{"id":33014,"date":"2025-04-26T10:26:57","date_gmt":"2025-04-26T02:26:57","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/33014.html"},"modified":"2025-04-26T10:26:57","modified_gmt":"2025-04-26T02:26:57","slug":"%e5%a6%82%e4%bd%95%e4%bd%bf%e7%94%a8urdf%e6%90%ad%e5%bb%ba%e5%8f%8c%e8%87%82ur%e7%a7%bb%e5%8a%a8%e6%9c%ba%e5%99%a8%e4%ba%ba%ef%bc%8c%e5%b9%b6%e5%9c%a8rviz%e4%b8%ad%e5%8f%af%e8%a7%86%e5%8c%96","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/33014.html","title":{"rendered":"\u5982\u4f55\u4f7f\u7528URDF\u642d\u5efa\u53cc\u81c2UR\u79fb\u52a8\u673a\u5668\u4eba\uff0c\u5e76\u5728RViz\u4e2d\u53ef\u89c6\u5316"},"content":{"rendered":"

\u4e00\u3001\u80cc\u666f<\/h4>\n

\u73b0\u8bb0\u5f55\u4e00\u4e0b\u5982\u4f55\u4f7f\u7528URDF\u642d\u5efa\u53cc\u81c2UR\u79fb\u52a8\u673a\u5668\u4eba，\u5e76\u5728RViz\u4e2d\u53ef\u89c6\u5316\u3002<\/p>\n

\u7cfb\u7edf：ubunt18.04 ros：melodic \u5de5\u4f5c\u7a7a\u95f4：UR_ws<\/p>\n

\u5199\u5728\u524d\u9762：\u6211\u4f7f\u7528\u7684\u662f\u6bd4\u8f83\u9ebb\u70e6\u7684\u65b9\u6cd5，\u4e5f\u5c31\u662f\u5c06\u4e24\u53f0UR3e\u7684URDF\u4e0e\u79fb\u52a8\u5e95\u76d8\u7684URDF\u5199\u5230\u4e00\u8d77\u4e86，\u7136\u540e\u901a\u8fc7display\u5c06\u4e00\u4e2a\u7279\u522b\u957f\u7684mobiledualarm.urdf\u4f7f\u7528RVIZ\u53ef\u89c6\u5316，\u6240\u4ee5\u6a21\u5757\u5316\u4e0d\u662f\u5f88\u597d，\u4f46\u6587\u7ae0\u7684\u6700\u540e\u4e5f\u4f1a\u4ecb\u7ecd\u4e00\u79cd\u6a21\u5757\u5316\u6bd4\u8f83\u597d\u7684\u65b9\u6cd5\u3002<\/p>\n

\u6240\u9700\u6750\u6599： 1\u3001\u79fb\u52a8\u5e95\u76d8\u7684URDF\u6a21\u578b，\u8def\u5f84\u4e3a：\/home\/dlut\/UR_ws\/src\/mobiledual0\/urdf\/mobiledual0.urdf<\/p>\n

2\u3001UR3e\u673a\u68b0\u81c2URDF，\u56e0\u4e3a\u6700\u65b0\u7684UR\u673a\u68b0\u81c2ros\u5305\u4e2d\u7684\u673a\u5668\u4eba\u6a21\u578b\u90fd\u662f\u4f7f\u7528xacro\u63cf\u8ff0，\u6240\u4ee5\u6211\u5148\u5c06ur3e.xacro\u8f6c\u4e3aur3e.urdf，\u53c2\u89c1\u6211\u4e4b\u524d\u7684\u535a\u5ba2 \u673a\u5668\u4ebaxacro\u6587\u4ef6\u8f6c\u6362\u6210urdf\u6587\u4ef6\u65b9\u6cd5，\u5e76\u5728rviz\u53ef\u89c6\u5316<\/p>\n

\u5c0fTip： UR5\u7684RVIZ\u53ef\u4ee5\u770b\u5230\u9ed1\u8272\u7684\u7535\u6e90\u7ebf，UR3e\u5c31\u770b\u4e0d\u5230 \u9ed1\u8272\u7535\u6e90\u7ebf\u6307\u5411Y\u8f74，\u5782\u76f4\u5411\u4e0a\u7684\u4e3aZ\u8f74，\u901a\u8fc7\u53f3\u624b\u5b9a\u5219\u786e\u5b9aX\u8f74<\/p>\n

\u5207\u8bb0：\u7535\u6e90\u7ebf\u6307\u5411Y\u8f74，\u6240\u4ee5\u5bf9\u5e94\u4e0ebase\u5750\u6807\u7cfb，\u800c\u4e0d\u662fbase_link\u5750\u6807\u7cfb！！！！ \"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\"<\/p>\n

\u4e8c\u3001\u4f7f\u7528URDF\u642d\u5efa\u53cc\u81c2UR\u79fb\u52a8\u673a\u5668\u4eba<\/h4>\n

\u5728\/home\/dlut\/UR_ws\/src\/universal_robot\/ur_description\/urdf\u8def\u5f84\u4e0b\u521b\u5efamobiledualarm.urdf，\u5b8c\u6574\u4ee3\u7801\u5982\u4e0b：<\/p>\n

<<\/span>?<\/span>xml version=<\/span>"1.0"<\/span> encoding=<\/span>"utf-8"<\/span>?<\/span>><\/span>
\n<<\/span>!<\/span>—<\/span> ==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>=<\/span> —<\/span>><\/span>
\n<<\/span>!<\/span>—<\/span> |<\/span> This document was autogenerated by xacro from ur3e.<\/span>xacro |<\/span> —<\/span>><\/span>
\n<<\/span>!<\/span>—<\/span> |<\/span> EDITING THIS FILE BY HAND IS NOT RECOMMENDED |<\/span> —<\/span>><\/span>
\n<<\/span>!<\/span>—<\/span> ==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>=<\/span> —<\/span>><\/span>
\n<<\/span>robot name=<\/span>"ur3e_robot"<\/span>><\/span>
\n <<\/span>!<\/span>—<\/span>
\n Base UR robot series xacro macro.<\/span><\/p>\n

NOTE:<\/span> this is NOT a URDF.<\/span> It cannot directly be loaded by consumers
\n expecting a flattened '.urdf'<\/span> file.<\/span> See the top–<\/span>level '.xacro'<\/span> for<\/span> that<\/span>
\n (<\/span>but note:<\/span> that .<\/span>xacro must still be processed by the xacro command)<\/span>.<\/span><\/p>\n

For use in '.launch'<\/span> files:<\/span> use one of the 'load_urX.launch'<\/span> convenience
\n launch files.<\/span><\/p>\n

This file models the base kinematic chain of a UR robot,<\/span> which then gets
\n parameterised by various configuration files to convert it into a UR3<\/span>(<\/span>e)<\/span>,<\/span>
\n UR5<\/span>(<\/span>e)<\/span>,<\/span> UR10<\/span>(<\/span>e)<\/span> or UR16e.<\/span><\/p>\n

NOTE:<\/span> the default<\/span> kinematic parameters<\/span> (<\/span>ie:<\/span> link lengths,<\/span> frame locations,<\/span>
\n offets,<\/span> etc)<\/span> do<\/span> not correspond to any particular robot.<\/span> They are defaults
\n only.<\/span> There WILL be non–<\/span>zero offsets between the Forward Kinematics results
\n in TF<\/span> (<\/span>ie:<\/span> robot_state_publisher)<\/span> and the values reported by the Teach
\n Pendant.<\/span><\/p>\n

For accurate<\/span> (<\/span>and robot–<\/span>specific)<\/span> transforms,<\/span> the 'kinematics_parameters_file'<\/span>
\n parameter MUST point to a .<\/span>yaml file containing the appropriate values for<\/span>
\n the targetted robot.<\/span><\/p>\n

If using the UniversalRobots\/<\/span>Universal_Robots_ROS_Driver,<\/span> follow the steps
\n described in the readme of that repository to extract the kinematic
\n calibration from the controller and generate the required .<\/span>yaml file.<\/span><\/p>\n

Main author of the migration to yaml configs:<\/span> Ludovic Delval.<\/span><\/p>\n

Contributors to previous versions<\/span> (<\/span>in no particular order)<\/span>:<\/span><\/p>\n

