init

2025-09-24 10:53:28 +08:00
commit f8e4df77fb
856 changed files with 140098 additions and 0 deletions
--- a/urdf/d1_description/CMakeLists.txt
+++ b/urdf/d1_description/CMakeLists.txt
@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(d1_description)
+
+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)
--- a/urdf/d1_description/config/joint_names_d1_description.yaml
+++ b/urdf/d1_description/config/joint_names_d1_description.yaml
@@ -0,0 +1 @@
+controller_joint_names: ['', 'Joint1', 'Joint2', 'Joint3', 'Joint4', 'Joint5', 'Joint6', 'Joint7_1', 'Joint7_2', ]
--- a/urdf/d1_description/export.log
+++ b/urdf/d1_description/export.log
@@ -0,0 +1,13 @@
+2024-02-01 10:44:52,857 INFO  Logger.cs: 70 - 
+--------------------------------------------------------------------------------
+2024-02-01 10:44:52,887 INFO  Logger.cs: 71 - Logging commencing for SW2URDF exporter
+2024-02-01 10:44:52,889 INFO  Logger.cs: 73 - Commit version 1.6.0-4-g7f85cfe
+2024-02-01 10:44:52,889 INFO  Logger.cs: 74 - Build version 1.6.7995.38578
+2024-02-01 10:44:52,891 INFO  SwAddin.cs: 192 - Attempting to connect to SW
+2024-02-01 10:44:52,891 INFO  SwAddin.cs: 197 - Setting up callbacks
+2024-02-01 10:44:52,891 INFO  SwAddin.cs: 201 - Setting up command manager
+2024-02-01 10:44:52,892 INFO  SwAddin.cs: 204 - Adding command manager
+2024-02-01 10:44:52,895 INFO  SwAddin.cs: 263 - Adding Assembly export to file menu
+2024-02-01 10:44:52,895 INFO  SwAddin.cs: 272 - Adding Part export to file menu
+2024-02-01 10:44:52,896 INFO  SwAddin.cs: 210 - Adding event handlers
+2024-02-01 10:44:52,898 INFO  SwAddin.cs: 217 - Connecting plugin to SolidWorks
--- a/urdf/d1_description/launch/display.launch
+++ b/urdf/d1_description/launch/display.launch
@@ -0,0 +1,20 @@
+<launch>
+  <arg
+    name="model" />
+  <param
+    name="robot_description"
+    textfile="$(find d1_description)/urdf/d1_description.urdf" />
+  <node
+    name="joint_state_publisher_gui"
+    pkg="joint_state_publisher_gui"
+    type="joint_state_publisher_gui" />
+  <node
+    name="robot_state_publisher"
+    pkg="robot_state_publisher"
+    type="robot_state_publisher" />
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(find d1_description)/urdf.rviz" />
+</launch>
--- a/urdf/d1_description/launch/gazebo.launch
+++ b/urdf/d1_description/launch/gazebo.launch
@@ -0,0 +1,20 @@
+<launch>
+  <include
+    file="$(find gazebo_ros)/launch/empty_world.launch" />
+  <node
+    name="tf_footprint_base"
+    pkg="tf"
+    type="static_transform_publisher"
+    args="0 0 0 0 0 0 base_link base_footprint 40" />
+  <node
+    name="spawn_model"
+    pkg="gazebo_ros"
+    type="spawn_model"
+    args="-file $(find d1_description)/urdf/d1_description.urdf -urdf -model d1_description"
+    output="screen" />
+  <node
+    name="fake_joint_calibration"
+    pkg="rostopic"
+    type="rostopic"
+    args="pub /calibrated std_msgs/Bool true" />
+</launch>
--- a/urdf/d1_description/meshes/Link1.STL
+++ b/urdf/d1_description/meshes/Link1.STL
--- a/urdf/d1_description/meshes/Link2.STL
+++ b/urdf/d1_description/meshes/Link2.STL
--- a/urdf/d1_description/meshes/Link3.STL
+++ b/urdf/d1_description/meshes/Link3.STL
--- a/urdf/d1_description/meshes/Link4.STL
+++ b/urdf/d1_description/meshes/Link4.STL
--- a/urdf/d1_description/meshes/Link5.STL
+++ b/urdf/d1_description/meshes/Link5.STL
--- a/urdf/d1_description/meshes/Link6.STL
+++ b/urdf/d1_description/meshes/Link6.STL
--- a/urdf/d1_description/meshes/Link7_1.STL
+++ b/urdf/d1_description/meshes/Link7_1.STL
--- a/urdf/d1_description/meshes/Link7_2.STL
+++ b/urdf/d1_description/meshes/Link7_2.STL
--- a/urdf/d1_description/meshes/base_link.STL
+++ b/urdf/d1_description/meshes/base_link.STL
--- a/urdf/d1_description/package.xml
+++ b/urdf/d1_description/package.xml
