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fix urdf

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This commit is contained in:
wangWking 2022-04-18 12:18:36 +08:00
parent 0eee32fdd6
commit 0437914db0
2 changed files with 62 additions and 16 deletions
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74
mycobot_description/urdf/320_urdf/mycobot_pro_320.urdf
View file

@ -10,8 +10,15 @@
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/320_urdf/base.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 3.1415926"/>
<origin xyz = "0.0 0 0 " rpy = " 0 0 3.1415926"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/320_urdf/base.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 3.1415926"/>
</collision>
</link>
<link name="link1">
@ -21,17 +28,29 @@
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/link1.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="link2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/link2.dae"/>
</geometry>
<origin xyz = "0 0 0.0587 " rpy = " 0 0 3.1415926"/>
<origin xyz = "0 0 0.0587 " rpy = " 0 0 3.1415926"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/link2.dae"/>
</geometry>
<origin xyz = "0 0 0.0587 " rpy = " 0 0 3.1415926"/>
</collision>
</link>
@ -43,11 +62,18 @@
</geometry>
<origin xyz = "0 0 0.038 " rpy = " 0 0 3.1415926"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/320_urdf/link3.dae"/>
</geometry>
<origin xyz = "0 0 0.038 " rpy = " 0 0 3.1415926"/>
</collision>
</link>
<link name="link4">
<link name="link4">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
@ -55,6 +81,13 @@
</geometry>
<origin xyz = "0 -0.001 0 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/320_urdf/link4.dae"/>
</geometry>
<origin xyz = "0 -0.001 0 " rpy = " 0 0 0"/>
</collision>
</link>
@ -66,26 +99,40 @@
</geometry>
<origin xyz = "0 0.002 0 " rpy = " 0 0 3.1415926"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/320_urdf/link5.dae"/>
</geometry>
<origin xyz = "0 0.002 0 " rpy = " 0 0 3.1415926"/>
</collision>
</link>
<link name="link6">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/320_urdf/link6.dae"/>
</geometry>
<origin xyz = "-0.03 0.001 0.5" rpy = " -3.04159 0.0157 3.1415926"/>
<origin xyz = "-0.502 -0.090 -0.096 " rpy = " 0 1.5708 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/320_urdf/link6.dae"/>
</geometry>
<origin xyz = "-0.502 -0.090 -0.096 " rpy = " 0 1.5708 0"/>
</collision>
</link>
<joint name="joint2_to_joint1" type="revolute">
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="base"/>
<child link="link1"/>
<origin xyz= "0 0 0.17846" rpy = "0 0 0"/>
<origin xyz= "0 0 0.17846" rpy = "0 0 0"/>
</joint>
@ -94,7 +141,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link1"/>
<child link="link2"/>
<origin xyz= "0 0 0" rpy = "0 -1.57080 1.57080"/>
<origin xyz= "0 0 0" rpy = "0 -1.5708 1.5708"/>
</joint>
@ -111,7 +158,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link3"/>
<child link="link4"/>
<origin xyz= "0.1 0 0.090" rpy = "0 0 1.57080"/>
<origin xyz = "0.1 0 0.09 " rpy = " 0 0 1.57080"/>
</joint>
<joint name="joint6_to_joint5" type="revolute">
@ -119,18 +166,17 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link4"/>
<child link="link5"/>
<origin xyz= "0 -0.08515 0" rpy = "1.57080 -1.57080 0"/>
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>
</joint>
<joint name="joint6output_to_joint6" type="revolute">
<axis xyz="1 0 0"/>
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link5"/>
<child link="link6"/>
<origin xyz= "0.02155 -0.01 -0.034" rpy = "1.57080 0 1.57080 "/>
<origin xyz= "0.00 0.06635 0" rpy = "-1.5708 0 0"/>
</joint>
</robot>

4
mycobot_description/urdf/320_urdf/mycobot_pro_320moveit.urdf
View file

@ -9,10 +9,10 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/base.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
<origin xyz = "0 0 0 " rpy = " 0 0 3.1415926"/>
</visual>
<collision>
<origin xyz = "0 0 0.05 " rpy = " 0 0 0"/>
<origin xyz = "0 0 0.05 " rpy = " 0 0 3.1415926"/>
<geometry>
<cylinder length="0.102" radius="0.0725"/>
</geometry>