/meshes/Diff Carrier.STL package://URDF v2 - axes added/meshes/Diff_Carrier.STL FULLWristAssembly-1/Differential Gear box-1/Endefector plate-2;FULLWristAssembly-1/Differential Gear box-1/2515N313_Metal Pinion-1;FULLWristAssembly-1/Differential Gear box-1/2515N314_Metal Bevel Gear-1;FULLWristAssembly-1/Differential Gear box-1/2515N313_Metal Pinion-2 Origin_Wrist_Differential_Joint Axis5 Wrist_Differential_Joint revolute 0.176692001200001 -0.00622300000004081 0 -3.05263944120951 1.57079631189374 1.65994236547327 Wrist -1 0 0 0 0 0 0
8 End Effector End_Effector -0.00327558376591462 0.00327411156667146 -0.0553569354578649 0 0 0 0.397605677640027 0.000631368000075726 -1.01357929540856E-09 -3.06601632900158E-06 0.000105800099414061 2.32813748604228E-09 0.000592001119919064 0 0 0 0 0 0 package://URDF v2 - axes added/meshes/End Effector.STL package://URDF v2 - axes added/meshes/End_Effector.STL 0.898039215686275 0.917647058823529 0.929411764705882 1 0 0 0 0 0 0 package://URDF v2 - axes added/meshes/End Effector.STL package://URDF v2 - axes added/meshes/End_Effector.STL Assembley-1/Copy End_Effector_Mount-1;Assembley-1/Real Shit - Pin-1;Assembley-1/copy End Effector Mount Center Block-1;Assembley-1/copy Real Shit - Middle Spacer Plate-1;Assembley-1/Copy Real Shit - Right Plate-1;Assembley-1/Copy Real Shit - Left Plate-1;Assembley-1/motor end deffector-1;Assembley-1/Motor adapter-2;Assembley-1/Copy Carbon Rod-1;Assembley-1/Copy Lead Screw-1;Assembley-1/Copy Carbon Rod-2 Assembley-1/Copy End_Effector_Mount-1;Assembley-1/Real Shit - Pin-1;Assembley-1/copy End_Effector Mount Center Block-1;Assembley-1/copy Real Shit - Middle Spacer Plate-1;Assembley-1/Copy Real Shit - Right Plate-1;Assembley-1/Copy Real Shit - Left Plate-1;Assembley-1/motor end deffector-1;Assembley-1/Motor adapter-2;Assembley-1/Copy Carbon Rod-1;Assembley-1/Copy Lead Screw-1;Assembley-1/Copy Carbon Rod-2 Origin_Wrist-EF_Roll_Joint Axis6 Wrist-EF_Roll_Joint continuous 0 0.01 0 -1.5708 -0.21566 -3.1416 Diff Carrier Diff_Carrier 0 0 1
9 EF Gripper Right EF_Gripper_Right 3.60822483003176E-16 0.0395187564799554 -0.0785892929086096 0 0 0 0.0859306256217421 8.1015302646778E-05 2.5410988417629E-21 3.75123099070348E-19 8.51028632685389E-05 1.00631950096307E-08 5.50169350148622E-06 0 0 0 0 0 0 package://URDF v2 - axes added/meshes/EF Gripper Right.STL package://URDF v2 - axes added/meshes/EF_Gripper_Right.STL 0.898039215686275 0.917647058823529 0.929411764705882 1 0 0 0 0 0 0 package://URDF v2 - axes added/meshes/EF Gripper Right.STL package://URDF v2 - axes added/meshes/EF_Gripper_Right.STL Assembley-1/Copy Left_Jaw_Bracket-3;Assembley-1/Gripper-2;Assembley-1/Copy Real Shit - Left Jaw Plate-2;Assembley-1/lead screw nut-2;Assembley-1/Copy Bushing Bearing - Bushing Bearing-1;Assembley-1/Copy Bushing Bearing - Bushing Bearing-4 Origin_Gripper_Slider_Right Axis7 Gripper_Slider_Right prismatic 0 0 -0.031677 0 0 3.1416 End Effector End_Effector 0 1 0 0 0 0 0