–<\/span> Felix Messmer
\n –<\/span> Kelsey Hawkins
\n –<\/span> Wim Meeussen
\n –<\/span> Shaun Edwards
\n –<\/span> Nadia Hammoudeh Garcia
\n –<\/span> Dave Hershberger
\n –<\/span> G.<\/span> vd.<\/span> Hoorn
\n –<\/span> Philip Long
\n –<\/span> Dave Coleman
\n –<\/span> Miguel Prada
\n –<\/span> Mathias Luedtke
\n –<\/span> Marcel Schnirring
\n –<\/span> Felix von Drigalski
\n –<\/span> Felix Exner
\n –<\/span> Jimmy Da Silva
\n –<\/span> Ajit Krisshna N L
\n –<\/span> Muhammad Asif Rana
\n —<\/span>><\/span>
\n <<\/span>!<\/span>—<\/span>
\n NOTE:<\/span> the macro defined in this file is NOT part of the public API of this
\n package.<\/span> Users CANNOT rely on this file being available,<\/span> or stored in
\n this location.<\/span> Nor can they rely on the existence of the macro.<\/span>
\n —<\/span>><\/span>
\n <<\/span>transmission name=<\/span>"shoulder_pan_trans"<\/span>><\/span>
\n <<\/span>type><\/span>transmission_interface\/<\/span>SimpleTransmission<<\/span>\/<\/span>type><\/span>
\n <<\/span>joint name=<\/span>"shoulder_pan_joint"<\/span>><\/span>
\n <<\/span>hardwareInterface><\/span>hardware_interface\/<\/span>PositionJointInterface<<\/span>\/<\/span>hardwareInterface><\/span>
\n <<\/span>\/<\/span>joint><\/span>
\n <<\/span>actuator name=<\/span>"shoulder_pan_motor"<\/span>><\/span>
\n <<\/span>mechanicalReduction><\/span>1<\/span><<\/span>\/<\/span>mechanicalReduction><\/span>
\n <<\/span>\/<\/span>actuator><\/span>
\n <<\/span>\/<\/span>transmission><\/span>
\n <<\/span>transmission name=<\/span>"shoulder_lift_trans"<\/span>><\/span>
\n <<\/span>type><\/span>transmission_interface\/<\/span>SimpleTransmission<<\/span>\/<\/span>type><\/span>
\n <<\/span>joint name=<\/span>"shoulder_lift_joint"<\/span>><\/span>
\n <<\/span>hardwareInterface><\/span>hardware_interface\/<\/span>PositionJointInterface<<\/span>\/<\/span>hardwareInterface><\/span>
\n <<\/span>\/<\/span>joint><\/span>
\n <<\/span>actuator name=<\/span>"shoulder_lift_motor"<\/span>><\/span>
\n <<\/span>mechanicalReduction><\/span>1<\/span><<\/span>\/<\/span>mechanicalReduction><\/span>
\n <<\/span>\/<\/span>actuator><\/span>
\n <<\/span>\/<\/span>transmission><\/span>
\n <<\/span>transmission name=<\/span>"elbow_trans"<\/span>><\/span>
\n <<\/span>type><\/span>transmission_interface\/<\/span>SimpleTransmission<<\/span>\/<\/span>type><\/span>
\n <<\/span>joint name=<\/span>"elbow_joint"<\/span>><\/span>
\n <<\/span>hardwareInterface><\/span>hardware_interface\/<\/span>PositionJointInterface<<\/span>\/<\/span>hardwareInterface><\/span>
\n <<\/span>\/<\/span>joint><\/span>
\n <<\/span>actuator name=<\/span>"elbow_motor"<\/span>><\/span>
\n <<\/span>mechanicalReduction><\/span>1<\/span><<\/span>\/<\/span>mechanicalReduction><\/span>
\n <<\/span>\/<\/span>actuator><\/span>
\n <<\/span>\/<\/span>transmission><\/span>
\n <<\/span>transmission name=<\/span>"wrist_1_trans"<\/span>><\/span>
\n <<\/span>type><\/span>transmission_interface\/<\/span>SimpleTransmission<<\/span>\/<\/span>type><\/span>
\n <<\/span>joint name=<\/span>"wrist_1_joint"<\/span>><\/span>
\n <<\/span>hardwareInterface><\/span>hardware_interface\/<\/span>PositionJointInterface<<\/span>\/<\/span>hardwareInterface><\/span>
\n <<\/span>\/<\/span>joint><\/span>
\n <<\/span>actuator name=<\/span>"wrist_1_motor"<\/span>><\/span>
\n <<\/span>mechanicalReduction><\/span>1<\/span><<\/span>\/<\/span>mechanicalReduction><\/span>
\n <<\/span>\/<\/span>actuator><\/span>
\n <<\/span>\/<\/span>transmission><\/span>
\n <<\/span>transmission name=<\/span>"wrist_2_trans"<\/span>><\/span>
\n <<\/span>type><\/span>transmission_interface\/<\/span>SimpleTransmission<<\/span>\/<\/span>type><\/span>
\n <<\/span>joint name=<\/span>"wrist_2_joint"<\/span>><\/span>
\n <<\/span>hardwareInterface><\/span>hardware_interface\/<\/span>PositionJointInterface<<\/span>\/<\/span>hardwareInterface><\/span>
\n <<\/span>\/<\/span>joint><\/span>
\n <<\/span>actuator name=<\/span>"wrist_2_motor"<\/span>><\/span>
\n <<\/span>mechanicalReduction><\/span>1<\/span><<\/span>\/<\/span>mechanicalReduction><\/span>
\n <<\/span>\/<\/span>actuator><\/span>
\n <<\/span>\/<\/span>transmission><\/span>
\n <<\/span>transmission name=<\/span>"wrist_3_trans"<\/span>><\/span>
\n <<\/span>type><\/span>transmission_interface\/<\/span>SimpleTransmission<<\/span>\/<\/span>type><\/span>
\n <<\/span>joint name=<\/span>"wrist_3_joint"<\/span>><\/span>
\n <<\/span>hardwareInterface><\/span>hardware_interface\/<\/span>PositionJointInterface<<\/span>\/<\/span>hardwareInterface><\/span>
\n <<\/span>\/<\/span>joint><\/span>
\n <<\/span>actuator name=<\/span>"wrist_3_motor"<\/span>><\/span>
\n <<\/span>mechanicalReduction><\/span>1<\/span><<\/span>\/<\/span>mechanicalReduction><\/span>
\n <<\/span>\/<\/span>actuator><\/span>
\n <<\/span>\/<\/span>transmission><\/span>
\n <<\/span>!<\/span>—<\/span> links:<\/span> main serial chain —<\/span>><\/span>
\n <<\/span>link name=<\/span>"base_link"<\/span>\/<\/span>><\/span>
\n <<\/span>link name=<\/span>"base_link_inertia"<\/span>><\/span>
\n <<\/span>visual><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 3.14159265359"<\/span> xyz=<\/span>"0 0 0"<\/span>\/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh filename=<\/span>"package:\/\/ur_description\/meshes\/ur3e\/visual\/base.dae"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>material name=<\/span>"LightGrey"<\/span>><\/span>
\n <<\/span>color rgba=<\/span>"0.7 0.7 0.7 1.0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>material><\/span>
\n <<\/span>\/<\/span>visual><\/span>
\n <<\/span>collision><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 3.14159265359"<\/span> xyz=<\/span>"0 0 0"<\/span>\/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh filename=<\/span>"package:\/\/ur_description\/meshes\/ur3e\/collision\/base.stl"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>\/<\/span>collision><\/span>
\n <<\/span>inertial><\/span>
\n <<\/span>mass value=<\/span>"2.0"<\/span>\/<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 0"<\/span> xyz=<\/span>"0 0 0"<\/span>\/<\/span>><\/span>
\n <<\/span>inertia ixx=<\/span>"0.0030531654454"<\/span> ixy=<\/span>"0.0"<\/span> ixz=<\/span>"0.0"<\/span> iyy=<\/span>"0.0030531654454"<\/span> iyz=<\/span>"0.0"<\/span> izz=<\/span>"0.005625"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>inertial><\/span>
\n <<\/span>\/<\/span>link><\/span>
\n <<\/span>link name=<\/span>"shoulder_link"<\/span>><\/span>
\n <<\/span>visual><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 3.14159265359"<\/span> xyz=<\/span>"0 0 0"<\/span>\/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh filename=<\/span>"package:\/\/ur_description\/meshes\/ur3e\/visual\/shoulder.dae"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>material name=<\/span>"LightGrey"<\/span>><\/span>
\n <<\/span>color rgba=<\/span>"0.7 0.7 0.7 1.0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>material><\/span>
\n <<\/span>\/<\/span>visual><\/span>
\n <<\/span>collision><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 3.14159265359"<\/span> xyz=<\/span>"0 0 0"<\/span>\/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh filename=<\/span>"package:\/\/ur_description\/meshes\/ur3e\/collision\/shoulder.stl"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>\/<\/span>collision><\/span>
\n <<\/span>inertial><\/span>
\n <<\/span>mass value=<\/span>"2.0"<\/span>\/<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 0"<\/span> xyz=<\/span>"0 0 0"<\/span>\/<\/span>><\/span>
\n <<\/span>inertia ixx=<\/span>"0.0080931634294"<\/span> ixy=<\/span>"0.0"<\/span> ixz=<\/span>"0.0"<\/span> iyy=<\/span>"0.0080931634294"<\/span> iyz=<\/span>"0.0"<\/span> izz=<\/span>"0.005625"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>inertial><\/span>
\n <<\/span>\/<\/span>link><\/span>
\n <<\/span>link name=<\/span>"upper_arm_link"<\/span>><\/span>
\n <<\/span>visual><\/span>
\n <<\/span>origin rpy=<\/span>"1.57079632679 0 -1.57079632679"<\/span> xyz=<\/span>"0 0 0.12"<\/span>\/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh filename=<\/span>"package:\/\/ur_description\/meshes\/ur3e\/visual\/upperarm.dae"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>material name=<\/span>"LightGrey"<\/span>><\/span>
\n <<\/span>color rgba=<\/span>"0.7 0.7 0.7 1.0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>material><\/span>
\n <<\/span>\/<\/span>visual><\/span>
\n <<\/span>collision><\/span>
\n <<\/span>origin rpy=<\/span>"1.57079632679 0 -1.57079632679"<\/span> xyz=<\/span>"0 0 0.12"<\/span>\/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh filename=<\/span>"package:\/\/ur_description\/meshes\/ur3e\/collision\/upperarm.stl"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>\/<\/span>collision><\/span>
\n <<\/span>inertial><\/span>
\n <<\/span>mass value=<\/span>"3.42"<\/span>\/<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"0 1.57079632679 0"<\/span> xyz=<\/span>"-0.121825 0.0 0.12"<\/span>\/<\/span>><\/span>
\n <<\/span>inertia ixx=<\/span>"0.0217284832211"<\/span> ixy=<\/span>"0.0"<\/span> ixz=<\/span>"0.0"<\/span> iyy=<\/span>"0.0217284832211"<\/span> iyz=<\/span>"0.0"<\/span> izz=<\/span>"0.00961875"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>inertial><\/span>
\n <<\/span>\/<\/span>link><\/span>
\n <<\/span>link name=<\/span>"forearm_link"<\/span>><\/span>
\n <<\/span>visual><\/span>
\n <<\/span>origin rpy=<\/span>"1.57079632679 0 -1.57079632679"<\/span> xyz=<\/span>"0 0 0.027"<\/span>\/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh filename=<\/span>"package:\/\/ur_description\/meshes\/ur3e\/visual\/forearm.dae"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>material name=<\/span>"LightGrey"<\/span>><\/span>
\n <<\/span>color rgba=<\/span>"0.7 0.7 0.7 1.0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>material><\/span>
\n <<\/span>\/<\/span>visual><\/span>
\n <<\/span>collision><\/span>
\n <<\/span>origin rpy=<\/span>"1.57079632679 0 -1.57079632679"<\/span> xyz=<\/span>"0 0 0.027"<\/span>\/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh filename=<\/span>"package:\/\/ur_description\/meshes\/ur3e\/collision\/forearm.stl"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>\/<\/span>collision><\/span>
\n <<\/span>inertial><\/span>
\n <<\/span>mass value=<\/span>"1.26"<\/span>\/<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"0 1.57079632679 0"<\/span> xyz=<\/span>"-0.1066 0.0 0.027"<\/span>\/<\/span>><\/span>
\n <<\/span>inertia ixx=<\/span>"0.00654456758217"<\/span> ixy=<\/span>"0.0"<\/span> ixz=<\/span>"0.0"<\/span> iyy=<\/span>"0.00654456758217"<\/span> iyz=<\/span>"0.0"<\/span> izz=<\/span>"0.00354375"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>inertial><\/span>
\n <<\/span>\/<\/span>link><\/span>
\n <<\/span>link name=<\/span>"wrist_1_link"<\/span>><\/span>
\n <<\/span>visual><\/span>
\n <<\/span>!<\/span>—<\/span> TODO:<\/span> Move this to a parameter —<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"1.57079632679 0 0"<\/span> xyz=<\/span>"0 0 -0.104"<\/span>\/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh filename=<\/span>"package:\/\/ur_description\/meshes\/ur3e\/visual\/wrist1.dae"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>material name=<\/span>"LightGrey"<\/span>><\/span>
\n <<\/span>color rgba=<\/span>"0.7 0.7 0.7 1.0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>material><\/span>
\n <<\/span>\/<\/span>visual><\/span>
\n <<\/span>collision><\/span>
