diff --git a/arm_model/28c8881e97f9ed262ba5e49d0d3d0db3.jpg b/arm_model/28c8881e97f9ed262ba5e49d0d3d0db3.jpg new file mode 100644 index 0000000..5f3d70f Binary files /dev/null and b/arm_model/28c8881e97f9ed262ba5e49d0d3d0db3.jpg differ diff --git a/arm_model/a82b1fb5f8b5d99e6718330129ab883f.png b/arm_model/a82b1fb5f8b5d99e6718330129ab883f.png new file mode 100644 index 0000000..383f9b1 Binary files /dev/null and b/arm_model/a82b1fb5f8b5d99e6718330129ab883f.png differ diff --git a/arm_model/ae2ecdcb7a0aa388c57fc786c69bd97a.jpg b/arm_model/ae2ecdcb7a0aa388c57fc786c69bd97a.jpg new file mode 100644 index 0000000..f105f90 Binary files /dev/null and b/arm_model/ae2ecdcb7a0aa388c57fc786c69bd97a.jpg differ diff --git a/arm_model/c5a339da0e5412c9d214fc28ebb75d28.png b/arm_model/c5a339da0e5412c9d214fc28ebb75d28.png new file mode 100644 index 0000000..982c653 Binary files /dev/null and b/arm_model/c5a339da0e5412c9d214fc28ebb75d28.png differ diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/CMakeLists.txt b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/CMakeLists.txt new file mode 100644 index 0000000..c15e223 --- /dev/null +++ b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 2.8.3) + +project(arm) + +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) diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/config/joint_names_arm.yaml b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/config/joint_names_arm.yaml new file mode 100644 index 0000000..9108388 --- /dev/null +++ b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/config/joint_names_arm.yaml @@ -0,0 +1 @@ +controller_joint_names: ['', 'j1', 'j2', 'j3', 'j4', 'j5', 'j6', ] diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/export.log b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/export.log new file mode 100644 index 0000000..6b83e46 --- /dev/null +++ b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/export.log @@ -0,0 +1,255 @@ +2026-02-24 10:27:44,025 INFO Logger.cs: 70 - +-------------------------------------------------------------------------------- +2026-02-24 10:27:44,064 INFO Logger.cs: 71 - Logging commencing for SW2URDF exporter +2026-02-24 10:27:44,064 INFO Logger.cs: 73 - Commit version 1.6.0-4-g7f85cfe +2026-02-24 10:27:44,065 INFO Logger.cs: 74 - Build version 1.6.7995.38578 +2026-02-24 10:27:44,085 INFO SwAddin.cs: 192 - Attempting to connect to SW +2026-02-24 10:27:44,085 INFO SwAddin.cs: 197 - Setting up callbacks +2026-02-24 10:27:44,086 INFO SwAddin.cs: 201 - Setting up command manager +2026-02-24 10:27:44,086 INFO SwAddin.cs: 204 - Adding command manager +2026-02-24 10:27:44,091 INFO SwAddin.cs: 263 - Adding Assembly export to file menu +2026-02-24 10:27:44,091 INFO SwAddin.cs: 272 - Adding Part export to file menu +2026-02-24 10:27:44,091 INFO SwAddin.cs: 210 - Adding event handlers +2026-02-24 10:27:44,233 INFO SwAddin.cs: 217 - Connecting plugin to SolidWorks +2026-02-24 10:54:23,756 INFO SwAddin.cs: 294 - Assembly export called for file 3.1.SLDASM +2026-02-24 10:54:23,757 INFO SwAddin.cs: 299 - Save is required +2026-02-24 10:54:23,757 INFO SwAddin.cs: 313 - Saving assembly +2026-02-24 10:54:26,128 INFO SwAddin.cs: 316 - Opening property manager +2026-02-24 10:54:26,152 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1.SLDASM +2026-02-24 10:54:26,172 INFO ExportHelperExtension.cs: 1136 - Found 81 in 3.1.SLDASM +2026-02-24 10:54:26,174 INFO ExportHelperExtension.cs: 1145 - Found 7 features of type [CoordSys] in 3.1.SLDASM +2026-02-24 10:54:26,174 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2026-02-24 10:54:26,174 INFO ExportHelperExtension.cs: 1160 - 8 components to check +2026-02-24 10:54:26,177 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from һűԪ-1 +2026-02-24 10:54:26,177 INFO ExportHelperExtension.cs: 1136 - Found 346 in һűԪ-1 +2026-02-24 10:54:26,179 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in һűԪ-1 +2026-02-24 10:54:26,179 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Yģ-2 +2026-02-24 10:54:26,179 INFO ExportHelperExtension.cs: 1136 - Found 68 in Yģ-2 +2026-02-24 10:54:26,179 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Yģ-2 +2026-02-24 10:54:26,180 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1.SLDASM +2026-02-24 10:54:26,180 INFO ExportHelperExtension.cs: 1136 - Found 81 in 3.1.SLDASM +2026-02-24 10:54:26,181 INFO ExportHelperExtension.cs: 1145 - Found 7 features of type [RefAxis] in 3.1.SLDASM +2026-02-24 10:54:26,181 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2026-02-24 10:54:26,181 INFO ExportHelperExtension.cs: 1160 - 8 components to check +2026-02-24 10:54:26,181 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from