diff --git a/README.md b/README.md index a6bc9f091b9bf863580b35b8637ef45f48d5d922..adfbf9c1e1b12b4d4db5a46bc59cf6705653f829 100644 --- a/README.md +++ b/README.md @@ -5,6 +5,10 @@ Coarm机器人模型描述，在ROS1、ROS2下支持所有Coarm机器人模型 The Coarm Description repository offers all Coarm models. +### Update v1.0.6 +1.降低Coarm机械臂模型文件大小 +2.更新模型运动转向 + ### Update v1.0.5 1.更新Coarm机械臂模型 diff --git a/meshes/arms/coarm/collision/base_link.STL b/meshes/arms/coarm/collision/base_link.STL deleted file mode 100644 index 5dad199e1709756ffa17a9cc557fde2d81c1c212..0000000000000000000000000000000000000000 Binary files a/meshes/arms/coarm/collision/base_link.STL and /dev/null differ diff --git a/meshes/arms/coarm/collision/link0.STL b/meshes/arms/coarm/collision/link0.STL new file mode 100644 index 0000000000000000000000000000000000000000..d2cc7a7167e76ef90c7ebb8357220b6dfbfbac27 Binary files /dev/null and b/meshes/arms/coarm/collision/link0.STL differ diff --git a/meshes/arms/coarm/collision/link1.STL 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1317 1198 951 1409 1395 951 951 1395 1364 951 1364 1317 1268 1357 951 951 1357 1385 951 1385 1409 1018 1082 951 951 1082 1177 951 1177 1268 809 879 951 951 879 932 951 932 1018 540 593 951 951 593 711 951 711 809 520 497 951 951 497 510 951 510 540 732 636 951 951 636 550 951 550 520 973 890 951 951 890 828 951 828 732 1198 1096 951 951 1096 1026 951 1026 973 1317 1197 1198 1198 1197 1095 1198 1095 1096 1096 1095 1025 1096 1025 1026 1026 1025 972 1026 972 973 973 972 889 973 889 890 890 889 827 890 827 828 828 827 731 828 731 732 732 731 635 732 635 636 636 635 549 636 549 550 550 549 519 550 519 520 520 519 496 520 496 497 497 496 509 497 509 510 510 509 539 510 539 540 540 539 592 540 592 593 593 592 710 593 710 711 711 710 808 711 808 809 809 808 878 809 878 879 879 878 931 879 931 932 932 931 1017 932 1017 1018 1018 1017 1081 1018 1081 1082 1082 1081 1176 1082 1176 1177 1177 1176 1267 1177 1267 1268 1268 1267 1356 1268 1356 1357 1357 1356 1384 1357 1384 1385 1385 1384 1408 1385 1408 1409 1409 1408 1394 1409 1394 1395 1395 1394 1363 1395 1363 1364 1364 1363 1316 1364 1316 1317 1317 1316 1197 1394 1632 1363 1363 1632 1582 1363 1582 1316 1316 1582 1519 1316 1519 1197 710 552 808 808 552 719 808 719 878 878 719 843 878 843 931 931 843 915 931 915 1017 635 360 549 549 360 305 549 305 519 519 305 246 519 246 496 496 246 207 496 207 509 1519 1472 1197 1197 1472 1355 1197 1355 1095 1095 1355 1190 1095 1190 1025 1025 1190 1065 1025 1065 972 972 1065 994 972 994 889 1267 1545 1356 1356 1545 1603 1356 1603 1384 1384 1603 1652 1384 1652 1408 1408 1652 1678 1408 1678 1394 1394 1678 1673 1394 1673 1632 915 1020 1017 1017 1020 1109 1017 1109 1081 1081 1109 1244 1081 1244 1176 1176 1244 1393 1176 1393 1267 1267 1393 1492 1267 1492 1545 207 216 509 509 216 269 509 269 539 539 269 327 539 327 592 592 327 388 592 388 710 