\n <<\/span>origin rpy=<\/span>"1.57079632679 0 0"<\/span> xyz=<\/span>"0 0 -0.104"<\/span>\/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh filename=<\/span>"package:\/\/ur_description\/meshes\/ur3e\/collision\/wrist1.stl"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>\/<\/span>collision><\/span>
\n <<\/span>inertial><\/span>
\n <<\/span>mass value=<\/span>"0.8"<\/span>\/<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 0"<\/span> xyz=<\/span>"0 0 0"<\/span>\/<\/span>><\/span>
\n <<\/span>inertia ixx=<\/span>"0.002084999166"<\/span> ixy=<\/span>"0.0"<\/span> ixz=<\/span>"0.0"<\/span> iyy=<\/span>"0.002084999166"<\/span> iyz=<\/span>"0.0"<\/span> izz=<\/span>"0.00225"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>inertial><\/span>
\n <<\/span>\/<\/span>link><\/span>
\n <<\/span>link name=<\/span>"wrist_2_link"<\/span>><\/span>
\n <<\/span>visual><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 0"<\/span> xyz=<\/span>"0 0 -0.08535"<\/span>\/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh filename=<\/span>"package:\/\/ur_description\/meshes\/ur3e\/visual\/wrist2.dae"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>material name=<\/span>"LightGrey"<\/span>><\/span>
\n <<\/span>color rgba=<\/span>"0.7 0.7 0.7 1.0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>material><\/span>
\n <<\/span>\/<\/span>visual><\/span>
\n <<\/span>collision><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 0"<\/span> xyz=<\/span>"0 0 -0.08535"<\/span>\/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh filename=<\/span>"package:\/\/ur_description\/meshes\/ur3e\/collision\/wrist2.stl"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>\/<\/span>collision><\/span>
\n <<\/span>inertial><\/span>
\n <<\/span>mass value=<\/span>"0.8"<\/span>\/<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 0"<\/span> xyz=<\/span>"0 0 0"<\/span>\/<\/span>><\/span>
\n <<\/span>inertia ixx=<\/span>"0.002084999166"<\/span> ixy=<\/span>"0.0"<\/span> ixz=<\/span>"0.0"<\/span> iyy=<\/span>"0.002084999166"<\/span> iyz=<\/span>"0.0"<\/span> izz=<\/span>"0.00225"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>inertial><\/span>
\n <<\/span>\/<\/span>link><\/span>
\n <<\/span>link name=<\/span>"wrist_3_link"<\/span>><\/span>
\n <<\/span>visual><\/span>
\n <<\/span>origin rpy=<\/span>"1.57079632679 0 0"<\/span> xyz=<\/span>"0 0 -0.0921"<\/span>\/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh filename=<\/span>"package:\/\/ur_description\/meshes\/ur3e\/visual\/wrist3.dae"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>material name=<\/span>"LightGrey"<\/span>><\/span>
\n <<\/span>color rgba=<\/span>"0.7 0.7 0.7 1.0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>material><\/span>
\n <<\/span>\/<\/span>visual><\/span>
\n <<\/span>collision><\/span>
\n <<\/span>origin rpy=<\/span>"1.57079632679 0 0"<\/span> xyz=<\/span>"0 0 -0.0921"<\/span>\/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh filename=<\/span>"package:\/\/ur_description\/meshes\/ur3e\/collision\/wrist3.stl"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>\/<\/span>collision><\/span>
\n <<\/span>inertial><\/span>
\n <<\/span>mass value=<\/span>"0.35"<\/span>\/<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 0"<\/span> xyz=<\/span>"0.0 0.0 -0.02"<\/span>\/<\/span>><\/span>
\n <<\/span>inertia ixx=<\/span>"0.00013626661216"<\/span> ixy=<\/span>"0.0"<\/span> ixz=<\/span>"0.0"<\/span> iyy=<\/span>"0.00013626661216"<\/span> iyz=<\/span>"0.0"<\/span> izz=<\/span>"0.0001792"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>inertial><\/span>
\n <<\/span>\/<\/span>link><\/span>
\n <<\/span>!<\/span>—<\/span> joints:<\/span> main serial chain —<\/span>><\/span>
\n <<\/span>joint name=<\/span>"base_link-base_link_inertia"<\/span> type=<\/span>"fixed"<\/span>><\/span>
\n <<\/span>parent link=<\/span>"base_link"<\/span>\/<\/span>><\/span>
\n <<\/span>child link=<\/span>"base_link_inertia"<\/span>\/<\/span>><\/span>
\n <<\/span>!<\/span>—<\/span> 'base_link'<\/span> is REP–<\/span>103<\/span> aligned<\/span> (<\/span>so X+<\/span> forward)<\/span>,<\/span> while<\/span> the internal
\n frames of the robot\/<\/span>controller have X+<\/span> pointing backwards.<\/span>
\n Use the joint between 'base_link'<\/span> and 'base_link_inertia'<\/span> (<\/span>a dummy
\n link\/<\/span>frame)<\/span> to introduce the necessary rotation over Z<\/span> (<\/span>of pi rad)<\/span>.<\/span>
\n —<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 3.14159265359"<\/span> xyz=<\/span>"0 0 0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>joint><\/span>
\n <<\/span>joint name=<\/span>"shoulder_pan_joint"<\/span> type=<\/span>"revolute"<\/span>><\/span>
\n <<\/span>parent link=<\/span>"base_link_inertia"<\/span>\/<\/span>><\/span>
\n <<\/span>child link=<\/span>"shoulder_link"<\/span>\/<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 0"<\/span> xyz=<\/span>"0 0 0.15185"<\/span>\/<\/span>><\/span>
\n <<\/span>axis xyz=<\/span>"0 0 1"<\/span>\/<\/span>><\/span>
\n <<\/span>limit effort=<\/span>"56.0"<\/span> lower=<\/span>"-6.28318530718"<\/span> upper=<\/span>"6.28318530718"<\/span> velocity=<\/span>"3.14159265359"<\/span>\/<\/span>><\/span>
\n <<\/span>dynamics damping=<\/span>"0"<\/span> friction=<\/span>"0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>joint><\/span>
\n <<\/span>joint name=<\/span>"shoulder_lift_joint"<\/span> type=<\/span>"revolute"<\/span>><\/span>
\n <<\/span>parent link=<\/span>"shoulder_link"<\/span>\/<\/span>><\/span>
\n <<\/span>child link=<\/span>"upper_arm_link"<\/span>\/<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"1.570796327 0 0"<\/span> xyz=<\/span>"0 0 0"<\/span>\/<\/span>><\/span>
\n <<\/span>axis xyz=<\/span>"0 0 1"<\/span>\/<\/span>><\/span>
\n <<\/span>limit effort=<\/span>"56.0"<\/span> lower=<\/span>"-6.28318530718"<\/span> upper=<\/span>"6.28318530718"<\/span> velocity=<\/span>"3.14159265359"<\/span>\/<\/span>><\/span>
\n <<\/span>dynamics damping=<\/span>"0"<\/span> friction=<\/span>"0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>joint><\/span>
\n <<\/span>joint name=<\/span>"elbow_joint"<\/span> type=<\/span>"revolute"<\/span>><\/span>
\n <<\/span>parent link=<\/span>"upper_arm_link"<\/span>\/<\/span>><\/span>
\n <<\/span>child link=<\/span>"forearm_link"<\/span>\/<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 0"<\/span> xyz=<\/span>"-0.24355 0 0"<\/span>\/<\/span>><\/span>
\n <<\/span>axis xyz=<\/span>"0 0 1"<\/span>\/<\/span>><\/span>
\n <<\/span>limit effort=<\/span>"28.0"<\/span> lower=<\/span>"-3.14159265359"<\/span> upper=<\/span>"3.14159265359"<\/span> velocity=<\/span>"3.14159265359"<\/span>\/<\/span>><\/span>
\n <<\/span>dynamics damping=<\/span>"0"<\/span> friction=<\/span>"0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>joint><\/span>
\n <<\/span>joint name=<\/span>"wrist_1_joint"<\/span> type=<\/span>"revolute"<\/span>><\/span>
\n <<\/span>parent link=<\/span>"forearm_link"<\/span>\/<\/span>><\/span>
\n <<\/span>child link=<\/span>"wrist_1_link"<\/span>\/<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 0"<\/span> xyz=<\/span>"-0.2132 0 0.13105"<\/span>\/<\/span>><\/span>
\n <<\/span>axis xyz=<\/span>"0 0 1"<\/span>\/<\/span>><\/span>
\n <<\/span>limit effort=<\/span>"12.0"<\/span> lower=<\/span>"-6.28318530718"<\/span> upper=<\/span>"6.28318530718"<\/span> velocity=<\/span>"6.28318530718"<\/span>\/<\/span>><\/span>
\n <<\/span>dynamics damping=<\/span>"0"<\/span> friction=<\/span>"0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>joint><\/span>
\n <<\/span>joint name=<\/span>"wrist_2_joint"<\/span> type=<\/span>"revolute"<\/span>><\/span>
\n <<\/span>parent link=<\/span>"wrist_1_link"<\/span>\/<\/span>><\/span>
\n <<\/span>child link=<\/span>"wrist_2_link"<\/span>\/<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"1.570796327 0 0"<\/span> xyz=<\/span>"0 -0.08535 -1.75055776238e-11"<\/span>\/<\/span>><\/span>
\n <<\/span>axis xyz=<\/span>"0 0 1"<\/span>\/<\/span>><\/span>
\n <<\/span>limit effort=<\/span>"12.0"<\/span> lower=<\/span>"-6.28318530718"<\/span> upper=<\/span>"6.28318530718"<\/span> velocity=<\/span>"6.28318530718"<\/span>\/<\/span>><\/span>
\n <<\/span>dynamics damping=<\/span>"0"<\/span> friction=<\/span>"0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>joint><\/span>
\n <<\/span>joint name=<\/span>"wrist_3_joint"<\/span> type=<\/span>"revolute"<\/span>><\/span>
\n <<\/span>parent link=<\/span>"wrist_2_link"<\/span>\/<\/span>><\/span>
\n <<\/span>child link=<\/span>"wrist_3_link"<\/span>\/<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"1.57079632659 3.14159265359 3.14159265359"<\/span> xyz=<\/span>"0 0.0921 -1.88900257663e-11"<\/span>\/<\/span>><\/span>
\n <<\/span>axis xyz=<\/span>"0 0 1"<\/span>\/<\/span>><\/span>
\n <<\/span>limit effort=<\/span>"12.0"<\/span> lower=<\/span>"-6.28318530718"<\/span> upper=<\/span>"6.28318530718"<\/span> velocity=<\/span>"6.28318530718"<\/span>\/<\/span>><\/span>
\n <<\/span>dynamics damping=<\/span>"0"<\/span> friction=<\/span>"0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>joint><\/span>
\n <<\/span>!<\/span>—<\/span> ROS–<\/span>Industrial 'base'<\/span> frame:<\/span> base_link to UR 'Base'<\/span> Coordinates transform —<\/span>><\/span>
\n <<\/span>link name=<\/span>"base"<\/span>\/<\/span>><\/span>
\n <<\/span>joint name=<\/span>"base_link-base_fixed_joint"<\/span> type=<\/span>"fixed"<\/span>><\/span>
\n <<\/span>!<\/span>—<\/span> Note the rotation over Z of pi radians:<\/span> as base_link is REP–<\/span>103<\/span>
\n aligned<\/span> (<\/span>ie:<\/span> has X+<\/span> forward,<\/span> Y+<\/span> left and Z+<\/span> up)<\/span>,<\/span> this is needed
\n to correctly align 'base'<\/span> with the 'Base'<\/span> coordinate system of
\n the UR controller.<\/span>
\n —<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 3.14159265359"<\/span> xyz=<\/span>"0 0 0"<\/span>\/<\/span>><\/span>
\n <<\/span>parent link=<\/span>"base_link"<\/span>\/<\/span>><\/span>
\n <<\/span>child link=<\/span>"base"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>joint><\/span>
\n <<\/span>!<\/span>—<\/span> ROS–<\/span>Industrial 'flange'<\/span> frame:<\/span> attachment point for<\/span> EEF models —<\/span>><\/span>
\n <<\/span>link name=<\/span>"flange"<\/span>\/<\/span>><\/span>
\n <<\/span>joint name=<\/span>"wrist_3-flange"<\/span> type=<\/span>"fixed"<\/span>><\/span>
\n <<\/span>parent link=<\/span>"wrist_3_link"<\/span>\/<\/span>><\/span>
\n <<\/span>child link=<\/span>"flange"<\/span>\/<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"0 -1.57079632679 -1.57079632679"<\/span> xyz=<\/span>"0 0 0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>joint><\/span>
\n <<\/span>!<\/span>—<\/span> ROS–<\/span>Industrial 'tool0'<\/span> frame:<\/span> all–<\/span>zeros tool frame —<\/span>><\/span>
\n <<\/span>link name=<\/span>"tool0"<\/span>\/<\/span>><\/span>
\n <<\/span>joint name=<\/span>"flange-tool0"<\/span> type=<\/span>"fixed"<\/span>><\/span>
\n <<\/span>!<\/span>—<\/span> default<\/span> toolframe:<\/span> X+<\/span> left,<\/span> Y+<\/span> up,<\/span> Z+<\/span> front —<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"1.57079632679 0 1.57079632679"<\/span> xyz=<\/span>"0 0 0"<\/span>\/<\/span>><\/span>
\n <<\/span>parent link=<\/span>"flange"<\/span>\/<\/span>><\/span>
\n <<\/span>child link=<\/span>"tool0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>joint><\/span><\/p>\n

