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update 2022 version 320 ROS1 urdf model file

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This commit is contained in:
wangWking 2023-09-18 15:31:09 +08:00
parent 58554e749c
commit 5cdb177840
27 changed files with 3446 additions and 189096 deletions
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45
mycobot_320/new_mycobot_320/config/new_mycobot_320.rviz
View file

@ -6,10 +6,14 @@ Panels:
Expanded: Expanded:
- /Global Options1 - /Global Options1
- /Status1 - /Status1
- /RobotModel1
- /RobotModel1/Links1
- /RobotModel1/Links1/link61
- /RobotModel1/Links1/link61/Position1
- /TF1 - /TF1
- /TF1/Tree1 - /TF1/Tree1
Splitter Ratio: 0.5 Splitter Ratio: 0.5
Tree Height: 617 Tree Height: 657
- Class: rviz/Selection - Class: rviz/Selection
Name: Selection Name: Selection
- Class: rviz/Tool Properties - Class: rviz/Tool Properties
@ -18,17 +22,18 @@ Panels:
- /2D Nav Goal1 - /2D Nav Goal1
- /Publish Point1 - /Publish Point1
Name: Tool Properties Name: Tool Properties
Splitter Ratio: 0.588679016 Splitter Ratio: 0.5886790156364441
- Class: rviz/Views - Class: rviz/Views
Expanded: Expanded:
- /Current View1 - /Current View1
Name: Views Name: Views
Splitter Ratio: 0.5 Splitter Ratio: 0.5
- Class: rviz/Time - Class: rviz/Time
Experimental: false
Name: Time Name: Time
SyncMode: 0 SyncMode: 0
SyncSource: "" SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars: Toolbars:
toolButtonStyle: 2 toolButtonStyle: 2
Visualization Manager: Visualization Manager:
@ -40,7 +45,7 @@ Visualization Manager:
Color: 160; 160; 164 Color: 160; 160; 164
Enabled: true Enabled: true
Line Style: Line Style:
Line Width: 0.0299999993 Line Width: 0.029999999329447746
Value: Lines Value: Lines
Name: Grid Name: Grid
Normal Cell Count: 0 Normal Cell Count: 0
@ -105,6 +110,8 @@ Visualization Manager:
Visual Enabled: true Visual Enabled: true
- Class: rviz/TF - Class: rviz/TF
Enabled: true Enabled: true
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15 Frame Timeout: 15
Frames: Frames:
All Enabled: true All Enabled: true
@ -122,7 +129,8 @@ Visualization Manager:
Value: true Value: true
link6: link6:
Value: true Value: true
Marker Scale: 0.400000006 Marker Alpha: 1
Marker Scale: 0.20000000298023224
Name: TF Name: TF
Show Arrows: true Show Arrows: true
Show Axes: true Show Axes: true
@ -153,7 +161,10 @@ Visualization Manager:
- Class: rviz/FocusCamera - Class: rviz/FocusCamera
- Class: rviz/Measure - Class: rviz/Measure
- Class: rviz/SetInitialPose - Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal - Class: rviz/SetGoal
Topic: /move_base_simple/goal Topic: /move_base_simple/goal
- Class: rviz/PublishPoint - Class: rviz/PublishPoint
@ -163,33 +174,33 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rviz/Orbit Class: rviz/Orbit
Distance: 1.50890648 Distance: 1.5947151184082031
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Field of View: 0.7853981852531433
Focal Point: Focal Point:
X: 0 X: 0
Y: 0 Y: 0
Z: 0 Z: 0
Focal Shape Fixed Size: true Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007 Focal Shape Size: 0.05000000074505806
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.00999999978 Near Clip Distance: 0.009999999776482582
Pitch: 0.309796393 Pitch: 0.3447963297367096
Target Frame: <Fixed Frame> Target Frame: <Fixed Frame>
Value: Orbit (rviz) Yaw: 3.158583402633667
Yaw: 3.153584
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: false collapsed: false
Height: 898 Height: 954
Hide Left Dock: false Hide Left Dock: false
Hide Right Dock: false Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002f8fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002f8000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002f8000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ba000002f800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd00000004000000000000016a0000031cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000031c000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000031cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000031c000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004b30000031c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection: Selection:
collapsed: false collapsed: false
Time: Time:
@ -198,6 +209,6 @@ Window Geometry:
collapsed: false collapsed: false
Views: Views:
collapsed: false collapsed: false
Width: 1855 Width: 1848
X: 65 X: 72
Y: 24 Y: 27