һűԪ-1 +2026-02-24 10:54:26,182 INFO ExportHelperExtension.cs: 1136 - Found 346 in һűԪ-1 +2026-02-24 10:54:26,182 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in һűԪ-1 +2026-02-24 10:54:26,183 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Yģ-2 +2026-02-24 10:54:26,183 INFO ExportHelperExtension.cs: 1136 - Found 68 in Yģ-2 +2026-02-24 10:54:26,183 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Yģ-2 +2026-02-24 10:54:26,738 INFO SwAddin.cs: 339 - Loading config tree +2026-02-24 10:54:26,745 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found +nametruebase_linkxyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruetypetruexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????1linktruenametrueLink1xyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruej1typetrueAutomatically Detectxyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????2?????????2linktruenametrueLink2xyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruej2typetrueAutomatically Detectxyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????3?????????3linktruenametrueLink3xyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruej3typetrueAutomatically Detectxyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????4?????????4linktruenametrueLink4xyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruej4typetrueAutomatically Detectxyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????5?????????5linktruenametrueLink5xyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruej5typetrueAutomatically Detectxyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????6?????????6linktruenametrueLink6xyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruej6typetrueAutomatically Detectxyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????7?????????7linktruenametrueLink7xyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruej7typetrueAutomatically Detectxyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????8?????????8linktruefalsefalsefalsefalseUEYAAAUAAAD//v8WQwBvAHAAeQAgAG8AZgAgACpy+39sj6deXgAzAC4AMAAtADEAQAAzAC4AMAAEAAAAEAAAAAEAAAABAAAAqgUAAA==falsefalsefalseUEYAAAUAAAD//v8JCU73U8KBLQAxAEAAMwAuADAABAAAABAAAAABAAAAAQAAAGEEAAA=falsefalsefalseUEYAAAUAAAD//v8QMgAuADAALQCMTvdTwoHeVmyPwoEtADEAQAAzAC4AMAAEAAAAEAAAAAEAAAABAAAAOgUAAA==falsefalsefalseUEYAAAUAAAD//v8PMgAuADAALQCMTvdTwoE7TsKBLQAxAEAAMwAuADAABAAAABAAAAABAAAAAQAAADgFAAA=falsefalsefalseUEYAAAUAAAD//v8NMgAuADAALQAATvdTwoEtADEAQAAzAC4AMAAEAAAAEAAAAAEAAAABAAAAUAUAAA==falsefalsefalseUEYAAAUAAAD//v8NAE73U8KBcZqoUlVTQ1EtADEAQAAzAC4AMAAEAAAAEAAAAAEAAAABAAAAwgQAAA==UEYAAAUAAAD//v8RMwAuADAALQCMTvdTwoFxmqhSVVNDUS0AMQBAADMALgAwAAQAAAAQAAAAAQAAAAEAAABMBQAAfalsefalsefalseUEYAAAUAAAD//v8KJ1lZACFqV1ctADIAQAAzAC4AMAAEAAAAEAAAAAEAAAABAAAAJAUAAA==falsefalse +2026-02-24 10:54:26,974 INFO LinkNode.cs: 35 - Building node base_link +2026-02-24 10:54:26,975 INFO LinkNode.cs: 35 - Building node Link1 +2026-02-24 10:54:26,975 INFO LinkNode.cs: 35 - Building node Link2 +2026-02-24 10:54:26,975 INFO LinkNode.cs: 35 - Building node Link3 +2026-02-24 10:54:26,976 INFO LinkNode.cs: 35 - Building node Link4 +2026-02-24 10:54:26,976 INFO LinkNode.cs: 35 - Building node Link5 +2026-02-24 10:54:26,977 INFO LinkNode.cs: 35 - Building node Link6 +2026-02-24 10:54:26,977 INFO LinkNode.cs: 35 - Building node Link7 +2026-02-24 10:54:26,978 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for base_link from D:\swProjects\arm\3.1.SLDASM +2026-02-24 10:54:26,979 INFO CommonSwOperations.cs: 245 - Loading component with PID PF??? +'YY!jWW-2@3.0$ +2026-02-24 10:54:26,980 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\arm\Yģ.SLDASM +2026-02-24 10:54:26,981 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link base_link +2026-02-24 10:54:26,981 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for Link1 from D:\swProjects\arm\3.1.SLDASM +2026-02-24 10:54:26,981 INFO CommonSwOperations.cs: 245 - Loading component with PID PF??? N?S??q??RUSCQ-1@3.0? +2026-02-24 10:54:26,982 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\arm\һűԪ.SLDASM +2026-02-24 10:54:26,983 INFO CommonSwOperations.cs: 245 - Loading component with PID PF???3.0-?N?S??q??RUSCQ-1@3.0L +2026-02-24 10:54:26,983 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\arm\3.1-űԪ.SLDASM +2026-02-24 10:54:26,983 INFO CommonSwOperations.cs: 230 - Loaded 2 components for link Link1 +2026-02-24 10:54:26,983 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for Link2 from D:\swProjects\arm\3.1.SLDASM +2026-02-24 10:54:26,984 INFO CommonSwOperations.cs: 245 - Loading component with PID PF??? 2.0-N?S??