<<\/span>link
\n name=<\/span>"carbase_link"<\/span>><\/span>
\n <<\/span>inertial><\/span>
\n <<\/span>origin
\n xyz=<\/span>"-0.0140111046811873 -0.330409001171163 -0.018140368676531"<\/span>
\n rpy=<\/span>"0 0 0"<\/span> \/<\/span>><\/span>
\n <<\/span>mass
\n value=<\/span>"76.2642102199291"<\/span> \/<\/span>><\/span>
\n <<\/span>inertia
\n ixx=<\/span>"0.972296954133458"<\/span>
\n ixy=<\/span>"-0.000515756621916056"<\/span>
\n ixz=<\/span>"-0.00353288568959439"<\/span>
\n iyy=<\/span>"1.50934157151189"<\/span>
\n iyz=<\/span>"-0.00286721103188841"<\/span>
\n izz=<\/span>"0.879992661015933"<\/span> \/<\/span>><\/span>
\n <<\/span>\/<\/span>inertial><\/span>
\n <<\/span>visual><\/span>
\n <<\/span>origin
\n xyz=<\/span>"0 0 0"<\/span>
\n rpy=<\/span>"0 0 0"<\/span> \/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh
\n filename=<\/span>"package:\/\/mobiledual0\/meshes\/carbase_link.STL"<\/span> \/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>material
\n name=<\/span>""<\/span>><\/span>
\n <<\/span>color
\n rgba=<\/span>"1 1 1 1"<\/span> \/<\/span>><\/span>
\n <<\/span>\/<\/span>material><\/span>
\n <<\/span>\/<\/span>visual><\/span>
\n <<\/span>collision><\/span>
\n <<\/span>origin
\n xyz=<\/span>"0 0 0"<\/span>
\n rpy=<\/span>"0 0 0"<\/span> \/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh
\n filename=<\/span>"package:\/\/mobiledual0\/meshes\/carbase_link.STL"<\/span> \/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>\/<\/span>collision><\/span>
\n <<\/span>\/<\/span>link><\/span>
\n <<\/span>link
\n name=<\/span>"carzero_Link"<\/span>><\/span>
\n <<\/span>inertial><\/span>
\n <<\/span>origin
\n xyz=<\/span>"-1.63363273751604E-06 -3.7029008717604E-06 -0.00390801617468592"<\/span>
\n rpy=<\/span>"0 0 0"<\/span> \/<\/span>><\/span>
\n <<\/span>mass
\n value=<\/span>"0.128076565751948"<\/span> \/<\/span>><\/span>
\n <<\/span>inertia
\n ixx=<\/span>"0.000250652352757893"<\/span>
\n ixy=<\/span>"1.42284195681717E-08"<\/span>
\n ixz=<\/span>"-1.92457822817621E-11"<\/span>
\n iyy=<\/span>"0.000161503892530106"<\/span>
\n iyz=<\/span>"-4.36237731444375E-11"<\/span>
\n izz=<\/span>"0.0004107608466446"<\/span> \/<\/span>><\/span>
\n <<\/span>\/<\/span>inertial><\/span>
\n <<\/span>visual><\/span>
\n <<\/span>origin
\n xyz=<\/span>"0 0 0"<\/span>
\n rpy=<\/span>"0 0 0"<\/span> \/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh
\n filename=<\/span>"package:\/\/mobiledual0\/meshes\/carzero_Link.STL"<\/span> \/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>material
\n name=<\/span>""<\/span>><\/span>
\n <<\/span>color
\n rgba=<\/span>"1 1 1 1"<\/span> \/<\/span>><\/span>
\n <<\/span>\/<\/span>material><\/span>
\n <<\/span>\/<\/span>visual><\/span>
\n <<\/span>collision><\/span>
\n <<\/span>origin
\n xyz=<\/span>"0 0 0"<\/span>
\n rpy=<\/span>"0 0 0"<\/span> \/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh
\n filename=<\/span>"package:\/\/mobiledual0\/meshes\/carzero_Link.STL"<\/span> \/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>\/<\/span>collision><\/span>
\n <<\/span>\/<\/span>link><\/span>
\n <<\/span>joint
\n name=<\/span>"joint1"<\/span>
\n type=<\/span>"fixed"<\/span>><\/span>
\n <<\/span>origin
\n xyz=<\/span>"0.163999999999972 -0.212101076872553 0.111375924854946"<\/span>
\n rpy=<\/span>"0 -0.785398163397473 1.5707963267949"<\/span> \/<\/span>><\/span>
\n <<\/span>parent
\n link=<\/span>"carbase_link"<\/span> \/<\/span>><\/span>
\n <<\/span>child
\n link=<\/span>"carzero_Link"<\/span> \/<\/span>><\/span>
\n <<\/span>axis
\n xyz=<\/span>"0 0 0"<\/span> \/<\/span>><\/span>
\n <<\/span>\/<\/span>joint><\/span>
\n <<\/span>link
\n name=<\/span>"carzero2_Link"<\/span>><\/span>
\n <<\/span>inertial><\/span>
\n <<\/span>origin
\n xyz=<\/span>"-1.63363273940342E-06 3.70290087184366E-06 -0.00409198382531417"<\/span>
\n rpy=<\/span>"0 0 0"<\/span> \/<\/span>><\/span>
\n <<\/span>mass
\n value=<\/span>"0.128076565751948"<\/span> \/<\/span>><\/span>
\n <<\/span>inertia
\n ixx=<\/span>"0.000250652352757893"<\/span>
\n ixy=<\/span>"-1.42284195686405E-08"<\/span>
\n ixz=<\/span>"1.92457822953147E-11"<\/span>
\n iyy=<\/span>"0.000161503892530106"<\/span>
\n iyz=<\/span>"-4.36237731693912E-11"<\/span>
\n izz=<\/span>"0.000410760846644599"<\/span> \/<\/span>><\/span>
\n <<\/span>\/<\/span>inertial><\/span>
\n <<\/span>visual><\/span>
\n <<\/span>origin
\n xyz=<\/span>"0 0 0"<\/span>
\n rpy=<\/span>"0 0 0"<\/span> \/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh
\n filename=<\/span>"package:\/\/mobiledual0\/meshes\/carzero2_Link.STL"<\/span> \/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>material
\n name=<\/span>""<\/span>><\/span>
\n <<\/span>color
\n rgba=<\/span>"1 1 1 1"<\/span> \/<\/span>><\/span>
\n <<\/span>\/<\/span>material><\/span>
\n <<\/span>\/<\/span>visual><\/span>
\n <<\/span>collision><\/span>
\n <<\/span>origin
\n xyz=<\/span>"0 0 0"<\/span>
\n rpy=<\/span>"0 0 0"<\/span> \/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh
\n filename=<\/span>"package:\/\/mobiledual0\/meshes\/carzero2_Link.STL"<\/span> \/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>\/<\/span>collision><\/span>
\n <<\/span>\/<\/span>link><\/span>
\n <<\/span>joint
\n name=<\/span>"joint2"<\/span>
\n type=<\/span>"fixed"<\/span>><\/span>
\n <<\/span>origin
\n xyz=<\/span>"0 0.327999999999944 0.000183967650620315"<\/span>
\n rpy=<\/span>"0 0 0"<\/span> \/<\/span>><\/span>
\n <<\/span>parent
\n link=<\/span>"carzero_Link"<\/span> \/<\/span>><\/span>
\n <<\/span>child
\n link=<\/span>"carzero2_Link"<\/span> \/<\/span>><\/span>
\n <<\/span>axis
\n xyz=<\/span>"0 0 0"<\/span> \/<\/span>><\/span>
\n <<\/span>\/<\/span>joint><\/span><\/p>\n