@@ -0,0 +1,21 @@
+<package format="2">
+  <name>d1_description</name>
+  <version>1.0.0</version>
+  <description>
+    <p>URDF Description package for d1_description</p>
+    <p>This package contains configuration data, 3D models and launch files
+for d1_description robot</p>
+  </description>
+  <author>TODO</author>
+  <maintainer email="TODO@email.com" />
+  <license>BSD</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>roslaunch</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>rviz</depend>
+  <depend>joint_state_publisher_gui</depend>
+  <depend>gazebo</depend>
+  <export>
+    <architecture_independent />
+  </export>
+</package>
--- a/urdf/d1_description/urdf/d1_description.csv
+++ b/urdf/d1_description/urdf/d1_description.csv
@@ -0,0 +1,10 @@
+Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
+base_link,0.0017,0.00E+00,0.0295,0,0,0,0.568,0.000644,2.97E-07,3.33E-06,0.0006769,-4.52E-07,0.0010466,0,0,0,0,0,0,package://d1_description/meshes/base_link.STL,1,1,1,1,0,0,0,0,0,0,package://d1_description/meshes/base_link.STL,,J0-1,坐标系base,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
+Link1,-0.000843,-0.000119,0.0223535,0,0,0,0.368,3.45E-04,-9.00E-08,1.18E-06,3.31E-04,1.42E-06,2.14E-04,0,0,0,0,0,0,package://d1_description/meshes/Link1.STL,1,1,1,1,0,0,0,0,0,0,package://d1_description/meshes/Link1.STL,,J1-1,坐标<EFBFBD><EFBFBD>?,joint1,Joint1,revolute,0,0,0.0533,0,0,-3.1416,base_link,0,0,1,0,0,0,0,,,,,,,,
+Link2,0.00011,0.184077,-0.027408,0,0,0,0.477,0.003553597,4.79E-06,1.29E-07,1.42E-04,-3.76E-06,0.003490769,0,0,0,0,0,0,package://d1_description/meshes/Link2.STL,1,1,1,1,0,0,0,0,0,0,package://d1_description/meshes/Link2.STL,,J2-1,坐标<EFBFBD><EFBFBD>?,joint2,Joint2,revolute,0,0.028,0.0563,1.5708,0,-3.1416,Link1,0,0,-1,0,0,0,0,,,,,,,,
+Link3,0.017869,0.04318,-0.0275,0,0,0,0.159,5.90E-05,-6.41E-06,0.00E+00,6.89E-05,0.00E+00,8.86E-05,0,0,0,0,0,0,package://d1_description/meshes/Link3.STL,1,1,1,1,0,0,0,0,0,0,package://d1_description/meshes/Link3.STL,,J3-1,坐标<EFBFBD><EFBFBD>?,joint3,Joint3,revolute,0,0.2693,0.0009,0,0,0,Link2,0,0,-1,0,0,0,0,,,,,,,,
+Link4,-0.000626,0.00038,0.105418,0,0,0,0.224,5.43E-04,-7.30E-08,7.20E-06,5.73E-04,-1.31E-06,4.77E-05,0,0,0,0,0,0,package://d1_description/meshes/Link4.STL,1,1,1,1,0,0,0,0,0,0,package://d1_description/meshes/Link4.STL,,J4-1,坐标<EFBFBD><EFBFBD>?,joint4,Joint4,revolute,0.0577,0.042,-0.0275,-1.5708,0,-1.5708,Link3,0,0,1,0,0,0,0,,,,,,,,
+Link5,0.044336,0.005481,-0.023801,0,0,0,0.134,3.62E-05,6.42E-06,-5.00E-09,5.91E-05,1.00E-09,6.66E-05,0,0,0,0,0,0,package://d1_description/meshes/Link5.STL,1,1,1,1,0,0,0,0,0,0,package://d1_description/meshes/Link5.STL,,J5-1,坐标<EFBFBD><EFBFBD>?,joint5,Joint5,revolute,-0.0001,-0.0237,0.14018,1.5708,-1.5708,0,Link4,0,0,-1,0,0,0,0,,,,,,,,
+Link6,7.00E-06,3.65E-03,0.076577,0,0,0,0.238,2.04E-04,-2.80E-07,-3.50E-08,3.48E-04,1.93E-05,2.09E-04,0,0,0,0,0,0,package://d1_description/meshes/Link6.STL,1,1,1,1,0,0,0,0,0,0,package://d1_description/meshes/Link6.STL,,ZS-1,坐标<EFBFBD><EFBFBD>?,joint6,Joint6,revolute,0.0825,-0.0010782,-0.023822,-1.5708,0,-1.5708,Link5,0,0,-1,0,0,0,0,,,,,,,,
+Link7_1,0.012444,0.006,0.01067,0,0,0,0.025,2.37E-06,-7.74E-20,-1.04E-06,7.24E-06,-1.20E-20,7.84E-06,0,0,0,0,0,0,package://d1_description/meshes/Link7_1.STL,1,1,1,1,0,0,0,0,0,0,package://d1_description/meshes/Link7_1.STL,,ZS-03-1,坐标<EFBFBD><EFBFBD>?_1,joint7,Joint7_1,prismatic,-0.0056012,-0.029636,0.0706,1.5714,-1.5708,0,Link6,0,0,-1,0,0,0,0,,,,,,,,
+Link7_2,0.012444,-0.006,0.01067,0,0,0,0.025,2.37E-06,7.83E-20,-1.04E-06,7.24E-06,1.21E-20,7.84E-06,0,0,0,0,0,0,package://d1_description/meshes/Link7_2.STL,1,1,1,1,0,0,0,0,0,0,package://d1_description/meshes/Link7_2.STL,,ZS-03-2,坐标<EFBFBD><EFBFBD>?_2,joint7,Joint7_2,prismatic,-0.0056388,0.02964,0.0706,1.5702,-1.5708,0,Link6,0,0,1,0,0,0,0,,,,,,,,