-1@3.0P +2026-02-24 10:54:26,984 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\arm\3.1-һű.SLDASM +2026-02-24 10:54:26,984 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link Link2 +2026-02-24 10:54:26,985 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for Link3 from D:\swProjects\arm\3.1.SLDASM +2026-02-24 10:54:26,985 INFO CommonSwOperations.cs: 245 - Loading component with PID PF???2.0-?N?S??;N??-1@3.08 +2026-02-24 10:54:26,985 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\arm\3.1-ű.SLDASM +2026-02-24 10:54:26,986 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link Link3 +2026-02-24 10:54:26,986 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for Link4 from D:\swProjects\arm\3.1.SLDASM +2026-02-24 10:54:26,986 INFO CommonSwOperations.cs: 245 - Loading component with PID PF???2.0-?N?S???Vl???-1@3.0: +2026-02-24 10:54:26,987 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\arm\3.1-űۻת.SLDASM +2026-02-24 10:54:26,987 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link Link4 +2026-02-24 10:54:26,987 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for Link5 from D:\swProjects\arm\3.1.SLDASM +2026-02-24 10:54:26,987 INFO CommonSwOperations.cs: 245 - Loading component with PID PF??? N?S??-1@3.0a +2026-02-24 10:54:26,988 INFO CommonSwOperations.cs: 254 - Successfully loaded component D:\swProjects\arm\ű.SLDASM +2026-02-24 10:54:26,988 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link Link5 +2026-02-24 10:54:26,988 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for Link6 from D:\swProjects\arm\3.1.SLDASM +2026-02-24 10:54:26,988 INFO CommonSwOperations.cs: 245 - Loading component with PID PF???Copy of *r?l??^^3.0-1@3.0? +2026-02-24 10:54:26,990 ERROR CommonSwOperations.cs: 281 - The component associated with PID PF???Copy of *r?l??^^3.0-1@3.0? was found to be invalid +2026-02-24 10:54:26,990 WARN CommonSwOperations.cs: 249 - Component with PID PF???Copy of *r?l??^^3.0-1@3.0? failed to load +2026-02-24 10:54:26,990 ERROR CommonSwOperations.cs: 228 - Link Link6 did not fully load all components +2026-02-24 10:54:26,990 INFO CommonSwOperations.cs: 230 - Loaded 0 components for link Link6 +2026-02-24 10:54:26,990 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for Link7 from D:\swProjects\arm\3.1.SLDASM +2026-02-24 10:54:26,990 INFO CommonSwOperations.cs: 230 - Loaded 0 components for link Link7 +2026-02-24 10:54:36,889 INFO SwAddin.cs: 344 - Showing property manager +2026-02-24 10:54:47,724 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2026-02-24 10:55:15,564 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2026-02-24 10:55:19,446 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2026-02-24 10:55:20,851 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2026-02-24 10:55:24,542 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2026-02-24 10:55:32,099 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2026-02-24 10:55:33,639 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2026-02-24 10:55:35,455 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2026-02-24 10:55:38,600 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2026-02-24 10:55:39,892 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2026-02-24 10:55:41,101 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2026-02-24 10:55:45,061 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2026-02-24 10:55:46,262 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2026-02-24 10:55:47,664 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2026-02-24 10:55:51,706 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2026-02-24 10:55:52,985 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2026-02-24 10:55:54,326 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2026-02-24 10:55:57,801 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2026-02-24 10:55:58,913 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2026-02-24 10:56:00,456 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2026-02-24 10:56:03,994 INFO ExportPropertyManager.cs: 422 - Configuration saved +2026-02-24 10:56:03,998 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found +nametruebase_linkxyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruetypetruexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????1linktruenametrueLink1xyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruej1typetrueAutomatically Detectxyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????2?????????2linktruenametrueLink2xyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruej2typetrueAutomatically Detectxyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????3?????????3linktruenametrueLink3xyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruej3typetrueAutomatically Detectxyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????4?????????4linktruenametrueLink4xyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruej4typetrueAutomatically Detectxyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????5?????????5linktruenametrueLink5xyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruej5typetrueAutomatically Detectxyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????6?????????6linktruenametrueLink6xyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruej6typetrueAutomatically Detectxyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????7?????????7linktruenametrueLink7xyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruej7typetrueAutomatically Detectxyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????8?????????8linktruefalsefalsefalsefalseUEYAAAUAAAD//v8WQwBvAHAAeQAgAG8AZgAgACpy+39sj6deXgAzAC4AMAAtADEAQAAzAC4AMAAEAAAAEAAAAAEAAAABAAAAqgUAAA==falsefalsefalseUEYAAAUAAAD//v8JCU73U8KBLQAxAEAAMwAuADAABAAAABAAAAABAAAAAQAAAGEEAAA=falsefalsefalseUEYAAAUAAAD//v8QMgAuADAALQCMTvdTwoHeVmyPwoEtADEAQAAzAC4AMAAEAAAAEAAAAAEAAAABAAAAOgUAAA==falsefalsefalseUEYAAAUAAAD//v8PMgAuADAALQCMTvdTwoE7TsKBLQAxAEAAMwAuADAABAAAABAAAAABAAAAAQAAADgFAAA=falsefalsefalseUEYAAAUAAAD//v8NMgAuADAALQAATvdTwoEtADEAQAAzAC4AMAAEAAAAEAAAAAEAAAABAAAAUAUAAA==falsefalsefalseUEYAAAUAAAD//v8NAE73U8KBcZqoUlVTQ1EtADEAQAAzAC4AMAAEAAAAEAAAAAEAAAABAAAAwgQAAA==UEYAAAUAAAD//v8RMwAuADAALQCMTvdTwoFxmqhSVVNDUS0AMQBAADMALgAwAAQAAAAQAAAAAQAAAAEAAABMBQAAfalsefalsefalseUEYAAAUAAAD//v8KJ1lZACFqV1ctADIAQAAzAC4AMAAEAAAAEAAAAAEAAAABAAAAJAUAAA==falsefalse +2026-02-24 10:56:04,462 INFO ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2026-02-24 10:56:40,357 INFO ExportHelperExtension.cs: 347 - Creating joint Link1 +2026-02-24 10:56:41,609 WARN ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child Link1 failed +2026-02-24 10:56:45,455 INFO ExportHelperExtension.cs: 347 - Creating joint Link2 +2026-02-24 10:56:45,600 WARN ExportHelperExtension.cs: 351 - Creating joint from parent Link1 to child Link2 failed +2026-02-24 10:56:46,222 INFO ExportHelperExtension.cs: 347 - Creating joint Link3 +2026-02-24 10:56:46,334 WARN ExportHelperExtension.cs: 351 - Creating joint from parent Link2 to child Link3 failed +2026-02-24 10:56:50,884 INFO ExportHelperExtension.cs: 347 - Creating joint Link4 +2026-02-24 10:56:51,017 WARN ExportHelperExtension.cs: 351 - Creating joint from parent Link3 to child Link4 failed +2026-02-24 10:56:55,520 INFO ExportHelperExtension.cs: 347 - Creating joint Link5 +2026-02-24 10:56:55,625 WARN ExportHelperExtension.cs: 351 - Creating joint from parent Link4 to child Link5 failed +2026-02-24 10:56:59,881 INFO ExportHelperExtension.cs: 347 - Creating joint Link6 +2026-02-24 10:57:00,035 WARN ExportHelperExtension.cs: 351 - Creating joint from parent Link5 to child Link6 failed +2026-02-24 10:57:01,448 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1.SLDASM +2026-02-24 10:57:01,453 INFO ExportHelperExtension.cs: 1136 - Found 81 in 3.1.SLDASM +2026-02-24 10:57:01,454 INFO ExportHelperExtension.cs: 1145 - Found 7 features of type [CoordSys] in 3.1.SLDASM +2026-02-24 10:57:01,454 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2026-02-24 10:57:01,454 INFO ExportHelperExtension.cs: 1160 - 8 components to check +2026-02-24 10:57:01,454 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ű-1 +2026-02-24 10:57:01,455 INFO ExportHelperExtension.cs: 1136 - Found 43 in ű-1 +2026-02-24 10:57:01,455 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ű-1 +2026-02-24 10:57:01,455 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from һűԪ-1 +2026-02-24 10:57:01,456 INFO ExportHelperExtension.cs: 1136 - Found 346 in һűԪ-1 +2026-02-24 10:57:01,457 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in һűԪ-1 +2026-02-24 10:57:01,457 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Yģ-2 +2026-02-24 10:57:01,458 INFO ExportHelperExtension.cs: 1136 - Found 68 in Yģ-2 +2026-02-24 10:57:01,458 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Yģ-2 +2026-02-24 10:57:01,458 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-һű-1 +2026-02-24 10:57:01,459 INFO ExportHelperExtension.cs: 1136 - Found 308 in 3.1-һű-1 +2026-02-24 10:57:01,460 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-һű-1 +2026-02-24 10:57:01,460 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-űۻת-1 +2026-02-24 10:57:01,461 INFO ExportHelperExtension.cs: 1136 - Found 456 in 3.1-űۻת-1 +2026-02-24 10:57:01,462 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-űۻת-1 +2026-02-24 10:57:01,462 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-űԪ-1 +2026-02-24 10:57:01,463 INFO ExportHelperExtension.cs: 1136 - Found 90 in 3.1-űԪ-1 +2026-02-24 