<<\/span>joint name=<\/span>"right_arm_attach"<\/span> type=<\/span>"fixed"<\/span>><\/span>
\n <<\/span>child link=<\/span>"base_link"<\/span> \/<\/span>><\/span>
\n <<\/span>parent link=<\/span>"carzero2_Link"<\/span> \/<\/span>><\/span>
\n <<\/span>origin xyz=<\/span>"0 0.0 0"<\/span> rpy=<\/span>"0 0 0"<\/span> \/<\/span>><\/span>
\n <<\/span>\/<\/span>joint><\/span> <\/p>\n

<<\/span>!<\/span>—<\/span> links:<\/span> main serial chain —<\/span>><\/span>
\n <<\/span>link name=<\/span>"base_link1"<\/span>\/<\/span>><\/span>
\n <<\/span>link name=<\/span>"base_link_inertia1"<\/span>><\/span>
\n <<\/span>visual><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 3.14159265359"<\/span> xyz=<\/span>"0 0 0"<\/span>\/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh filename=<\/span>"package:\/\/ur_description\/meshes\/ur3e\/visual\/base.dae"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>material name=<\/span>"LightGrey"<\/span>><\/span>
\n <<\/span>color rgba=<\/span>"0.7 0.7 0.7 1.0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>material><\/span>
\n <<\/span>\/<\/span>visual><\/span>
\n <<\/span>collision><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 3.14159265359"<\/span> xyz=<\/span>"0 0 0"<\/span>\/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh filename=<\/span>"package:\/\/ur_description\/meshes\/ur3e\/collision\/base.stl"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>\/<\/span>collision><\/span>
\n <<\/span>inertial><\/span>
\n <<\/span>mass value=<\/span>"2.0"<\/span>\/<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 0"<\/span> xyz=<\/span>"0 0 0"<\/span>\/<\/span>><\/span>
\n <<\/span>inertia ixx=<\/span>"0.0030531654454"<\/span> ixy=<\/span>"0.0"<\/span> ixz=<\/span>"0.0"<\/span> iyy=<\/span>"0.0030531654454"<\/span> iyz=<\/span>"0.0"<\/span> izz=<\/span>"0.005625"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>inertial><\/span>
\n <<\/span>\/<\/span>link><\/span>
\n <<\/span>link name=<\/span>"shoulder_link1"<\/span>><\/span>
\n <<\/span>visual><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 3.14159265359"<\/span> xyz=<\/span>"0 0 0"<\/span>\/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh filename=<\/span>"package:\/\/ur_description\/meshes\/ur3e\/visual\/shoulder.dae"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>material name=<\/span>"LightGrey"<\/span>><\/span>
\n <<\/span>color rgba=<\/span>"0.7 0.7 0.7 1.0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>material><\/span>
\n <<\/span>\/<\/span>visual><\/span>
\n <<\/span>collision><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 3.14159265359"<\/span> xyz=<\/span>"0 0 0"<\/span>\/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh filename=<\/span>"package:\/\/ur_description\/meshes\/ur3e\/collision\/shoulder.stl"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>\/<\/span>collision><\/span>
\n <<\/span>inertial><\/span>
\n <<\/span>mass value=<\/span>"2.0"<\/span>\/<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 0"<\/span> xyz=<\/span>"0 0 0"<\/span>\/<\/span>><\/span>
\n <<\/span>inertia ixx=<\/span>"0.0080931634294"<\/span> ixy=<\/span>"0.0"<\/span> ixz=<\/span>"0.0"<\/span> iyy=<\/span>"0.0080931634294"<\/span> iyz=<\/span>"0.0"<\/span> izz=<\/span>"0.005625"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>inertial><\/span>
\n <<\/span>\/<\/span>link><\/span>
\n <<\/span>link name=<\/span>"upper_arm_link1"<\/span>><\/span>
\n <<\/span>visual><\/span>
\n <<\/span>origin rpy=<\/span>"1.57079632679 0 -1.57079632679"<\/span> xyz=<\/span>"0 0 0.12"<\/span>\/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh filename=<\/span>"package:\/\/ur_description\/meshes\/ur3e\/visual\/upperarm.dae"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>material name=<\/span>"LightGrey"<\/span>><\/span>
\n <<\/span>color rgba=<\/span>"0.7 0.7 0.7 1.0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>material><\/span>
\n <<\/span>\/<\/span>visual><\/span>
\n <<\/span>collision><\/span>
\n <<\/span>origin rpy=<\/span>"1.57079632679 0 -1.57079632679"<\/span> xyz=<\/span>"0 0 0.12"<\/span>\/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh filename=<\/span>"package:\/\/ur_description\/meshes\/ur3e\/collision\/upperarm.stl"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>\/<\/span>collision><\/span>
\n <<\/span>inertial><\/span>
\n <<\/span>mass value=<\/span>"3.42"<\/span>\/<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"0 1.57079632679 0"<\/span> xyz=<\/span>"-0.121825 0.0 0.12"<\/span>\/<\/span>><\/span>
\n <<\/span>inertia ixx=<\/span>"0.0217284832211"<\/span> ixy=<\/span>"0.0"<\/span> ixz=<\/span>"0.0"<\/span> iyy=<\/span>"0.0217284832211"<\/span> iyz=<\/span>"0.0"<\/span> izz=<\/span>"0.00961875"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>inertial><\/span>
\n <<\/span>\/<\/span>link><\/span>
\n <<\/span>link name=<\/span>"forearm_link1"<\/span>><\/span>
\n <<\/span>visual><\/span>
\n <<\/span>origin rpy=<\/span>"1.57079632679 0 -1.57079632679"<\/span> xyz=<\/span>"0 0 0.027"<\/span>\/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh filename=<\/span>"package:\/\/ur_description\/meshes\/ur3e\/visual\/forearm.dae"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>material name=<\/span>"LightGrey"<\/span>><\/span>
\n <<\/span>color rgba=<\/span>"0.7 0.7 0.7 1.0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>material><\/span>
\n <<\/span>\/<\/span>visual><\/span>
\n <<\/span>collision><\/span>
\n <<\/span>origin rpy=<\/span>"1.57079632679 0 -1.57079632679"<\/span> xyz=<\/span>"0 0 0.027"<\/span>\/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh filename=<\/span>"package:\/\/ur_description\/meshes\/ur3e\/collision\/forearm.stl"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>\/<\/span>collision><\/span>
\n <<\/span>inertial><\/span>
\n <<\/span>mass value=<\/span>"1.26"<\/span>\/<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"0 1.57079632679 0"<\/span> xyz=<\/span>"-0.1066 0.0 0.027"<\/span>\/<\/span>><\/span>
\n <<\/span>inertia ixx=<\/span>"0.00654456758217"<\/span> ixy=<\/span>"0.0"<\/span> ixz=<\/span>"0.0"<\/span> iyy=<\/span>"0.00654456758217"<\/span> iyz=<\/span>"0.0"<\/span> izz=<\/span>"0.00354375"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>inertial><\/span>
\n <<\/span>\/<\/span>link><\/span>
\n <<\/span>link name=<\/span>"wrist_1_link1"<\/span>><\/span>
\n <<\/span>visual><\/span>
\n <<\/span>!<\/span>—<\/span> TODO:<\/span> Move this to a parameter —<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"1.57079632679 0 0"<\/span> xyz=<\/span>"0 0 -0.104"<\/span>\/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh filename=<\/span>"package:\/\/ur_description\/meshes\/ur3e\/visual\/wrist1.dae"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>material name=<\/span>"LightGrey"<\/span>><\/span>
\n <<\/span>color rgba=<\/span>"0.7 0.7 0.7 1.0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>material><\/span>
\n <<\/span>\/<\/span>visual><\/span>
\n <<\/span>collision><\/span>
\n <<\/span>origin rpy=<\/span>"1.57079632679 0 0"<\/span> xyz=<\/span>"0 0 -0.104"<\/span>\/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh filename=<\/span>"package:\/\/ur_description\/meshes\/ur3e\/collision\/wrist1.stl"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>\/<\/span>collision><\/span>
\n <<\/span>inertial><\/span>
\n <<\/span>mass value=<\/span>"0.8"<\/span>\/<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 0"<\/span> xyz=<\/span>"0 0 0"<\/span>\/<\/span>><\/span>
\n <<\/span>inertia ixx=<\/span>"0.002084999166"<\/span> ixy=<\/span>"0.0"<\/span> ixz=<\/span>"0.0"<\/span> iyy=<\/span>"0.002084999166"<\/span> iyz=<\/span>"0.0"<\/span> izz=<\/span>"0.00225"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>inertial><\/span>
\n <<\/span>\/<\/span>link><\/span>
\n <<\/span>link name=<\/span>"wrist_2_link1"<\/span>><\/span>
\n <<\/span>visual><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 0"<\/span> xyz=<\/span>"0 0 -0.08535"<\/span>\/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh filename=<\/span>"package:\/\/ur_description\/meshes\/ur3e\/visual\/wrist2.dae"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>material name=<\/span>"LightGrey"<\/span>><\/span>
\n <<\/span>color rgba=<\/span>"0.7 0.7 0.7 1.0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>material><\/span>
\n <<\/span>\/<\/span>visual><\/span>
\n <<\/span>collision><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 0"<\/span> xyz=<\/span>"0 0 -0.08535"<\/span>\/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh filename=<\/span>"package:\/\/ur_description\/meshes\/ur3e\/collision\/wrist2.stl"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>\/<\/span>collision><\/span>
\n <<\/span>inertial><\/span>
\n <<\/span>mass value=<\/span>"0.8"<\/span>\/<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 0"<\/span> xyz=<\/span>"0 0 0"<\/span>\/<\/span>><\/span>
\n <<\/span>inertia ixx=<\/span>"0.002084999166"<\/span> ixy=<\/span>"0.0"<\/span> ixz=<\/span>"0.0"<\/span> iyy=<\/span>"0.002084999166"<\/span> iyz=<\/span>"0.0"<\/span> izz=<\/span>"0.00225"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>inertial><\/span>
\n <<\/span>\/<\/span>link><\/span>
\n <<\/span>link name=<\/span>"wrist_3_link1"<\/span>><\/span>