13
mycobot_320/new_mycobot_320/config/new_mycobot_320_gripper.rviz
View file

@ -8,11 +8,12 @@ Panels:
- /Status1 - /Status1
- /RobotModel1 - /RobotModel1
- /RobotModel1/Links1 - /RobotModel1/Links1
- /RobotModel1/Links1/link61/Position1
- /TF1 - /TF1
- /TF1/Frames1 - /TF1/Frames1
- /TF1/Tree1 - /TF1/Tree1
Splitter Ratio: 0.5 Splitter Ratio: 0.5
Tree Height: 591 Tree Height: 657
- Class: rviz/Selection - Class: rviz/Selection
Name: Selection Name: Selection
- Class: rviz/Tool Properties - Class: rviz/Tool Properties
@ -144,6 +145,8 @@ Visualization Manager:
Visual Enabled: true Visual Enabled: true
- Class: rviz/TF - Class: rviz/TF
Enabled: true Enabled: true
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15 Frame Timeout: 15
Frames: Frames:
All Enabled: false All Enabled: false
@ -246,17 +249,17 @@ Visualization Manager:
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.009999999776482582 Near Clip Distance: 0.009999999776482582
Pitch: 0.23479582369327545 Pitch: 0.3197958171367645
Target Frame: <Fixed Frame> Target Frame: <Fixed Frame>
Yaw: 3.0435850620269775 Yaw: 3.108586549758911
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: false collapsed: false
Height: 888 Height: 954
Hide Left Dock: false Hide Left Dock: false
Hide Right Dock: false Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002dafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002da000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002da000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000005c8000002da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd00000004000000000000016a0000031cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000031c000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002da000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000005c80000031c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection: Selection:
collapsed: false collapsed: false
Time: Time:

52
mycobot_320/new_mycobot_320_moveit/launch/moveit.rviz
View file

@ -10,8 +10,8 @@ Panels:
- /MotionPlanning1/Planning Request1 - /MotionPlanning1/Planning Request1
- /MotionPlanning1/Planned Path1 - /MotionPlanning1/Planned Path1
- /TF1 - /TF1
Splitter Ratio: 0.742560029 Splitter Ratio: 0.7425600290298462
Tree Height: 118 Tree Height: 134
- Class: rviz/Help - Class: rviz/Help
Name: Help Name: Help
- Class: rviz/Views - Class: rviz/Views
@ -19,6 +19,8 @@ Panels:
- /Current View1 - /Current View1
Name: Views Name: Views
Splitter Ratio: 0.5 Splitter Ratio: 0.5
Preferences:
PromptSaveOnExit: true
Toolbars: Toolbars:
toolButtonStyle: 2 toolButtonStyle: 2
Visualization Manager: Visualization Manager:
@ -30,7 +32,7 @@ Visualization Manager:
Color: 160; 160; 164 Color: 160; 160; 164
Enabled: true Enabled: true
Line Style: Line Style:
Line Width: 0.0299999993 Line Width: 0.029999999329447746
Value: Lines Value: Lines
Name: Grid Name: Grid
Normal Cell Count: 0 Normal Cell Count: 0
@ -50,12 +52,10 @@ Visualization Manager:
MoveIt_Allow_External_Program: false MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false MoveIt_Allow_Sensor_Positioning: false
MoveIt_Goal_Tolerance: 0
MoveIt_Planning_Attempts: 10 MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5 MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: true MoveIt_Use_Constraint_Aware_IK: true
MoveIt_Warehouse_Host: 127.0.0.1
MoveIt_Warehouse_Port: 33829
MoveIt_Workspace: MoveIt_Workspace:
Center: Center:
X: 0 X: 0
@ -119,13 +119,14 @@ Visualization Manager:
State Display Time: 0.05 s State Display Time: 0.05 s
Trail Step Size: 1 Trail Step Size: 1
Trajectory Topic: move_group/display_planned_path Trajectory Topic: move_group/display_planned_path
Use Sim Time: false
Planning Metrics: Planning Metrics:
Payload: 1 Payload: 1
Show Joint Torques: false Show Joint Torques: false
Show Manipulability: false Show Manipulability: false
Show Manipulability Index: false Show Manipulability Index: false
Show Weight Limit: false Show Weight Limit: false
TextHeight: 0.0799999982 TextHeight: 0.07999999821186066
Planning Request: Planning Request:
Colliding Link Color: 255; 0; 0 Colliding Link Color: 255; 0; 0
Goal State Alpha: 1 Goal State Alpha: 1
@ -143,7 +144,7 @@ Visualization Manager:
Scene Geometry: Scene Geometry:
Scene Alpha: 1 Scene Alpha: 1
Scene Color: 50; 230; 50 Scene Color: 50; 230; 50
Scene Display Time: 0.200000003 Scene Display Time: 0.20000000298023224
Show Scene Geometry: true Show Scene Geometry: true
Voxel Coloring: Z-Axis Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels Voxel Rendering: Occupied Voxels
@ -197,10 +198,13 @@ Visualization Manager:
Velocity_Scaling_Factor: 1 Velocity_Scaling_Factor: 1
- Class: rviz/TF - Class: rviz/TF
Enabled: false Enabled: false
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15 Frame Timeout: 15
Frames: Frames:
All Enabled: true All Enabled: true
Marker Scale: 0.800000012 Marker Alpha: 1
Marker Scale: 0.800000011920929
Name: TF Name: TF
Show Arrows: true Show Arrows: true
Show Axes: true Show Axes: true
@ -225,30 +229,30 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rviz/XYOrbit Class: rviz/XYOrbit
Distance: 1.55857718 Distance: 1.7456064224243164
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Field of View: 0.7853981852531433
Focal Point: Focal Point:
X: 0.113567002 X: 0.11356700211763382
Y: 0.105920002 Y: 0.10592000186443329
Z: 2.23518001e-07 Z: 2.2351800055275817e-07
Focal Shape Fixed Size: true Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007 Focal Shape Size: 0.05000000074505806
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.00999999978 Near Clip Distance: 0.009999999776482582
Pitch: 0.0447968468 Pitch: -0.025203147903084755
Target Frame: base Target Frame: base
Value: XYOrbit (rviz) Yaw: 3.0749499797821045
Yaw: 3.43494892
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: false collapsed: false
Height: 898 Height: 954
Help: Help:
collapsed: false collapsed: false
Hide Left Dock: false Hide Left Dock: false
@ -257,9 +261,9 @@ Window Geometry:
collapsed: false collapsed: false
MotionPlanning - Trajectory Slider: MotionPlanning - Trajectory Slider:
collapsed: false collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002ad0000033cfc0200000007fb000000100044006900730070006c00610079007301000000280000010b000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007200000001860000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001390000022b0000018300ffffff0000048c0000033c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd0000000100000000000002ad00000360fc0200000007fb000000100044006900730070006c006100790073010000003d00000117000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007200000001860000004a0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000015a000002430000017d00ffffff000004850000036000000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views: Views:
collapsed: false collapsed: false
Width: 1855 Width: 1848
X: 65 X: 72
Y: 24 Y: 27