--- a/urdf/d1_description/urdf/d1_description.urdf
+++ b/urdf/d1_description/urdf/d1_description.urdf
@@ -0,0 +1,511 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="d1_description">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-0.00048697 -2.9605E-12 0.017142"
+        rpy="0 0 0" />
+      <mass
+        value="0.077233" />
+      <inertia
+        ixx="0.00010316"
+        ixy="-1.0285E-14"
+        ixz="2.0449E-07"
+        iyy="0.00011888"
+        iyz="7.3026E-15"
+        izz="0.00018362" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://d1_description/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://d1_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="Link1">
+    <inertial>
+      <origin
+        xyz="0.0024649 0.00010517 0.032696"
+        rpy="0 0 0" />
+      <mass
+        value="0.13174" />
+      <inertia
+        ixx="6.7236E-05"
+        ixy="-5.5664E-08"
+        ixz="7.0454E-08"
+        iyy="5.416E-05"
+        iyz="-3.5709E-07"
+        izz="4.6637E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://d1_description/meshes/Link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://d1_description/meshes/Link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.0533"
+      rpy="0 0 -3.1416" />
+    <parent
+      link="base_link" />
+    <child
+      link="Link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.35"
+      upper="2.35"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="Link2">
+    <inertial>
+      <origin
+        xyz="0.0002018 0.19201 -0.027007"
+        rpy="0 0 0" />
+      <mass
+        value="0.20213" />
+      <inertia
+        ixx="0.00025682"
+        ixy="-1.139E-07"
+        ixz="5.5667E-08"
+        iyy="6.3307E-05"
+        iyz="-3.5717E-07"
+        izz="0.00022968" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://d1_description/meshes/Link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://d1_description/meshes/Link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Joint2"
+    type="revolute">
+    <origin
+      xyz="0 0.028 0.0563"
+      rpy="1.5708 0 -3.1416" />
+    <parent
+      link="Link1" />
+    <child
+      link="Link2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-1.57"
+      upper="1.57"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="Link3">
+    <inertial>
+      <origin
+        xyz="0.015164 0.044482 -0.027461"
+        rpy="0 0 0" />
+      <mass
+        value="0.0629" />
+      <inertia
+        ixx="1.7232E-05"
+        ixy="-2.6967E-06"
+        ixz="-9.4911E-11"
+        iyy="1.2606E-05"
+        iyz="-9.9169E-11"
+        izz="1.4964E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://d1_description/meshes/Link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://d1_description/meshes/Link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Joint3"
+    type="revolute">
+    <origin
+      xyz="0 0.2693 0.0009"
+      rpy="0 0 0" />
+    <parent
+      link="Link2" />
+    <child
+      link="Link3" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-1.57"
+      upper="1.57"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="Link4">
+    <inertial>
+      <origin
+        xyz="-0.00029556 -0.00016104 0.091339"
+        rpy="0 0 0" />
+      <mass
+        value="0.083332" />
+      <inertia
+        ixx="3.9308E-05"
+        ixy="1.0126E-08"
+        ixz="-9.4316E-08"
+        iyy="3.4378E-05"
+        iyz="-1.6915E-09"
+        izz="1.1597E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://d1_description/meshes/Link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://d1_description/meshes/Link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Joint4"
+    type="revolute">
+    <origin
+      xyz="0.0577 0.042 -0.0275"