10:57:01,467 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-űԪ-1 +2026-02-24 10:57:01,467 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from еצ3.1-2 +2026-02-24 10:57:01,536 INFO ExportHelperExtension.cs: 1136 - Found 280 in еצ3.1-2 +2026-02-24 10:57:01,537 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in еצ3.1-2 +2026-02-24 10:57:01,538 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3.1-ű-1 +2026-02-24 10:57:01,539 INFO ExportHelperExtension.cs: 1136 - Found 449 in 3.1-ű-1 +2026-02-24 10:57:01,539 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3.1-ű-1 +2026-02-24 10:57:01,540 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1.SLDASM +2026-02-24 10:57:01,540 INFO ExportHelperExtension.cs: 1136 - Found 81 in 3.1.SLDASM +2026-02-24 10:57:01,541 INFO ExportHelperExtension.cs: 1145 - Found 7 features of type [RefAxis] in 3.1.SLDASM +2026-02-24 10:57:01,541 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2026-02-24 10:57:01,541 INFO ExportHelperExtension.cs: 1160 - 8 components to check +2026-02-24 10:57:01,541 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ű-1 +2026-02-24 10:57:01,542 INFO ExportHelperExtension.cs: 1136 - Found 43 in ű-1 +2026-02-24 10:57:01,542 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ű-1 +2026-02-24 10:57:01,542 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from һűԪ-1 +2026-02-24 10:57:01,543 INFO ExportHelperExtension.cs: 1136 - Found 346 in һűԪ-1 +2026-02-24 10:57:01,544 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in һűԪ-1 +2026-02-24 10:57:01,544 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Yģ-2 +2026-02-24 10:57:01,544 INFO ExportHelperExtension.cs: 1136 - Found 68 in Yģ-2 +2026-02-24 10:57:01,545 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Yģ-2 +2026-02-24 10:57:01,545 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-һű-1 +2026-02-24 10:57:01,546 INFO ExportHelperExtension.cs: 1136 - Found 308 in 3.1-һű-1 +2026-02-24 10:57:01,547 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-һű-1 +2026-02-24 10:57:01,547 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-űۻת-1 +2026-02-24 10:57:01,548 INFO ExportHelperExtension.cs: 1136 - Found 456 in 3.1-űۻת-1 +2026-02-24 10:57:01,549 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-űۻת-1 +2026-02-24 10:57:01,549 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-űԪ-1 +2026-02-24 10:57:01,549 INFO ExportHelperExtension.cs: 1136 - Found 90 in 3.1-űԪ-1 +2026-02-24 10:57:01,550 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-űԪ-1 +2026-02-24 10:57:01,550 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from еצ3.1-2 +2026-02-24 10:57:01,550 INFO ExportHelperExtension.cs: 1136 - Found 280 in еצ3.1-2 +2026-02-24 10:57:01,551 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in еצ3.1-2 +2026-02-24 10:57:01,551 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3.1-ű-1 +2026-02-24 10:57:01,552 INFO ExportHelperExtension.cs: 1136 - Found 449 in 3.1-ű-1 +2026-02-24 10:57:01,552 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3.1-ű-1 +2026-02-24 11:10:19,282 INFO AssemblyExportForm.cs: 253 - Completing URDF export +2026-02-24 11:10:19,287 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found +nametruebase_linkxyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruetypetruexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????baselinktruenametrueLink1xyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruej1typetruerevolutexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????1?????????1linktruenametrueLink2xyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruej2typetruerevolutexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????2?????????2linktruenametrueLink3xyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruej3typetruerevolutexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????3?????????3linktruenametrueLink4xyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruej4typetruerevolutexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????4?????????4linktruenametrueLink5xyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruej5typetruerevolutexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????5?????????5linktruenametrueLink6xyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruej6typetruerevolutexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????6?????????6linktruefalseUEYAAAUAAAD//v8MOmewaCpyMwAuADEALQAyAEAAMwAuADEABAAAABAAAAABAAAAAQAAAMEFAAA=falsefalsefalseUEYAAAUAAAD//v8JCU73U8KBLQAxAEAAMwAuADEABAAAABAAAAABAAAAAQAAAGEEAAA=falsefalsefalseUEYAAAUAAAD//v8QMwAuADEALQCMTvdTwoHeVmyPwoEtADEAQAAzAC4AMQAEAAAAEAAAAAEAAAABAAAAOgUAAA==falsefalsefalseUEYAAAUAAAD//v8PMwAuADEALQCMTvdTwoE7TsKBLQAxAEAAMwAuADEABAAAABAAAAABAAAAAQAAADgFAAA=falsefalsefalseUEYAAAUAAAD//v8NMwAuADEALQAATvdTwoEtADEAQAAzAC4AMQAEAAAAEAAAAAEAAAABAAAAUAUAAA==falsefalsefalseUEYAAAUAAAD//v8NAE73U8KBcZqoUlVTQ1EtADEAQAAzAC4AMQAEAAAAEAAAAAEAAAABAAAAwgQAAA==UEYAAAUAAAD//v8RMwAuADEALQCMTvdTwoFxmqhSVVNDUS0AMQBAADMALgAxAAQAAAAQAAAAAQAAAAEAAABMBQAAfalsefalsefalseUEYAAAUAAAD//v8KJ1lZACFqV1ctADIAQAAzAC4AMQAEAAAAEAAAAAEAAAABAAAAJAUAAA==falsefalse +2026-02-24 11:10:57,128 INFO AssemblyExportForm.cs: 309 - Saving URDF package to D:\STM32Projects_HAL\board-F4\arm\arm_model\еURDFϵצ\fix2026224\arm +2026-02-24 11:10:57,130 INFO ExportHelper.cs: 147 - Beginning the export process +2026-02-24 11:10:57,130 INFO ExportHelper.cs: 153 - Creating package directories with name arm and save path D:\STM32Projects_HAL\board-F4\arm\arm_model\еURDFϵצ\fix2026224 +2026-02-24 11:11:00,237 INFO ExportHelper.cs: 162 - Creating CMakeLists.txt at D:\STM32Projects_HAL\board-F4\arm\arm_model\еURDFϵצ\fix2026224\arm\CMakeLists.txt +2026-02-24 11:11:00,238 INFO ExportHelper.cs: 166 - Creating joint names config at D:\STM32Projects_HAL\board-F4\arm\arm_model\еURDFϵצ\fix2026224\arm\config\joint_names_arm.yaml +2026-02-24 11:11:00,239 INFO ExportHelper.cs: 170 - Creating package.xml at D:\STM32Projects_HAL\board-F4\arm\arm_model\еURDFϵצ\fix2026224\arm\package.xml +2026-02-24 11:11:00,241 INFO PackageXMLWriter.cs: 21 - Creating package.xml at D:\STM32Projects_HAL\board-F4\arm\arm_model\еURDFϵצ\fix2026224\arm\package.xml +2026-02-24 11:11:00,244 INFO ExportHelper.cs: 177 - Creating RVIZ launch file in D:\STM32Projects_HAL\board-F4\arm\arm_model\еURDFϵצ\fix2026224\arm\launch\ +2026-02-24 11:11:00,246 INFO ExportHelper.cs: 182 - Creating Gazebo launch file in D:\STM32Projects_HAL\board-F4\arm\arm_model\еURDFϵצ\fix2026224\arm\launch\ +2026-02-24 11:11:00,247 INFO ExportHelper.cs: 187 - Saving existing STL preferences +2026-02-24 11:11:00,247 INFO ExportHelper.cs: 450 - Saving users preferences +2026-02-24 11:11:00,248 INFO ExportHelper.cs: 190 - Modifying STL preferences +2026-02-24 11:11:00,248 INFO ExportHelper.cs: 464 - Setting STL preferences +2026-02-24 11:11:00,260 INFO ExportHelper.cs: 196 - Found 6 hidden components 3.1-һű-1/2.0-һű۶Źؽڹ̶1-1, 3.1-һű-1/05b19-1, 3.1-űۻת-1/űPλϹ̶-1, 3.1-űԪ-1/dm-j10010l-240726.STEP-1, 3.1-űԪ-1/dm-j10010l-240726.STEP-1/ZHUTI_Dfaut.STEP-1, 3.1-ű-1/2.0-űY𱣻-1 +2026-02-24 11:11:00,260 INFO ExportHelper.cs: 197 - Hiding all components +2026-02-24 11:11:00,643 INFO ExportHelper.cs: 204 - Beginning individual files export +2026-02-24 11:11:00,674 INFO ExportHelper.cs: 270 - Exporting link: base_link +2026-02-24 11:11:00,674 INFO ExportHelper.cs: 272 - Link base_link has 1 children +2026-02-24 11:11:00,675 INFO ExportHelper.cs: 270 - Exporting link: Link1 +2026-02-24 11:11:00,675 INFO ExportHelper.cs: 272 - Link Link1 has 1 children +2026-02-24 11:11:00,676 INFO ExportHelper.cs: 270 - Exporting link: Link2 +2026-02-24 11:11:00,676 INFO ExportHelper.cs: 272 - Link Link2 has 1 children +2026-02-24 11:11:00,677 INFO ExportHelper.cs: 270 - Exporting link: Link3 +2026-02-24 11:11:00,677 INFO ExportHelper.cs: 272 - Link Link3 has 1 children +2026-02-24 11:11:00,677 INFO ExportHelper.cs: 270 - Exporting link: Link4 +2026-02-24 11:11:00,677 INFO ExportHelper.cs: 272 - Link Link4 has 1 children +2026-02-24 11:11:00,678 INFO ExportHelper.cs: 270 - Exporting link: Link5 +2026-02-24 11:11:00,679 INFO ExportHelper.cs: 272 - Link Link5 has 1 children +2026-02-24 11:11:00,679 INFO ExportHelper.cs: 270 - Exporting link: Link6 +2026-02-24 11:11:00,679 INFO ExportHelper.cs: 272 - Link Link6 has 0 children +2026-02-24 11:11:00,681 INFO ExportHelper.cs: 317 - Link6: Exporting STL with coordinate frame ϵ6 +2026-02-24 11:11:00,681 INFO ExportHelper.cs: 322 - Link6: Reference geometry name +2026-02-24 11:11:00,710 INFO ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\еURDFϵצ\fix2026224\arm\meshes\Link6.STL +2026-02-24 11:11:02,047 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2026-02-24 11:11:02,048 INFO ExportHelper.cs: 317 - Link5: Exporting STL with coordinate frame ϵ5 +2026-02-24 11:11:02,048 INFO ExportHelper.cs: 322 - Link5: Reference geometry name +2026-02-24 11:11:02,157 INFO ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\еURDFϵצ\fix2026224\arm\meshes\Link5.STL +2026-02-24 11:11:04,774 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2026-02-24 11:11:04,774 INFO ExportHelper.cs: 317 - Link4: Exporting STL with coordinate frame ϵ4 +2026-02-24 11:11:04,775 INFO ExportHelper.cs: 322 - Link4: Reference geometry name +2026-02-24 11:11:04,816 INFO ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\еURDFϵצ\fix2026224\arm\meshes\Link4.STL +2026-02-24 