4
mycobot_320/new_mycobot_320_moveit/scripts/sync_plan.py
View file

@ -25,10 +25,8 @@ def callback(data):
def listener(): def listener():
global mc global mc
rospy.init_node("mycobot_reciver", anonymous=True) rospy.init_node("mycobot_reciver", anonymous=True)
port = subprocess.check_output(['echo -n /dev/ttyUSB*'],
shell=True)
port = rospy.get_param("~port", port) port = rospy.get_param("~port", "/dev/ttyUSB0")
baud = rospy.get_param("~baud", 115200) baud = rospy.get_param("~baud", 115200)
# 1000000 # 1000000
mc = MyCobot(port, baud) mc = MyCobot(port, baud)

44
mycobot_320/new_mycobot_320_pi/config/new_mycobot_320_pi.rviz
View file

@ -6,10 +6,13 @@ Panels:
Expanded: Expanded:
- /Global Options1 - /Global Options1
- /Status1 - /Status1
- /RobotModel1
- /RobotModel1/Links1
- /RobotModel1/Links1/link61/Position1
- /TF1 - /TF1
- /TF1/Tree1 - /TF1/Tree1
Splitter Ratio: 0.5 Splitter Ratio: 0.5
Tree Height: 617 Tree Height: 657
- Class: rviz/Selection - Class: rviz/Selection
Name: Selection Name: Selection
- Class: rviz/Tool Properties - Class: rviz/Tool Properties
@ -18,17 +21,18 @@ Panels:
- /2D Nav Goal1 - /2D Nav Goal1
- /Publish Point1 - /Publish Point1
Name: Tool Properties Name: Tool Properties
Splitter Ratio: 0.588679016 Splitter Ratio: 0.5886790156364441
- Class: rviz/Views - Class: rviz/Views
Expanded: Expanded:
- /Current View1 - /Current View1
Name: Views Name: Views
Splitter Ratio: 0.5 Splitter Ratio: 0.5
- Class: rviz/Time - Class: rviz/Time
Experimental: false
Name: Time Name: Time
SyncMode: 0 SyncMode: 0
SyncSource: "" SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars: Toolbars:
toolButtonStyle: 2 toolButtonStyle: 2
Visualization Manager: Visualization Manager:
@ -40,7 +44,7 @@ Visualization Manager:
Color: 160; 160; 164 Color: 160; 160; 164
Enabled: true Enabled: true
Line Style: Line Style:
Line Width: 0.0299999993 Line Width: 0.029999999329447746
Value: Lines Value: Lines
Name: Grid Name: Grid
Normal Cell Count: 0 Normal Cell Count: 0
@ -105,6 +109,8 @@ Visualization Manager:
Visual Enabled: true Visual Enabled: true
- Class: rviz/TF - Class: rviz/TF
Enabled: true Enabled: true
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15 Frame Timeout: 15
Frames: Frames:
All Enabled: true All Enabled: true
@ -122,7 +128,8 @@ Visualization Manager:
Value: true Value: true
link6: link6:
Value: true Value: true
Marker Scale: 0.400000006 Marker Alpha: 1
Marker Scale: 0.20000000298023224
Name: TF Name: TF
Show Arrows: true Show Arrows: true
Show Axes: true Show Axes: true
@ -153,7 +160,10 @@ Visualization Manager:
- Class: rviz/FocusCamera - Class: rviz/FocusCamera
- Class: rviz/Measure - Class: rviz/Measure
- Class: rviz/SetInitialPose - Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal - Class: rviz/SetGoal
Topic: /move_base_simple/goal Topic: /move_base_simple/goal
- Class: rviz/PublishPoint - Class: rviz/PublishPoint
@ -163,33 +173,33 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rviz/Orbit Class: rviz/Orbit
Distance: 1.44857454 Distance: 1.6224035024642944
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Field of View: 0.7853981852531433
Focal Point: Focal Point:
X: 0 X: 0
Y: 0 Y: 0
Z: 0 Z: 0
Focal Shape Fixed Size: true Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007 Focal Shape Size: 0.05000000074505806
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.00999999978 Near Clip Distance: 0.009999999776482582
Pitch: 0.394796789 Pitch: 0.3197968304157257
Target Frame: <Fixed Frame> Target Frame: <Fixed Frame>
Value: Orbit (rviz) Yaw: 3.0535898208618164
Yaw: 3.10358953
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: false collapsed: false
Height: 898 Height: 954
Hide Left Dock: false Hide Left Dock: false
Hide Right Dock: false Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002f8fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002f8000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002f8000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ba000002f800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd00000004000000000000016a0000031cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000031c000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000031cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000031c000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004b30000031c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection: Selection:
collapsed: false collapsed: false
Time: Time:
@ -198,6 +208,6 @@ Window Geometry:
collapsed: false collapsed: false
Views: Views:
collapsed: false collapsed: false
Width: 1855 Width: 1848
X: 65 X: 72
Y: 24 Y: 27