\n <<\/span>visual><\/span>
\n <<\/span>origin rpy=<\/span>"1.57079632679 0 0"<\/span> xyz=<\/span>"0 0 -0.0921"<\/span>\/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh filename=<\/span>"package:\/\/ur_description\/meshes\/ur3e\/visual\/wrist3.dae"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>material name=<\/span>"LightGrey"<\/span>><\/span>
\n <<\/span>color rgba=<\/span>"0.7 0.7 0.7 1.0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>material><\/span>
\n <<\/span>\/<\/span>visual><\/span>
\n <<\/span>collision><\/span>
\n <<\/span>origin rpy=<\/span>"1.57079632679 0 0"<\/span> xyz=<\/span>"0 0 -0.0921"<\/span>\/<\/span>><\/span>
\n <<\/span>geometry><\/span>
\n <<\/span>mesh filename=<\/span>"package:\/\/ur_description\/meshes\/ur3e\/collision\/wrist3.stl"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>geometry><\/span>
\n <<\/span>\/<\/span>collision><\/span>
\n <<\/span>inertial><\/span>
\n <<\/span>mass value=<\/span>"0.35"<\/span>\/<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 0"<\/span> xyz=<\/span>"0.0 0.0 -0.02"<\/span>\/<\/span>><\/span>
\n <<\/span>inertia ixx=<\/span>"0.00013626661216"<\/span> ixy=<\/span>"0.0"<\/span> ixz=<\/span>"0.0"<\/span> iyy=<\/span>"0.00013626661216"<\/span> iyz=<\/span>"0.0"<\/span> izz=<\/span>"0.0001792"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>inertial><\/span>
\n <<\/span>\/<\/span>link><\/span>
\n <<\/span>!<\/span>—<\/span> joints:<\/span> main serial chain —<\/span>><\/span>
\n <<\/span>joint name=<\/span>"base_link-base_link_inertia1"<\/span> type=<\/span>"fixed"<\/span>><\/span>
\n <<\/span>parent link=<\/span>"base_link1"<\/span>\/<\/span>><\/span>
\n <<\/span>child link=<\/span>"base_link_inertia1"<\/span>\/<\/span>><\/span>
\n <<\/span>!<\/span>—<\/span> 'base_link'<\/span> is REP–<\/span>103<\/span> aligned<\/span> (<\/span>so X+<\/span> forward)<\/span>,<\/span> while<\/span> the internal
\n frames of the robot\/<\/span>controller have X+<\/span> pointing backwards.<\/span>
\n Use the joint between 'base_link'<\/span> and 'base_link_inertia'<\/span> (<\/span>a dummy
\n link\/<\/span>frame)<\/span> to introduce the necessary rotation over Z<\/span> (<\/span>of pi rad)<\/span>.<\/span>
\n —<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 3.14159265359"<\/span> xyz=<\/span>"0 0 0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>joint><\/span>
\n <<\/span>joint name=<\/span>"shoulder_pan_joint1"<\/span> type=<\/span>"revolute"<\/span>><\/span>
\n <<\/span>parent link=<\/span>"base_link_inertia1"<\/span>\/<\/span>><\/span>
\n <<\/span>child link=<\/span>"shoulder_link1"<\/span>\/<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 0"<\/span> xyz=<\/span>"0 0 0.15185"<\/span>\/<\/span>><\/span>
\n <<\/span>axis xyz=<\/span>"0 0 1"<\/span>\/<\/span>><\/span>
\n <<\/span>limit effort=<\/span>"56.0"<\/span> lower=<\/span>"-6.28318530718"<\/span> upper=<\/span>"6.28318530718"<\/span> velocity=<\/span>"3.14159265359"<\/span>\/<\/span>><\/span>
\n <<\/span>dynamics damping=<\/span>"0"<\/span> friction=<\/span>"0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>joint><\/span>
\n <<\/span>joint name=<\/span>"shoulder_lift_joint1"<\/span> type=<\/span>"revolute"<\/span>><\/span>
\n <<\/span>parent link=<\/span>"shoulder_link1"<\/span>\/<\/span>><\/span>
\n <<\/span>child link=<\/span>"upper_arm_link1"<\/span>\/<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"1.570796327 0 0"<\/span> xyz=<\/span>"0 0 0"<\/span>\/<\/span>><\/span>
\n <<\/span>axis xyz=<\/span>"0 0 1"<\/span>\/<\/span>><\/span>
\n <<\/span>limit effort=<\/span>"56.0"<\/span> lower=<\/span>"-6.28318530718"<\/span> upper=<\/span>"6.28318530718"<\/span> velocity=<\/span>"3.14159265359"<\/span>\/<\/span>><\/span>
\n <<\/span>dynamics damping=<\/span>"0"<\/span> friction=<\/span>"0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>joint><\/span>
\n <<\/span>joint name=<\/span>"elbow_joint1"<\/span> type=<\/span>"revolute"<\/span>><\/span>
\n <<\/span>parent link=<\/span>"upper_arm_link1"<\/span>\/<\/span>><\/span>
\n <<\/span>child link=<\/span>"forearm_link1"<\/span>\/<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 0"<\/span> xyz=<\/span>"-0.24355 0 0"<\/span>\/<\/span>><\/span>
\n <<\/span>axis xyz=<\/span>"0 0 1"<\/span>\/<\/span>><\/span>
\n <<\/span>limit effort=<\/span>"28.0"<\/span> lower=<\/span>"-3.14159265359"<\/span> upper=<\/span>"3.14159265359"<\/span> velocity=<\/span>"3.14159265359"<\/span>\/<\/span>><\/span>
\n <<\/span>dynamics damping=<\/span>"0"<\/span> friction=<\/span>"0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>joint><\/span>
\n <<\/span>joint name=<\/span>"wrist_1_joint1"<\/span> type=<\/span>"revolute"<\/span>><\/span>
\n <<\/span>parent link=<\/span>"forearm_link1"<\/span>\/<\/span>><\/span>
\n <<\/span>child link=<\/span>"wrist_1_link1"<\/span>\/<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 0"<\/span> xyz=<\/span>"-0.2132 0 0.13105"<\/span>\/<\/span>><\/span>
\n <<\/span>axis xyz=<\/span>"0 0 1"<\/span>\/<\/span>><\/span>
\n <<\/span>limit effort=<\/span>"12.0"<\/span> lower=<\/span>"-6.28318530718"<\/span> upper=<\/span>"6.28318530718"<\/span> velocity=<\/span>"6.28318530718"<\/span>\/<\/span>><\/span>
\n <<\/span>dynamics damping=<\/span>"0"<\/span> friction=<\/span>"0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>joint><\/span>
\n <<\/span>joint name=<\/span>"wrist_2_joint1"<\/span> type=<\/span>"revolute"<\/span>><\/span>
\n <<\/span>parent link=<\/span>"wrist_1_link1"<\/span>\/<\/span>><\/span>
\n <<\/span>child link=<\/span>"wrist_2_link1"<\/span>\/<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"1.570796327 0 0"<\/span> xyz=<\/span>"0 -0.08535 -1.75055776238e-11"<\/span>\/<\/span>><\/span>
\n <<\/span>axis xyz=<\/span>"0 0 1"<\/span>\/<\/span>><\/span>
\n <<\/span>limit effort=<\/span>"12.0"<\/span> lower=<\/span>"-6.28318530718"<\/span> upper=<\/span>"6.28318530718"<\/span> velocity=<\/span>"6.28318530718"<\/span>\/<\/span>><\/span>
\n <<\/span>dynamics damping=<\/span>"0"<\/span> friction=<\/span>"0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>joint><\/span>
\n <<\/span>joint name=<\/span>"wrist_3_joint1"<\/span> type=<\/span>"revolute"<\/span>><\/span>
\n <<\/span>parent link=<\/span>"wrist_2_link1"<\/span>\/<\/span>><\/span>
\n <<\/span>child link=<\/span>"wrist_3_link1"<\/span>\/<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"1.57079632659 3.14159265359 3.14159265359"<\/span> xyz=<\/span>"0 0.0921 -1.88900257663e-11"<\/span>\/<\/span>><\/span>
\n <<\/span>axis xyz=<\/span>"0 0 1"<\/span>\/<\/span>><\/span>
\n <<\/span>limit effort=<\/span>"12.0"<\/span> lower=<\/span>"-6.28318530718"<\/span> upper=<\/span>"6.28318530718"<\/span> velocity=<\/span>"6.28318530718"<\/span>\/<\/span>><\/span>
\n <<\/span>dynamics damping=<\/span>"0"<\/span> friction=<\/span>"0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>joint><\/span>
\n <<\/span>!<\/span>—<\/span> ROS–<\/span>Industrial 'base'<\/span> frame:<\/span> base_link to UR 'Base'<\/span> Coordinates transform —<\/span>><\/span>
\n <<\/span>link name=<\/span>"base1"<\/span>\/<\/span>><\/span>
\n <<\/span>joint name=<\/span>"base_link-base_fixed_joint1"<\/span> type=<\/span>"fixed"<\/span>><\/span>
\n <<\/span>!<\/span>—<\/span> Note the rotation over Z of pi radians:<\/span> as base_link is REP–<\/span>103<\/span>
\n aligned<\/span> (<\/span>ie:<\/span> has X+<\/span> forward,<\/span> Y+<\/span> left and Z+<\/span> up)<\/span>,<\/span> this is needed
\n to correctly align 'base'<\/span> with the 'Base'<\/span> coordinate system of
\n the UR controller.<\/span>
\n —<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"0 0 3.14159265359"<\/span> xyz=<\/span>"0 0 0"<\/span>\/<\/span>><\/span>
\n <<\/span>parent link=<\/span>"base_link1"<\/span>\/<\/span>><\/span>
\n <<\/span>child link=<\/span>"base1"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>joint><\/span>
\n <<\/span>!<\/span>—<\/span> ROS–<\/span>Industrial 'flange'<\/span> frame:<\/span> attachment point for<\/span> EEF models —<\/span>><\/span>
\n <<\/span>link name=<\/span>"flange1"<\/span>\/<\/span>><\/span>
\n <<\/span>joint name=<\/span>"wrist_3-flange1"<\/span> type=<\/span>"fixed"<\/span>><\/span>
\n <<\/span>parent link=<\/span>"wrist_3_link1"<\/span>\/<\/span>><\/span>
\n <<\/span>child link=<\/span>"flange1"<\/span>\/<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"0 -1.57079632679 -1.57079632679"<\/span> xyz=<\/span>"0 0 0"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>joint><\/span>
\n <<\/span>!<\/span>—<\/span> ROS–<\/span>Industrial 'tool0'<\/span> frame:<\/span> all–<\/span>zeros tool frame —<\/span>><\/span>
\n <<\/span>link name=<\/span>"tool01"<\/span>\/<\/span>><\/span>
\n <<\/span>joint name=<\/span>"flange-tool01"<\/span> type=<\/span>"fixed"<\/span>><\/span>
\n <<\/span>!<\/span>—<\/span> default<\/span> toolframe:<\/span> X+<\/span> left,<\/span> Y+<\/span> up,<\/span> Z+<\/span> front —<\/span>><\/span>
\n <<\/span>origin rpy=<\/span>"1.57079632679 0 1.57079632679"<\/span> xyz=<\/span>"0 0 0"<\/span>\/<\/span>><\/span>
\n <<\/span>parent link=<\/span>"flange1"<\/span>\/<\/span>><\/span>
\n <<\/span>child link=<\/span>"tool01"<\/span>\/<\/span>><\/span>
\n <<\/span>\/<\/span>joint><\/span><\/p>\n