10 EF Gripper Left EF_Gripper_Left 0.000260261090099842 0.0391877753208171 -0.0810862651363518 0 0 0 0.0813132558225319 7.92230074239095E-05 8.60239969339994E-10 -3.27617434511821E-07 8.29877943429396E-05 9.84609377733742E-09 4.98027032334885E-06 0 0 0 0 0 0 package://URDF v2 - axes added/meshes/EF Gripper Left.STL package://URDF v2 - axes added/meshes/EF_Gripper_Left.STL 0.898039215686275 0.917647058823529 0.929411764705882 1 0 0 0 0 0 0 package://URDF v2 - axes added/meshes/EF Gripper Left.STL package://URDF v2 - axes added/meshes/EF_Gripper_Left.STL Assembley-1/Copy Left_Jaw_Bracket-1;Assembley-1/Copy Real Shit - Left Jaw Plate-1;Assembley-1/Gripper-1;Assembley-1/lead screw nut-1;Assembley-1/Copy Bushing Bearing - Bushing Bearing-2;Assembley-1/Copy Bushing Bearing - Bushing Bearing-3 Origin_Gripper_Slider_Left Axis7 Gripper_Slider_Left prismatic 0 0 -0.031677 0 0 0 End Effector End_Effector 0 -1 0 0 0 0 0

78
src/rover_urdf_pkg/urdf/ASTRA_Arm.urdf
View File

@@ -47,7 +47,7 @@
</link> </link>
<link <link
name="Axis 0 Plate"> name="Axis_0_Plate">
<inertial> <inertial>
<origin <origin
xyz="0.025635 0.047115 0.021109" xyz="0.025635 0.047115 0.021109"
@@ -68,7 +68,7 @@
rpy="0 0 0" /> rpy="0 0 0" />
<geometry> <geometry>
<mesh <mesh
filename="package://rover_urdf_pkg/meshes/Axis 0 Plate.STL" /> filename="package://rover_urdf_pkg/meshes/Axis_0_Plate.STL" />
</geometry> </geometry>
<material <material
name=""> name="">
@@ -82,7 +82,7 @@
rpy="0 0 0" /> rpy="0 0 0" />
<geometry> <geometry>
<mesh <mesh
filename="package://rover_urdf_pkg/meshes/Axis 0 Plate.STL" /> filename="package://rover_urdf_pkg/meshes/Axis_0_Plate.STL" />
</geometry> </geometry>
</collision> </collision>
</link> </link>
@@ -96,18 +96,18 @@
<parent <parent
link="base_link" /> link="base_link" />
<child <child
link="Axis 0 Plate" /> link="Axis_0_Plate" />
<axis <axis
xyz="0 -1 0" /> xyz="0 -1 0" />
<limit <limit
lower="-3.14" lower="-3.14"
upper="3.14" upper="3.14"
effort="0" effort="0"
velocity="3.1415963" /> velocity="31.41593" />
</joint> </joint>
<link <link
name="Axis 1 Segment"> name="Axis_1_Segment">
<inertial> <inertial>
<origin <origin
xyz="0.317731812584795 0.0226837932394467 -2.94234579792906E-05" xyz="0.317731812584795 0.0226837932394467 -2.94234579792906E-05"
@@ -128,7 +128,7 @@
rpy="0 0 0" /> rpy="0 0 0" />
<geometry> <geometry>
<mesh <mesh
filename="package://rover_urdf_pkg/meshes/Axis 1 Segment.STL" /> filename="package://rover_urdf_pkg/meshes/Axis_1_Segment.STL" />
</geometry> </geometry>
<material <material
name=""> name="">
@@ -142,7 +142,7 @@
rpy="0 0 0" /> rpy="0 0 0" />
<geometry> <geometry>
<mesh <mesh
filename="package://rover_urdf_pkg/meshes/Axis 1 Segment.STL" /> filename="package://rover_urdf_pkg/meshes/Axis_1_Segment.STL" />
</geometry> </geometry>
</collision> </collision>
</link> </link>
@@ -154,20 +154,20 @@
xyz="-0.0271654135185528 0.0927245490180083 0.00384109909109076" xyz="-0.0271654135185528 0.0927245490180083 0.00384109909109076"
rpy="-3.14159265358977 -0.00524713054608625 1.5707963267949" /> rpy="-3.14159265358977 -0.00524713054608625 1.5707963267949" />
<parent <parent
link="Axis 0 Plate" /> link="Axis_0_Plate" />
<child <child
link="Axis 1 Segment" /> link="Axis_1_Segment" />
<axis <axis
xyz="0 -1 0" /> xyz="0 -1 0" />
<limit <limit