47
mycobot_320/new_mycobot_320_pi_moveit/launch/moveit.rviz
View file

@ -9,8 +9,8 @@ Panels:
- /MotionPlanning1/Scene Robot1 - /MotionPlanning1/Scene Robot1
- /MotionPlanning1/Planning Request1 - /MotionPlanning1/Planning Request1
- /MotionPlanning1/Planned Path1 - /MotionPlanning1/Planned Path1
Splitter Ratio: 0.742560029 Splitter Ratio: 0.7425600290298462
Tree Height: 195 Tree Height: 218
- Class: rviz/Help - Class: rviz/Help
Name: Help Name: Help
- Class: rviz/Views - Class: rviz/Views
@ -18,6 +18,8 @@ Panels:
- /Current View1 - /Current View1
Name: Views Name: Views
Splitter Ratio: 0.5 Splitter Ratio: 0.5
Preferences:
PromptSaveOnExit: true
Toolbars: Toolbars:
toolButtonStyle: 2 toolButtonStyle: 2
Visualization Manager: Visualization Manager:
@ -29,7 +31,7 @@ Visualization Manager:
Color: 160; 160; 164 Color: 160; 160; 164
Enabled: true Enabled: true
Line Style: Line Style:
Line Width: 0.0299999993 Line Width: 0.029999999329447746
Value: Lines Value: Lines
Name: Grid Name: Grid
Normal Cell Count: 0 Normal Cell Count: 0
@ -49,12 +51,10 @@ Visualization Manager:
MoveIt_Allow_External_Program: false MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false MoveIt_Allow_Sensor_Positioning: false
MoveIt_Goal_Tolerance: 0
MoveIt_Planning_Attempts: 10 MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5 MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: true MoveIt_Use_Constraint_Aware_IK: true
MoveIt_Warehouse_Host: 127.0.0.1
MoveIt_Warehouse_Port: 33829
MoveIt_Workspace: MoveIt_Workspace:
Center: Center:
X: 0 X: 0
@ -118,13 +118,14 @@ Visualization Manager:
State Display Time: 0.05 s State Display Time: 0.05 s
Trail Step Size: 1 Trail Step Size: 1
Trajectory Topic: move_group/display_planned_path Trajectory Topic: move_group/display_planned_path
Use Sim Time: false
Planning Metrics: Planning Metrics:
Payload: 1 Payload: 1
Show Joint Torques: false Show Joint Torques: false
Show Manipulability: false Show Manipulability: false
Show Manipulability Index: false Show Manipulability Index: false
Show Weight Limit: false Show Weight Limit: false
TextHeight: 0.0799999982 TextHeight: 0.07999999821186066
Planning Request: Planning Request:
Colliding Link Color: 255; 0; 0 Colliding Link Color: 255; 0; 0
Goal State Alpha: 1 Goal State Alpha: 1
@ -142,7 +143,7 @@ Visualization Manager:
Scene Geometry: Scene Geometry:
Scene Alpha: 1 Scene Alpha: 1
Scene Color: 50; 230; 50 Scene Color: 50; 230; 50
Scene Display Time: 0.200000003 Scene Display Time: 0.20000000298023224
Show Scene Geometry: true Show Scene Geometry: true
Voxel Coloring: Z-Axis Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels Voxel Rendering: Occupied Voxels
@ -210,30 +211,30 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rviz/XYOrbit Class: rviz/XYOrbit
Distance: 2.99650002 Distance: 1.5813486576080322
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Field of View: 0.7853981852531433
Focal Point: Focal Point:
X: 0.113567002 X: 0.11356700211763382
Y: 0.105920002 Y: 0.10592000186443329
Z: 2.23518001e-07 Z: 2.2351800055275817e-07
Focal Shape Fixed Size: true Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007 Focal Shape Size: 0.05000000074505806
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.00999999978 Near Clip Distance: 0.009999999776482582
Pitch: -0.275203139 Pitch: 0.0697968527674675
Target Frame: base Target Frame: base
Value: XYOrbit (rviz) Yaw: 3.11995005607605
Yaw: 2.96994972
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: false collapsed: false
Height: 898 Height: 954
Help: Help:
collapsed: false collapsed: false
Hide Left Dock: false Hide Left Dock: false
@ -242,9 +243,9 @@ Window Geometry:
collapsed: false collapsed: false
MotionPlanning - Trajectory Slider: MotionPlanning - Trajectory Slider:
collapsed: false collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002ad0000033cfc0200000007fb000000100044006900730070006c006100790073010000002800000158000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001860000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001d60000018e0000018300ffffff0000048c0000033c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd0000000100000000000001f300000360fc0200000007fb000000100044006900730070006c006100790073010000003d0000016b000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001ae000000450000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001f9000001a40000017d00ffffff0000053f0000036000000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views: Views:
collapsed: false collapsed: false
Width: 1855 Width: 1848
X: 65 X: 72
Y: 24 Y: 27

6
mycobot_ai/aikit_320_pi/config/aikit_320_pi.rviz
View file

@ -11,7 +11,7 @@ Panels:
- /TF1/Tree1 - /TF1/Tree1
- /Marker1 - /Marker1
Splitter Ratio: 0.5 Splitter Ratio: 0.5
Tree Height: 603 Tree Height: 657
- Class: rviz/Selection - Class: rviz/Selection
Name: Selection Name: Selection
- Class: rviz/Tool Properties - Class: rviz/Tool Properties
@ -212,10 +212,10 @@ Visualization Manager:
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: false collapsed: false
Height: 900 Height: 954
Hide Left Dock: false Hide Left Dock: false
Hide Right Dock: false Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002e6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002e6000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002e6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002e6000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004b3000002e600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd00000004000000000000016a0000031cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000031c000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000031cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000031c000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004b30000031c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection: Selection:
collapsed: false collapsed: false
Time: Time:

1249
mycobot_description/urdf/new_320_pi/base.dae
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168
mycobot_description/urdf/new_320_pi/link1.dae
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mycobot_description/urdf/new_320_pi/link2.dae
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mycobot_description/urdf/new_320_pi/link3.dae
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mycobot_description/urdf/new_320_pi/link4.dae
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mycobot_description/urdf/new_320_pi/link5.dae
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mycobot_description/urdf/new_320_pi/link6.dae
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40
mycobot_description/urdf/new_320_pi/new_mycobot_pro_320_pi.urdf
View file

@ -10,14 +10,14 @@
<!--- 0.0 0 -0.04 1.5708 3.14159--> <!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/new_320_pi/base.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/base.dae"/>
</geometry> </geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 3.1415926"/> <origin xyz = "0.0 0 0 " rpy = " 0 0 1.5708"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159--> <!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/new_320_pi/base.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/base.dae"/>
</geometry> </geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 3.1415926"/> <origin xyz = "0.0 0 0 " rpy = " 0 0 1.5708"/>
</collision> </collision>
</link> </link>
@ -27,13 +27,13 @@
<mesh filename="package://mycobot_description/urdf/new_320_pi/link1.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/link1.dae"/>
</geometry> </geometry>
<origin xyz = "0.115 -0.172 -0.086 " rpy = " 0 0 3.1415926"/> <origin xyz = "0.0 0.0 -0.078 " rpy = " 0 0 1.5708"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/new_320_pi/link1.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/link1.dae"/>
</geometry> </geometry>
<origin xyz = "0.115 -0.172 -0.09 " rpy = " 0 0 3.1415926"/> <origin xyz = "0.0 0.0 -0.078 " rpy = " 0 0 1.5708"/>
</collision> </collision>
</link> </link>
@ -44,13 +44,13 @@
<mesh filename="package://mycobot_description/urdf/new_320_pi/link2.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/link2.dae"/>
</geometry> </geometry>
<origin xyz = "-0.075 -0.115 -0.022 " rpy = " 1.5708 0 1.5708"/> <origin xyz = "0.0 0.0 -0.04 " rpy = " 0 1.5708 0"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/new_320_pi/link2.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/link2.dae"/>
</geometry> </geometry>
<origin xyz = "-0.075 -0.115 -0.022 " rpy = " 1.5708 0 1.5708"/> <origin xyz = "0.0 0.0 -0.04 " rpy = " 0 1.5708 0"/>
</collision> </collision>
</link> </link>
@ -61,14 +61,14 @@
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_pi/link3.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/link3.dae"/>
</geometry> </geometry>
<origin xyz = "-0.22 -0.115 0.142 " rpy = " 1.5708 0 1.5708"/> <origin xyz = "0.0 0.0 0.039 " rpy = " 1.5708 1.5708 1.5708"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_pi/link3.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/link3.dae"/>
</geometry> </geometry>
<origin xyz = "-0.22 -0.115 0.142 " rpy = " 1.5708 0 1.5708"/> <origin xyz = "0.0 0.0 0.039 " rpy = " 1.5708 1.5708 1.5708"/>
</collision> </collision>
</link> </link>
@ -79,14 +79,14 @@
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_pi/link4.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/link4.dae"/>
</geometry> </geometry>
<origin xyz = "-0.115 0.338 -0.1435" rpy = " 1.5708 0 0"/> <origin xyz = "0.0 -0.0024 -0.05" rpy = " 1.5708 1.5708 0"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_pi/link4.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/link4.dae"/>
</geometry> </geometry>
<origin xyz = "-0.115 0.338 -0.1435 " rpy = " 1.5708 0 0"/> <origin xyz = "0.0 -0.0024 -0.05" rpy = " 1.5708 1.5708 0"/>
</collision> </collision>
</link> </link>
@ -97,14 +97,14 @@
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_pi/link5.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/link5.dae"/>
</geometry> </geometry>
<origin xyz = "-0.1149 -0.0322 -0.482 " rpy = " 0 0 0"/> <origin xyz = "0.0 0.0 -0.05 " rpy = " 0 0 -1.5708"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_pi/link5.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/link5.dae"/>
</geometry> </geometry>
<origin xyz = "-0.1149 -0.0322 -0.482 " rpy = " 0 0 0"/> <origin xyz = "0.0 0.0 -0.05 " rpy = " 0 0 -1.5708"/>
</collision> </collision>
</link> </link>
@ -115,14 +115,14 @@
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_pi/link6.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/link6.dae"/>
</geometry> </geometry>
<origin xyz = "-0.11478 0.433 -0.15 " rpy = " 1.5708 0 0"/> <origin xyz = "0.0 0.0 -0.0115 " rpy = " 1.5708 1.5708 0"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_pi/link6.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/link6.dae"/>
</geometry> </geometry>
<origin xyz = "-0.11478 0.433 -0.15 " rpy = " 1.5708 0 0"/> <origin xyz = "0.0 0.0 -0.0115 " rpy = " 1.5708 1.5708 0"/>
</collision> </collision>
</link> </link>
@ -132,7 +132,7 @@
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/> <limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
<parent link="base"/> <parent link="base"/>
<child link="link1"/> <child link="link1"/>
<origin xyz= "0 0 0.162" rpy = "0 0 0"/> <origin xyz= "0 0 0.173" rpy = "0 0 0"/>
</joint> </joint>
@ -141,7 +141,7 @@
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/> <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link1"/> <parent link="link1"/>
<child link="link2"/> <child link="link2"/>
<origin xyz= "0 0 0" rpy = "0 -1.5708 1.5708"/> <origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/>
</joint> </joint>
@ -150,7 +150,7 @@
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/> <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link2"/> <parent link="link2"/>
<child link="link3"/> <child link="link3"/>
<origin xyz= "0.13635 0 0 " rpy = "0 0 0"/> <origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/>
</joint> </joint>
@ -159,8 +159,7 @@
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/> <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link3"/> <parent link="link3"/>
<child link="link4"/> <child link="link4"/>
<!-- <origin xyz = "0.12 0 0.09 " rpy = " 0 0 1.57080"/> --> <origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/>
<origin xyz = "0.1205 0 0.082 " rpy = " 0 0 1.57080"/>
</joint> </joint>
@ -169,10 +168,9 @@
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/> <limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
<parent link="link4"/> <parent link="link4"/>
<child link="link5"/> <child link="link5"/>
<origin xyz= "0 -0.084 0" rpy = "1.5708 0 0"/> <origin xyz= "0 -0.09415 0" rpy = "1.5708 0 0"/>
</joint> </joint>
<joint name="joint6output_to_joint6" type="revolute"> <joint name="joint6output_to_joint6" type="revolute">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/> <limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>

