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add urdf pkg of mecharm

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wuchangji 2022-07-08 09:43:20 +08:00
parent b2199c0710
commit 1870ed83ab
8 changed files with 2774 additions and 0 deletions
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mycobot_description/urdf/mecharm/base.dae Normal file
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mycobot_description/urdf/mecharm/link1.dae Normal file
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mycobot_description/urdf/mecharm/link2.dae Normal file
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mycobot_description/urdf/mecharm/link5.dae Normal file
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mycobot_description/urdf/mecharm/link6.dae Normal file
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mycobot_description/urdf/mecharm/mecharm_urdf.urdf Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
<xacro:property name="width" value=".2" />
<link name="base">
<visual>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/mecharm/base.dae"/>
</geometry>
<origin xyz = " 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/mecharm/base.dae"/>
</geometry>
<origin xyz = " 0 0 0 " rpy = " 0 0 -3.1415926"/>
</collision>
</link>
<link name="link1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mecharm/link1.dae"/>
</geometry>
<origin xyz = "0 0 -0.132 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mecharm/link1.dae"/>
</geometry>
<origin xyz = "0 0 -0.132 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="link2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mecharm/link2.dae"/>
</geometry>
<origin xyz = "-0.005 0.21 0.002 " rpy = " 1.5708 -3.1415926 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mecharm/link2.dae"/>
</geometry>
<origin xyz = "-0.005 -0.21 0.002 " rpy = " 1.5708 -3.1415926 0"/>
</collision>
</link>
<link name="link3">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mecharm/link3.dae"/>
</geometry>
<origin xyz = "-0.09 0.306 0.005 " rpy = "1.5708 3.1415926 0"/>
<!-- <origin xyz = "-0.0 0.0 0.000 " rpy = "0 0 0"/> -->
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mecharm/link3.dae"/>
</geometry>
<origin xyz = "-0.09 0.306 0.005" rpy = "1.5708 3.1415926 0"/>
</collision>
</link>
<link name="link4">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mecharm/link4.dae"/>
</geometry>
<origin xyz = "0.009 -0.311 -0.228" rpy = " 0 1.5708 1.5708"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mecharm/link4.dae"/>
</geometry>
<origin xyz = "0.009 -0.311 -0.228" rpy = " 0 1.5708 1.5708"/>
</collision>
</link>
<link name="link5">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mecharm/link5.dae"/>
</geometry>
<origin xyz = "-0.292 -0.318 -0.007" rpy = " 1.5708 0 3.1415926"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mecharm/link5.dae"/>
</geometry>
<origin xyz = "-0.292 -0.318 -0.007 " rpy = " 1.5708 0 3.1415926"/>
</collision>
</link>
<link name="link6">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mecharm/link6.dae"/>
</geometry>
<origin xyz = "-0.1645 0.0536 -0.211 " rpy = " 0 1.5708 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mecharm/link6.dae"/>
</geometry>
<origin xyz = "-0.1645 0.0536 -0.211 " rpy = " 0 1.5708 0"/>
</collision>
</link>
<joint name="joint1_to_base" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.792527" upper = "2.792527" velocity = "0"/>
<parent link="base"/>
<child link="link1"/>
<origin xyz= "0 0 0.1" rpy = "0 0 0"/>
</joint>
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-1.48353" upper = "1.570796" velocity = "0"/>
<parent link="link1"/>
<child link="link2"/>
<origin xyz= "0 0 0.038" rpy = " -1.5708 0 0 "/>
</joint>
<joint name="joint3_to_joint2" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "0.785398" velocity = "0"/>
<parent link="link2"/>
<child link="link3"/>
<origin xyz= "0.0 -0.1 0 " rpy = "0 0 0 "/>
</joint>
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.792527" upper = "2.792527" velocity = "0"/>
<parent link="link3"/>
<child link="link4"/>
<origin xyz= "0.108 -0.005 -0.001" rpy = "0 1.5708 0 "/>
</joint>
<joint name="joint5_to_joint4" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-1.745329" upper = "1.745329" velocity = "0"/>
<parent link="link4"/>
<child link="link5"/>
<origin xyz= " -0.001 0 0.0" rpy = " 0 -1.5708 0"/>
</joint>
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="link5"/>
<child link="link6"/>
<origin xyz= " 0.06 0.00 -0.0" rpy = " 0 1.5708 0 "/>
</joint>
</robot>