<<\/span>joint name=<\/span>"left_arm_attach"<\/span> type=<\/span>"fixed"<\/span>><\/span>
\n <<\/span>child link=<\/span>"base_link1"<\/span> \/<\/span>><\/span>
\n <<\/span>parent link=<\/span>"carzero_Link"<\/span> \/<\/span>><\/span>
\n <<\/span>origin xyz=<\/span>"0 0.0 0"<\/span> rpy=<\/span>"0 0 0"<\/span> \/<\/span>><\/span>
\n <<\/span>\/<\/span>joint><\/span> <\/p>\n

<<\/span>\/<\/span>robot><\/span><\/p>\n

\u6574\u4e2a\u4ee3\u7801\u7684\u903b\u8f91\u5c31\u662f\u5c06\u4e24\u53f0UR\u673a\u68b0\u81c2\u7684URDF\u4e0e\u79fb\u52a8\u5e95\u76d8\u7684URDF\u6574\u5408\u5230\u4e00\u8d77，\u9700\u8981\u6ce8\u610f\u7684\u4e09\u4e2a\u5730\u65b9\u662f 1\u3001\u56e0\u4e3a\u4e24\u4e2aUR3e\u673a\u68b0\u81c2\u7684URDF\u6a21\u578b\u5728\u540c\u4e00\u4e2a\u6587\u4ef6\u4e0b，\u6240\u4ee5\u9700\u8981\u91cd\u547d\u540d\u7b2c\u4e8c\u4e2a\u673a\u68b0\u81c2\u7684\u6240\u4ee5\u5173\u8282\u548c\u8fde\u6746\u7684\u540d\u79f0，\u907f\u514d\u91cd\u590d\u3002\u6211\u628a\u5de6\u81c2\u6240\u6709\u5173\u8282\u548c\u8fde\u6746\u540d\u79f0\u7684\u540e\u9762\u90fd\u52a0\u4e86\u4e00\u4e2a1，\u5de6\u81c2\u4ee3\u7801\u4e3a520-768\u884c；\u53f3\u81c2\u4ee3\u7801\u4e3a1-358\u884c；\u79fb\u52a8\u5e95\u76d8\u4ee3\u7801360-511\u884c<\/p>\n