710 388 435 710 435 552 994 888 889 889 888 796 889 796 827 827 796 658 827 658 731 731 658 512 731 512 635 635 512 415 635 415 360 1519 1471 1472 1472 1471 1354 1472 1354 1355 1355 1354 1189 1355 1189 1190 1190 1189 1064 1190 1064 1065 1065 1064 993 1065 993 994 994 993 887 994 887 888 888 887 795 888 795 796 796 795 657 796 657 658 658 657 511 658 511 512 512 511 414 512 414 415 415 414 359 415 359 360 360 359 304 360 304 305 305 304 245 305 245 246 246 245 206 246 206 207 207 206 215 207 215 216 216 215 268 216 268 269 269 268 326 269 326 327 327 326 387 327 387 388 388 387 434 388 434 435 435 434 551 435 551 552 552 551 718 552 718 719 719 718 842 719 842 843 843 842 914 843 914 915 915 914 1019 915 1019 1020 1020 1019 1108 1020 1108 1109 1109 1108 1243 1109 1243 1244 1244 1243 1392 1244 1392 1393 1393 1392 1491 1393 1491 1492 1492 1491 1544 1492 1544 1545 1545 1544 1602 1545 1602 1603 1603 1602 1651 1603 1651 1652 1652 1651 1677 1652 1677 1678 1678 1677 1672 1678 1672 1673 1673 1672 1631 1673 1631 1632 1632 1631 1581 1632 1581 1582 1582 1581 1518 1582 1518 1519 1519 1518 1471 1354 1471 950 950 1471 1518 950 1518 1581 993 1064 950 950 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807 842 842 807 768 807 774 768 768 774 713 774 808 713 713 808 769 808 904 769 769 904 843 1154 1126 1077 1077 1126 1082 1077 1082 782 782 1082 1059 1039 1043 864 864 1043 1068 1068 1104 1156 1156 1104 1144 1156 1144 1240 1240 1144 1163 1240 1163 1283 1163 1178 1283 1283 1178 1173 1283 1173 1202 731 764 806 780 789 902 789 786 867 867 786 775 867 775 778 778 775 750 778 750 661 661 750 720 661 720 542 542 720 693 542 693 456 456 693 683 456 683 539 539 683 688 539 688 707 622 451 415 415 451 328 415 328 459 459 328 245 459 245 565 565 245 539 565 539 698 146 122 197 107 130 76 146 197 165 165 197 342 165 342 170 76 130 342 342 130 160 342 160 170 107 76 73 73 76 38 73 38 52 52 38 28 52 28 46 46 28 24 46 24 58 58 24 14 58 14 93 502 410 420 420 410 289 420 289 162 570 602 545 545 602 502 515 540 420 420 540 531 420 531 502 502 531 534 502 534 545 600 627 864 864 627 637 637 632 864 864 632 782 864 782 1039 1039 782 1059 632 613 782 782 613 589 782 589 515 515 589 556 515 556 540 864 910 816 570 600 602 602 600 864 602 864 716 716 864 816 1068 1156 864 864 1156 1028 864 1028 910 1197 1311 1125 1125 1311 1305 1125 1305 1202 1202 1305 1293 1202 1293 1283 1191 1161 978 1161 1151 978 978 1151 1158 978 1158 1125 1125 1158 1175 1125 1175 1197 1197 1228 1311 1311 1228 1263 1311 1263 1301 1301 1263 1275 1301 1275 1290 1290 1275 1269 1290 1269 1277 1277 1269 1248 1277 1248 1199 1199 1248 1214 1199 1214 1191 1191 978 1199 1199 978 902 1199 902 1101 789 867 902 902 867 981 902 981 1101 124 221 217 262 539 239 239 539 245 239 245 195 195 245 167 217 221 253 262 282 539 539 282 278 539 278 456 456 278 253 456 253 349 349 253 221 217 177 124 124 177 