11:11:07,660 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2026-02-24 11:11:07,660 INFO ExportHelper.cs: 317 - Link3: Exporting STL with coordinate frame ϵ3 +2026-02-24 11:11:07,660 INFO ExportHelper.cs: 322 - Link3: Reference geometry name +2026-02-24 11:11:07,704 INFO ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\еURDFϵצ\fix2026224\arm\meshes\Link3.STL +2026-02-24 11:11:10,735 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2026-02-24 11:11:10,735 INFO ExportHelper.cs: 317 - Link2: Exporting STL with coordinate frame ϵ2 +2026-02-24 11:11:10,735 INFO ExportHelper.cs: 322 - Link2: Reference geometry name +2026-02-24 11:11:10,771 INFO ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\еURDFϵצ\fix2026224\arm\meshes\Link2.STL +2026-02-24 11:11:11,362 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2026-02-24 11:11:11,364 INFO ExportHelper.cs: 317 - Link1: Exporting STL with coordinate frame ϵ1 +2026-02-24 11:11:11,364 INFO ExportHelper.cs: 322 - Link1: Reference geometry name +2026-02-24 11:11:11,406 INFO ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\еURDFϵצ\fix2026224\arm\meshes\Link1.STL +2026-02-24 11:11:14,693 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2026-02-24 11:11:14,693 INFO ExportHelper.cs: 317 - base_link: Exporting STL with coordinate frame ϵbase +2026-02-24 11:11:14,694 INFO ExportHelper.cs: 322 - base_link: Reference geometry name +2026-02-24 11:11:14,719 INFO ExportHelper.cs: 330 - Saving STL to D:\STM32Projects_HAL\board-F4\arm\arm_model\еURDFϵצ\fix2026224\arm\meshes\base_link.STL +2026-02-24 11:11:16,355 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2026-02-24 11:11:16,356 INFO ExportHelper.cs: 145 - Showing all components except previously hidden components +2026-02-24 11:11:25,482 INFO ExportHelper.cs: 145 - Resetting STL preferences +2026-02-24 11:11:25,483 INFO ExportHelper.cs: 478 - Returning STL preferences to user preferences +2026-02-24 11:11:25,484 INFO ExportHelper.cs: 228 - Writing URDF file to D:\STM32Projects_HAL\board-F4\arm\arm_model\еURDFϵצ\fix2026224\arm\urdf\arm.urdf +2026-02-24 11:11:25,574 INFO CSVImportExport.cs: 32 - Writing CSV file D:\STM32Projects_HAL\board-F4\arm\arm_model\еURDFϵצ\fix2026224\arm\urdf\arm.csv +2026-02-24 11:11:25,592 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2026-02-24 11:11:25,593 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2026-02-24 11:11:25,593 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2026-02-24 11:11:25,594 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2026-02-24 11:11:25,594 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2026-02-24 11:11:25,594 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2026-02-24 11:11:25,595 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2026-02-24 11:11:25,595 INFO ExportHelper.cs: 234 - Copying log file +2026-02-24 11:11:25,597 INFO ExportHelper.cs: 439 - Copying C:\Users\Lenovo\sw2urdf_logs\sw2urdf.log to D:\STM32Projects_HAL\board-F4\arm\arm_model\еURDFϵצ\fix2026224\arm\export.log diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/launch/display.launch b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/launch/display.launch new file mode 100644 index 0000000..ec7015f --- /dev/null +++ b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/launch/display.launch @@ -0,0 +1,20 @@ + + + + + + + \ No newline at end of file diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/launch/gazebo.launch b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/launch/gazebo.launch new file mode 100644 index 0000000..c41d578 --- /dev/null +++ b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/launch/gazebo.launch @@ -0,0 +1,20 @@ + + + + + + \ No newline at end of file diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/meshes/Link1.STL b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/meshes/Link1.STL new file mode 100644 index 0000000..5c0e34b Binary files /dev/null and b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/meshes/Link1.STL differ diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/meshes/Link2.STL b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/meshes/Link2.STL new file mode 100644 index 0000000..3d7e8e1 Binary files /dev/null and b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/meshes/Link2.STL differ diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/meshes/Link3.STL b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/meshes/Link3.STL new file mode 100644 index 0000000..1778bd2 Binary files /dev/null and b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/meshes/Link3.STL differ diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/meshes/Link4.STL