40
mycobot_description/urdf/new_320_pi/new_mycobot_pro_320_pi_moveit.urdf
View file

@ -9,10 +9,10 @@
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/new_320_pi/base.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/base.dae"/>
</geometry> </geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 3.1415926"/> <origin xyz = "0.0 0 0 " rpy = " 0 0 1.5708"/>
</visual> </visual>
<collision> <collision>
<origin xyz = "0 0 0.05 " rpy = " 0 0 3.1415926"/> <origin xyz = "0.0 0 0 " rpy = " 0 0 1.5708"/>
<geometry> <geometry>
<cylinder length="0.102" radius="0.0725"/> <cylinder length="0.102" radius="0.0725"/>
</geometry> </geometry>
@ -24,10 +24,10 @@
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/new_320_pi/link1.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/link1.dae"/>
</geometry> </geometry>
<origin xyz = "0.115 -0.172 -0.086 " rpy = " 0 0 3.1415926"/> <origin xyz = "0.0 0.0 -0.078 " rpy = " 0 0 1.5708"/>
</visual> </visual>
<collision> <collision>
<origin xyz = "0 0 -0.02 " rpy = " 0 0 3.14159"/> <origin xyz = "0.0 0.0 -0.078 " rpy = " 0 0 1.5708"/>
<geometry> <geometry>
<cylinder length="0.106" radius="0.043"/> <cylinder length="0.106" radius="0.043"/>
</geometry> </geometry>
@ -40,10 +40,10 @@
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/new_320_pi/link2.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/link2.dae"/>
</geometry> </geometry>
<origin xyz = "-0.075 -0.115 -0.022 " rpy = " 1.5708 0 1.5708"/> <origin xyz = "0.0 0.0 -0.04 " rpy = " 0 1.5708 0"/>
</visual> </visual>
<collision> <collision>
<origin xyz = "0.07 0 0.095 " rpy = " 0 1.5708 0"/> <origin xyz = "0.0 0.0 -0.04 " rpy = " 0 1.5708 0"/>
<geometry> <geometry>
<cylinder length="0.18" radius="0.036"/> <cylinder length="0.18" radius="0.036"/>
</geometry> </geometry>
@ -56,10 +56,10 @@
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/new_320_pi/link3.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/link3.dae"/>
</geometry> </geometry>
<origin xyz = "-0.22 -0.115 0.142 " rpy = " 1.5708 0 1.5708"/> <origin xyz = "0.0 0.0 0.039 " rpy = " 1.5708 1.5708 1.5708"/>
</visual> </visual>
<collision> <collision>
<origin xyz = "0.044 0 0 " rpy = " 1.5708 0 1.5708"/> <origin xyz = "0.0 0.0 0.039 " rpy = " 1.5708 1.5708 1.5708"/>
<geometry> <geometry>
<cylinder length="0.14" radius="0.0305"/> <cylinder length="0.14" radius="0.0305"/>
</geometry> </geometry>
@ -73,10 +73,10 @@
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/new_320_pi/link4.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/link4.dae"/>
</geometry> </geometry>
<origin xyz = "-0.115 0.338 -0.1435" rpy = " 1.5708 0 0"/> <origin xyz = "0.0 -0.0024 -0.05" rpy = " 1.5708 1.5708 0"/>
</visual> </visual>
<collision> <collision>
<origin xyz = "0.0 -0.014 0 " rpy = " 1.5708 0 0"/> <origin xyz = "0.0 -0.0024 -0.05" rpy = " 1.5708 1.5708 0"/>
<geometry> <geometry>
<cylinder length="0.083" radius="0.029"/> <cylinder length="0.083" radius="0.029"/>