158 124 158 44 44 158 143 143 148 44 44 148 120 44 120 31 31 120 20 20 120 8 8 120 197 8 197 14 14 197 122 14 122 93 148 167 120 120 167 245 120 245 197 197 245 328 197 328 342 342 328 451 707 731 539 539 731 806 539 806 698 698 806 871 698 871 906 906 871 994 906 994 861 861 994 1077 861 1077 756 756 1077 782 756 782 622 622 782 515 622 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22 20 22 31 22 32 31 31 32 36 31 36 44 36 45 44 44 45 64 44 64 124 64 125 124 124 125 150 124 150 221 150 222 221 221 222 257 221 257 349 257 350 349 349 350 399 349 399 456 399 457 456 456 457 483 456 483 542 483 543 542 542 543 567 542 567 661 567 662 661 661 662 675 661 675 778 675 779 778 778 779 792 778 792 867 792 868 867 867 868 883 867 883 981 883 982 981 981 982 997 981 997 1101 997 1102 1101 1101 1102 1113 1101 1113 1199 1113 1200 1199 1199 1200 1208 1199 1208 1277 1208 1278 1277 1277 1278 1279 1277 1279 1290 1290 1279 1291 1290 1291 1299

+ + + + + + + + + + + + + + + diff --git a/robots/coarm/coarm.urdf.xacro b/robots/coarm/coarm.urdf.xacro index 993dbf5fb96b8f8759b38eca2daa6903f03b954c..41ff344251fa8f3ea61996f299f71c5e680c21f1 100644 --- a/robots/coarm/coarm.urdf.xacro +++ b/robots/coarm/coarm.urdf.xacro @@ -17,10 +17,10 @@ + value="0.256569476877209" /> - + @@ -41,7 +41,7 @@ - + @@ -49,22 +49,22 @@ + value="0.192187986606919" /> + ixx="0.000106302719889506" + ixy="-4.54498882960001E-10" + ixz="9.69483070438805E-09" + iyy="0.000106497022796699" + iyz="1.23093419613524E-05" + izz="0.00010575685265395" /> - + @@ -79,10 +79,10 @@ - + - + @@ -90,22 +90,22 @@ + value="0.454324214711901" /> + ixx="0.000475210429323062" + ixy="-9.08997765929853E-10" + ixz="4.87322741016264E-20" + iyy="0.000231923673051332" + iyz="8.16802931265373E-19" + izz="0.000474118694851951" /> - + @@ -120,11 +120,11 @@ - + - + @@ -132,22 +132,22 @@ + value="0.300827211724698" /> + ixx="0.00016444488115921" + ixy="-1.01378852738426E-08" + ixz="-6.56548725326095E-12" + iyy="0.000322519485310032" + iyz="9.24004224238239E-09" + izz="0.000329539344784474" /> - + @@ -162,10 +162,10 @@ - + - + @@ -173,22 +173,22 @@ + value="0.173687736518551" /> + ixx="9.14178819722998E-05" + ixy="4.54498882879288E-10" + ixz="9.6948307043011E-09" + iyy="9.16121848794929E-05" + iyz="-1.23093419613525E-05" + izz="9.82434385868111E-05" /> - + @@ -203,10 +203,10 @@ - + - + @@ -214,22 +214,22 @@ + value="0.174890219136268" /> + ixx="9.29935237555527E-05" + ixy="7.308300001999E-10" + ixz="-1.2591102032582E-09" + iyy="9.21238955423252E-05" + iyz="1.28021184980935E-05" + izz="9.96261590988378E-05" /> - + @@ -244,10 +244,10 @@ - + - + @@ -255,22 +255,22 @@ + value="0.00897069501053488" /> + ixx="8.55726642019277E-07" + ixy="2.95639002468298E-22" + ixz="-3.48872120660233E-12" + iyy="8.55726641993495E-07" + iyz="1.49077657794305E-21" + izz="1.32781453116052E-06" /> - + @@ -285,7 +285,7 @@ - +