lower="-1.05" lower="-1.05"
upper="1.6" upper="1.6"
effort="0" effort="0"
velocity="3.1415963" /> velocity="31.41593" />
</joint> </joint>
<link <link
name="Axis 2 Segment"> name="Axis_2_Segment">
<inertial> <inertial>
<origin <origin
xyz="0.179701426719665 -0.0176131583689303 5.71147464441535E-05" xyz="0.179701426719665 -0.0176131583689303 5.71147464441535E-05"
@@ -188,7 +188,7 @@
rpy="0 0 0" /> rpy="0 0 0" />
<geometry> <geometry>
<mesh <mesh
filename="package://rover_urdf_pkg/meshes/Axis 2 Segment.STL" /> filename="package://rover_urdf_pkg/meshes/Axis_2_Segment.STL" />
</geometry> </geometry>
<material <material
name=""> name="">
@@ -202,7 +202,7 @@
rpy="0 0 0" /> rpy="0 0 0" />
<geometry> <geometry>
<mesh <mesh
filename="package://rover_urdf_pkg/meshes/Axis 2 Segment.STL" /> filename="package://rover_urdf_pkg/meshes/Axis_2_Segment.STL" />
</geometry> </geometry>
</collision> </collision>
</link> </link>
@@ -214,16 +214,16 @@
xyz="0.470027000000004 0.0126999999999999 0" xyz="0.470027000000004 0.0126999999999999 0"
rpy="3.14159265358979 0.000449358059257729 0" /> rpy="3.14159265358979 0.000449358059257729 0" />
<parent <parent
link="Axis 1 Segment" /> link="Axis_1_Segment" />
<child <child
link="Axis 2 Segment" /> link="Axis_2_Segment" />
<axis <axis
xyz="0 -1 0" /> xyz="0 -1 0" />
<limit <limit
lower="-2.0" lower="-2.0"
upper="2.0" upper="2.0"
effort="0" effort="0"
velocity="3.1415963" /> velocity="31.41593" />
</joint> </joint>
<link <link
@@ -274,7 +274,7 @@
xyz="0.393826999999998 0 0" xyz="0.393826999999998 0 0"
rpy="0 -0.000409495780687665 0" /> rpy="0 -0.000409495780687665 0" />
<parent <parent
link="Axis 2 Segment" /> link="Axis_2_Segment" />
<child <child
link="Wrist" /> link="Wrist" />
<axis <axis
@@ -283,11 +283,11 @@
lower="-1.6" lower="-1.6"
upper="1.9" upper="1.9"
effort="0" effort="0"
velocity="3.1415963" /> velocity="31.41593" />
</joint> </joint>
<link <link
name="Diff Carrier"> name="Diff_Carrier">
<inertial> <inertial>
<origin <origin
xyz="-8.64620358677695E-06 -0.00516792807449162 -7.22608790769408E-07" xyz="-8.64620358677695E-06 -0.00516792807449162 -7.22608790769408E-07"
@@ -308,7 +308,7 @@
rpy="0 0 0" /> rpy="0 0 0" />
<geometry> <geometry>
<mesh <mesh
filename="package://rover_urdf_pkg/meshes/Diff Carrier.STL" /> filename="package://rover_urdf_pkg/meshes/Diff_Carrier.STL" />
</geometry> </geometry>
<material <material
name=""> name="">
@@ -322,7 +322,7 @@
rpy="0 0 0" /> rpy="0 0 0" />
<geometry> <geometry>
<mesh <mesh
filename="package://rover_urdf_pkg/meshes/Diff Carrier.STL" /> filename="package://rover_urdf_pkg/meshes/Diff_Carrier.STL" />
</geometry> </geometry>
</collision> </collision>
</link> </link>
@@ -336,18 +336,18 @@
<parent <parent
link="Wrist" /> link="Wrist" />
<child <child
link="Diff Carrier" /> link="Diff_Carrier" />
<axis <axis
xyz="-1 0 0" /> xyz="-1 0 0" />
<limit <limit
lower="-1.6" lower="-1.6"
upper="1.6" upper="1.6"
effort="0" effort="0"
velocity="3.1415963" /> velocity="31.41593" />
</joint> </joint>
<link <link
name="End Effector"> name="End_Effector">
<inertial> <inertial>
<origin <origin
