From a8e80e0bfa6a8045d80da128b22fab5f271fcb81 Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Sat, 4 Jan 2020 10:29:06 +0100 Subject: [PATCH] Added custom urdf --- .gitignore | 1 + launch/moveit.launch | 8 + urdf/open_manipulator.urdf | 437 +++++++++++++++++++++++++++++++++++++ 3 files changed, 446 insertions(+) create mode 100644 .gitignore create mode 100644 launch/moveit.launch create mode 100644 urdf/open_manipulator.urdf diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..0925c8b --- /dev/null +++ b/.gitignore @@ -0,0 +1 @@ +CATKIN_IGNORE diff --git a/launch/moveit.launch b/launch/moveit.launch new file mode 100644 index 0000000..4488d94 --- /dev/null +++ b/launch/moveit.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/urdf/open_manipulator.urdf b/urdf/open_manipulator.urdf new file mode 100644 index 0000000..8cfa94b --- /dev/null +++ b/urdf/open_manipulator.urdf @@ -0,0 +1,437 @@ + + + + + + + + + + + + 1000000.0 + 100.0 + 30.0 + 30.0 + 1.0 + 0.001 + Gazebo/DarkGrey + + + 1000000.0 + 100.0 + 30.0 + 30.0 + 1.0 + 0.001 + Gazebo/DarkGrey + + + 1000000.0 + 100.0 + 30.0 + 30.0 + 1.0 + 0.001 + Gazebo/DarkGrey + + + 1000000.0 + 100.0 + 30.0 + 30.0 + 1.0 + 0.001 + Gazebo/DarkGrey + + + 1000000.0 + 100.0 + 30.0 + 30.0 + 1.0 + 0.001 + Gazebo/DarkGrey + + + 1000000.0 + 100.0 + 30.0 + 30.0 + 1.0 + 0.001 + Gazebo/DarkGrey + + + 1000000.0 + 100.0 + 30.0 + 30.0 + 1.0 + 0.001 + Gazebo/DarkGrey + + + + Gazebo/Red + + + + + open_manipulator + 0.001 + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + + + + + + + + + + + + + + + + + + + + -- 2.39.2