2\u3001\u9664\u4e86\u7b80\u5355\u7684\u5c06\u4e09\u90e8\u5206\u7684urdf\u590d\u5236\u5230\u4e00\u8d77，\u6211\u8fd8\u989d\u5916\u521b\u5efa\u4e86\u4e24\u4e2a\u5173\u8282，\u7528\u4e8e\u8fde\u63a5\u5de6\u81c2\u548c\u79fb\u52a8\u5e95\u76d8\u3001\u4ee5\u53ca\u8fde\u63a5\u53f3\u81c2\u548c\u79fb\u52a8\u5e95\u76d8\u3002 \u4ee5\u53f3\u81c2\u4e3a\u4f8b，\u5177\u4f53\u4e3a：<\/p>\n

<<\/span>joint name=<\/span>"right_arm_attach"<\/span> type=<\/span>"fixed"<\/span>><\/span>
\n <<\/span>child link=<\/span>"base_link"<\/span> \/<\/span>><\/span>
\n <<\/span>parent link=<\/span>"carzero2_Link"<\/span> \/<\/span>><\/span>
\n <<\/span>origin xyz=<\/span>"0 0.0 0"<\/span> rpy=<\/span>"0 0 0"<\/span> \/<\/span>><\/span>
\n <<\/span>\/<\/span>joint><\/span> <\/p>\n

3\u3001\u5982\u679c\u62a5\u9519Failed to find root link: Two root links found: [base_link1] and [carbase_link] \u90a3\u662f\u56e0\u4e3a：robot_state_publisher\u5728\u5904\u7406URDF\u65f6\u53d1\u73b0\u4e24\u4e2a\u6839\u94fe\u63a5（base_link\u548ccarbase_link），\u5bfc\u81f4\u65e0\u6cd5\u6784\u5efaTF\u6811\u3002ROS\u8981\u6c42URDF\u53ea\u6709\u4e00\u4e2a\u6839\u94fe\u63a5（\u5373\u6ca1\u6709\u7236\u94fe\u63a5\u7684\u94fe\u63a5），\u5426\u5219\u4f1a\u62a5\u201cFailed to find root link\u201d\u9519\u8bef\u3002 \u6240\u4ee5\u7b2c2\u6b65\u5c31\u662f\u89e3\u51b3\u529e\u6cd5，\u65b0\u5efa\u4e00\u4e2a\u5173\u8282，\u5c06\u673a\u68b0\u81c2\u7684base_link\u4e0e\u5c0f\u8f66\u7684carzero2_Link\u4e32\u8054\u5230\u4e00\u8d77\u3002<\/p>\n

\u4e09\u3001RViz\u53ef\u89c6\u5316<\/h4>\n

\u5355\u81c2\u53ef\u89c6\u5316：<\/p>\n

cd UR_ws
\nsource devel\/<\/span>setup.<\/span>bash
\nroslaunch ur_description view_ur3e.<\/span>launch<\/p>\n

\u53cc\u81c2\u53ef\u89c6\u5316：<\/p>\n

cd UR_ws
\nsource devel\/<\/span>setup.<\/span>bash
\nroslaunch ur_description display.<\/span>launch<\/p>\n

\u5176\u4e2ddisplay.launch\u5b8c\u6574\u4ee3\u7801\u5982\u4e0b：<\/p>\n

<<\/span>launch><\/span>
\n <<\/span>arg
\n name=<\/span>"model"<\/span> \/<\/span>><\/span>
\n <<\/span>param
\n name=<\/span>"robot_description"<\/span>
\n textfile=<\/span>"$(find ur_description)\/urdf\/mobiledualarm.urdf"<\/span> \/<\/span>><\/span>
\n <<\/span>node
\n name=<\/span>"joint_state_publisher_gui"<\/span>
\n pkg=<\/span>"joint_state_publisher_gui"<\/span>
\n type=<\/span>"joint_state_publisher_gui"<\/span> \/<\/span>><\/span>
\n <<\/span>node
\n name=<\/span>"robot_state_publisher"<\/span>
\n pkg=<\/span>"robot_state_publisher"<\/span>
\n type=<\/span>"robot_state_publisher"<\/span> \/<\/span>><\/span>
\n <<\/span>node
\n name=<\/span>"rviz"<\/span>
\n pkg=<\/span>"rviz"<\/span>
\n type=<\/span>"rviz"<\/span>
\n args=<\/span>"-d $(find ur_description)\/urdf.rviz"<\/span> \/<\/span>><\/span>
\n<<\/span>\/<\/span>launch><\/span><\/p>\n

\u56db\u3001\u6548\u679c\u5c55\u793a<\/p>\n

\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\"<\/p>\n

\u4e94\u3001\u6a21\u5757\u5316\u65b9\u6cd5（\u4f9b\u53c2\u8003）<\/h4>\n

\u8fd9\u91cc\u6211\u91cd\u5efa\u521b\u5efa\u4e86\u4e00\u4e2a\u5de5\u4f5c\u7a7a\u95f4：DualUR_ws<\/p>\n","protected":false},"excerpt":{"rendered":"

\u6587\u7ae0\u6d4f\u89c8\u9605\u8bfb554\u6b21\uff0c\u70b9\u8d5e5\u6b21\uff0c\u6536\u85cf12\u6b21\u3002\u6211\u4f7f\u7528\u7684\u662f\u6bd4\u8f83\u9ebb\u70e6\u7684\u65b9\u6cd5\uff0c\u4e5f\u5c31\u662f\u5c06\u4e24\u53f0UR3e\u7684URDF\u4e0e\u79fb\u52a8\u5e95\u76d8\u7684URDF\u5199\u5230\u4e00\u8d77\u4e86\uff0c\u7136\u540e\u901a\u8fc7display\u5c06\u4e00\u4e2a\u7279\u522b\u957f\u7684\u3002<\/p>\n","protected":false},"author":2,"featured_media":33012,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[384],"topic":[],"class_list":["post-33014","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-384"],"yoast_head":"\n\u5982\u4f55\u4f7f\u7528URDF\u642d\u5efa\u53cc\u81c2UR\u79fb\u52a8\u673a\u5668\u4eba\uff0c\u5e76\u5728RViz\u4e2d\u53ef\u89c6\u5316 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/33014.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"\u5982\u4f55\u4f7f\u7528URDF\u642d\u5efa\u53cc\u81c2UR\u79fb\u52a8\u673a\u5668\u4eba\uff0c\u5e76\u5728RViz\u4e2d\u53ef\u89c6\u5316 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"og:description\" content=\"\u6587\u7ae0\u6d4f\u89c8\u9605\u8bfb554\u6b21\uff0c\u70b9\u8d5e5\u6b21\uff0c\u6536\u85cf12\u6b21\u3002\u6211\u4f7f\u7528\u7684\u662f\u6bd4\u8f83\u9ebb\u70e6\u7684\u65b9\u6cd5\uff0c\u4e5f\u5c31\u662f\u5c06\u4e24\u53f0UR3e\u7684URDF\u4e0e\u79fb\u52a8\u5e95\u76d8\u7684URDF\u5199\u5230\u4e00\u8d77\u4e86\uff0c\u7136\u540e\u901a\u8fc7display\u5c06\u4e00\u4e2a\u7279\u522b\u957f\u7684\u3002\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.wsisp.com\/helps\/33014.html\" \/>\n<meta property=\"og:site_name\" content=\"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"article:published_time\" content=\"2025-04-26T02:26:57+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250426022655-680c446fc713e.png\" \/>\n<meta name=\"author\" content=\"admin\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"\u4f5c\u8005\" \/>\n\t<meta name=\"twitter:data1\" content=\"admin\" \/>\n\t<meta name=\"twitter:label2\" content=\"\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4\" \/>\n\t<meta name=\"twitter:data2\" content=\"21 \u5206\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/33014.html\",\"url\":\"https:\/\/www.wsisp.com\/helps\/33014.html\",\"name\":\"\u5982\u4f55\u4f7f\u7528URDF\u642d\u5efa\u53cc\u81c2UR\u79fb\u52a8\u673a\u5668\u4eba\uff0c\u5e76\u5728RViz\u4e2d\u53ef\u89c6\u5316 - 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