+      rpy="-1.5708 0 -1.5708" />
+    <parent
+      link="Link3" />
+    <child
+      link="Link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.35"
+      upper="2.35"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="Link5">
+    <inertial>
+      <origin
+        xyz="0.040573 0.0062891 -0.023838"
+        rpy="0 0 0" />
+      <mass
+        value="0.053817" />
+      <inertia
+        ixx="1.3072E-05"
+        ixy="-3.9511E-07"
+        ixz="-3.1889E-10"
+        iyy="8.6301E-06"
+        iyz="-1.8416E-09"
+        izz="1.1049E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://d1_description/meshes/Link5.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://d1_description/meshes/Link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Joint5"
+    type="revolute">
+    <origin
+      xyz="-0.0001 -0.0237 0.14018"
+      rpy="1.5708 -1.5708 0" />
+    <parent
+      link="Link4" />
+    <child
+      link="Link5" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-1.57"
+      upper="1.57"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="Link6">
+    <inertial>
+      <origin
+        xyz="-0.0068528 -3.9973E-06 0.039705"
+        rpy="0 0 0" />
+      <mass
+        value="0.077892" />
+      <inertia
+        ixx="3.8236E-05"
+        ixy="1.3465E-08"
+        ixz="-2.0614E-07"
+        iyy="1.7707E-05"
+        iyz="-6.7117E-10"
+        izz="4.8839E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://d1_description/meshes/Link6.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://d1_description/meshes/Link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Joint6"
+    type="revolute">
+    <origin
+      xyz="0.0825 -0.0010782 -0.023822"
+      rpy="-1.5708 0 -1.5708" />
+    <parent
+      link="Link5" />
+    <child
+      link="Link6" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-2.35"
+      upper="2.35"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="Link7_1">
+    <inertial>
+      <origin
+        xyz="0.018927 0.006 0.012082"
+        rpy="0 0 0" />
+      <mass
+        value="0.015046" />
+      <inertia
+        ixx="1.2692E-06"
+        ixy="7.7441E-20"
+        ixz="-1.133E-07"
+        iyy="2.0229E-06"
+        iyz="1.2044E-20"
+        izz="2.6177E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://d1_description/meshes/Link7_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://d1_description/meshes/Link7_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Joint7_1"
+    type="prismatic">
+    <origin
+      xyz="-0.0056012 -0.029636 0.0706"
+      rpy="-1.5714 -1.5708 0" />
+    <parent
+      link="Link6" />
+    <child
+      link="Link7_1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="0.03"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="Link7_2">
+    <inertial>
+      <origin
+        xyz="0.018927 -0.006 0.012082"
+        rpy="0 0 0" />
+      <mass
+        value="0.015046" />
+      <inertia
+        ixx="1.2692E-06"
+        ixy="-7.8273E-20"
+        ixz="-1.133E-07"
+        iyy="2.0229E-06"
+        iyz="-1.2122E-20"
+        izz="2.6177E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://d1_description/meshes/Link7_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://d1_description/meshes/Link7_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Joint7_2"
+    type="prismatic">
+    <origin
+      xyz="-0.0056388 0.02964 0.0706"
+      rpy="1.5702 -1.5708 0" />
+    <parent
+      link="Link6" />
+    <child
+      link="Link7_2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.03"
+      upper="0"
+      effort="0"
+      velocity="0" />
+  </joint>
+</robot>
				`@@ -0,0 +1 @@`
				`controller_joint_names: ['', 'Joint1', 'Joint2', 'Joint3', 'Joint4', 'Joint5', 'Joint6', 'Joint7_1', 'Joint7_2', ]`