b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/meshes/Link4.STL new file mode 100644 index 0000000..48a3483 Binary files /dev/null and b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/meshes/Link4.STL differ diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/meshes/Link5.STL b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/meshes/Link5.STL new file mode 100644 index 0000000..ce847e6 Binary files /dev/null and b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/meshes/Link5.STL differ diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/meshes/Link6.STL b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/meshes/Link6.STL new file mode 100644 index 0000000..07e9b4d Binary files /dev/null and b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/meshes/Link6.STL differ diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/meshes/base_link.STL b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/meshes/base_link.STL new file mode 100644 index 0000000..41fbcbc Binary files /dev/null and b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/meshes/base_link.STL differ diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/package.xml b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/package.xml new file mode 100644 index 0000000..4b81893 --- /dev/null +++ b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/package.xml @@ -0,0 +1,21 @@ + + arm + 1.0.0 + +

URDF Description package for arm

+

This package contains configuration data, 3D models and launch files +for arm robot

+ + TODO + + BSD + catkin + roslaunch + robot_state_publisher + rviz + joint_state_publisher_gui + gazebo + + + + \ No newline at end of file diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/urdf/arm.csv b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/urdf/arm.csv new file mode 100644 index 0000000..fd0e982 --- /dev/null +++ b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/urdf/arm.csv @@ -0,0 +1,8 @@ +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,-2.2084E-06,0.089343,0.015349,0,0,0,1.0623,0.0031488,-7.846E-08,-1.0021E-07,0.00202,1.6521E-08,0.0051396,0,0,0,0,0,0,package://arm/meshes/base_link.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://arm/meshes/base_link.STL,,大Y模块-2,坐标系base,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,, +Link1,0.0066971,-0.00030098,0.044241,0,0,0,2.3045,0.0035406,1.4877E-06,1.0878E-05,0.002472,1.066E-06,0.0036573,0,0,0,0,0,0,package://arm/meshes/Link1.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://arm/meshes/Link1.STL,,一号臂驱动单元-1;3.1-二号臂驱动单元-1,坐标系1,基准轴1,j1,revolute,0,0,0.0405,0,0,0,base_link,0,0,1,60,3.14,-15.7,15.7,,,,,,,, +Link2,-3.7501E-08,-0.26586,0.00044116,0,0,0,0.8903,0.0051781,-7.1373E-06,-6.9776E-13,0.00032382,-2.0393E-15,0.0054891,0,0,0,0,0,0,package://arm/meshes/Link2.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://arm/meshes/Link2.STL,,3.1-一号臂-1,坐标系2,基准轴2,j2,revolute,-0.0014,0,0.085,-1.5708,0,-1.5708,Link1,0,0,1,60,3.14,-1.57,1.57,,,,,,,, +Link3,0.0016734,-0.086963,-0.025004,0,0,0,0.72964,0.00040609,-1.1866E-05,8.3967E-07,0.00028636,4.7151E-08,0.00030158,0,0,0,0,0,0,package://arm/meshes/Link3.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://arm/meshes/Link3.STL,,3.1-二号臂主臂-1,坐标系3,基准轴3,j3,revolute,0,-0.388,0.002795,0,0,-1.5708,Link2,0,0,-1,60,3.14,0,3.14,,,,,,,, +Link4,4.9724E-05,-0.0020707,0.1436,0,0,0,0.60215,0.00052581,1.2387E-08,-1.2413E-08,0.00054695,1.1252E-06,0.0001498,0,0,0,0,0,0,package://arm/meshes/Link4.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://arm/meshes/Link4.STL,,3.1-二号臂回转臂-1,坐标系4,基准轴4,j4,revolute,0.047775,-0.0905,-0.001395,-1.5708,0,-1.5708,Link3,0,0,1,20,3.14,0,6.28,,,,,,,, +Link5,-1.7073E-05,0.058169,0.0029732,0,0,0,0.21817,8.1233E-05,1.143E-08,-1.1372E-08,8.1275E-05,-5.0118E-07,8.3976E-05,0,0,0,0,0,0,package://arm/meshes/Link5.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://arm/meshes/Link5.STL,,三号臂-1,坐标系5,基准轴5,j5,revolute,0,-0.004,0.241,1.5708,0,-3.1416,Link4,0,0,-1,20,3.14,-1.75,1.75,,,,,,,, +Link6,2.1332E-05,0.00053897,0.099935,0,0,0,0.57513,0.00025729,-1.8584E-06,1.1458E-07,0.00016925,5.6071E-08,0.00024392,0,0,0,0,0,0,package://arm/meshes/Link6.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://arm/meshes/Link6.STL,,机械爪3.1-2,坐标系6,基准轴6,j6,revolute,0,0.1065,0.0040025,1.5708,0,3.1416,Link5,0,0,-1,20,3.14,0,6.3,,,,,,,, diff --git a/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/urdf/arm.urdf b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/urdf/arm.urdf new file mode 100644 index 0000000..21c6494 --- /dev/null +++ b/arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/urdf/arm.urdf @@ -0,0 +1,395 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file