xyz="-0.00327558376591462 0.00327411156667146 -0.0553569354578649" xyz="-0.00327558376591462 0.00327411156667146 -0.0553569354578649"
@@ -368,7 +368,7 @@
rpy="0 0 0" /> rpy="0 0 0" />
<geometry> <geometry>
<mesh <mesh
filename="package://rover_urdf_pkg/meshes/End Effector.STL" /> filename="package://rover_urdf_pkg/meshes/End_Effector.STL" />
</geometry> </geometry>
<material <material
name=""> name="">
@@ -382,7 +382,7 @@
rpy="0 0 0" /> rpy="0 0 0" />
<geometry> <geometry>
<mesh <mesh
filename="package://rover_urdf_pkg/meshes/End Effector.STL" /> filename="package://rover_urdf_pkg/meshes/End_Effector.STL" />
</geometry> </geometry>
</collision> </collision>
</link> </link>
@@ -394,15 +394,15 @@
xyz="0 0.01 0" xyz="0 0.01 0"
rpy="-1.5708 -0.21566 -3.1416" /> rpy="-1.5708 -0.21566 -3.1416" />
<parent <parent
link="Diff Carrier" /> link="Diff_Carrier" />
<child <child
link="End Effector" /> link="End_Effector" />
<axis <axis
xyz="0 0 1" /> xyz="0 0 1" />
</joint> </joint>
<link <link
name="EF Gripper Right"> name="EF_Gripper_Right">
<inertial> <inertial>
<origin <origin
xyz="3.60822483003176E-16 0.0395187564799554 -0.0785892929086096" xyz="3.60822483003176E-16 0.0395187564799554 -0.0785892929086096"
@@ -423,7 +423,7 @@
rpy="0 0 0" /> rpy="0 0 0" />
<geometry> <geometry>
<mesh <mesh
filename="package://rover_urdf_pkg/meshes/EF Gripper Right.STL" /> filename="package://rover_urdf_pkg/meshes/EF_Gripper_Right.STL" />
</geometry> </geometry>
<material <material
name=""> name="">
@@ -437,7 +437,7 @@
rpy="0 0 0" /> rpy="0 0 0" />
<geometry> <geometry>
<mesh <mesh
filename="package://rover_urdf_pkg/meshes/EF Gripper Right.STL" /> filename="package://rover_urdf_pkg/meshes/EF_Gripper_Right.STL" />
</geometry> </geometry>
</collision> </collision>
</link> </link>
@@ -449,9 +449,9 @@
xyz="0 0 -0.031677" xyz="0 0 -0.031677"
rpy="0 0 3.1416" /> rpy="0 0 3.1416" />
<parent <parent
link="End Effector" /> link="End_Effector" />
<child <child
link="EF Gripper Right" /> link="EF_Gripper_Right" />
<axis <axis
xyz="0 1 0" /> xyz="0 1 0" />
<limit <limit
@@ -465,7 +465,7 @@
</joint> </joint>
<link <link
name="EF Gripper Left"> name="EF_Gripper_Left">
<inertial> <inertial>
<origin <origin
xyz="0.000260261090099842 0.0391877753208171 -0.0810862651363518" xyz="0.000260261090099842 0.0391877753208171 -0.0810862651363518"
@@ -486,7 +486,7 @@
rpy="0 0 0" /> rpy="0 0 0" />
<geometry> <geometry>
<mesh <mesh
filename="package://rover_urdf_pkg/meshes/EF Gripper Left.STL" /> filename="package://rover_urdf_pkg/meshes/EF_Gripper_Left.STL" />
</geometry> </geometry>
<material <material
name=""> name="">
@@ -500,7 +500,7 @@
rpy="0 0 0" /> rpy="0 0 0" />
<geometry> <geometry>
<mesh <mesh
filename="package://rover_urdf_pkg/meshes/EF Gripper Left.STL" /> filename="package://rover_urdf_pkg/meshes/EF_Gripper_Left.STL" />
</geometry> </geometry>
</collision> </collision>
</link> </link>
@@ -512,9 +512,9 @@
xyz="0 0 -0.031677" xyz="0 0 -0.031677"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="End Effector" /> link="End_Effector" />
<child <child
link="EF Gripper Left" /> link="EF_Gripper_Left" />
<axis <axis
xyz="0 -1 0" /> xyz="0 -1 0" />
<limit <limit