</geometry> </geometry>
@ -89,10 +89,10 @@
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/new_320_pi/link5.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/link5.dae"/>
</geometry> </geometry>
<origin xyz = "-0.1149 -0.0322 -0.482 " rpy = " 0 0 0"/> <origin xyz = "0.0 0.0 -0.05 " rpy = " 0 0 -1.5708"/>
</visual> </visual>
<collision> <collision>
<origin xyz = "0 -0.01 0 " rpy = " 0 0 0"/> <origin xyz = "0.0 0.0 -0.05 " rpy = " 0 0 -1.5708"/>
<geometry> <geometry>
<cylinder length="0.0849" radius="0.029"/> <cylinder length="0.0849" radius="0.029"/>
</geometry> </geometry>
@ -107,10 +107,10 @@
<material name = "grey"> <material name = "grey">
<color rgba = "0.5 0.5 0.5 1"/> <color rgba = "0.5 0.5 0.5 1"/>
</material> </material>
<origin xyz = "-0.11478 0.433 -0.15 " rpy = " 1.5708 0 0"/> <origin xyz = "0.0 0.0 -0.0115 " rpy = " 1.5708 1.5708 0"/>
</visual> </visual>
<collision> <collision>
<origin xyz = "-0.431 0.0009 -0.16536 " rpy = " 1.5708 0 0"/> <origin xyz = "0.0 0.0 -0.0115 " rpy = " 1.5708 1.5708 0"/>
<geometry> <geometry>
<cylinder length="0.0225" radius="0.026"/> <cylinder length="0.0225" radius="0.026"/>
</geometry> </geometry>
@ -122,7 +122,7 @@
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/> <limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
<parent link="base"/> <parent link="base"/>
<child link="link1"/> <child link="link1"/>
<origin xyz= "0 0 0.162" rpy = "0 0 0"/> <origin xyz= "0 0 0.173" rpy = "0 0 0"/>
</joint> </joint>
@ -131,7 +131,7 @@
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/> <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link1"/> <parent link="link1"/>
<child link="link2"/> <child link="link2"/>
<origin xyz= "0 0 0" rpy = "0 -1.57080 1.57080"/> <origin xyz= "0 -0.086 0" rpy = "0 -1.57080 1.57080"/>
</joint> </joint>
@ -140,7 +140,7 @@
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/> <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link2"/> <parent link="link2"/>
<child link="link3"/> <child link="link3"/>
<origin xyz= "0.13635 0 0 " rpy = "0 0 0"/> <origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/>
</joint> </joint>
<joint name="joint5_to_joint4" type="revolute"> <joint name="joint5_to_joint4" type="revolute">
@ -148,7 +148,7 @@
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/> <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link3"/> <parent link="link3"/>
<child link="link4"/> <child link="link4"/>
<origin xyz= "0.1205 0 0.082" rpy = "0 0 1.57080"/> <origin xyz= "0.1195 0 0.082" rpy = "0 0 1.57080"/>
</joint> </joint>
<joint name="joint6_to_joint5" type="revolute"> <joint name="joint6_to_joint5" type="revolute">
@ -156,7 +156,7 @@
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/> <limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
<parent link="link4"/> <parent link="link4"/>
<child link="link5"/> <child link="link5"/>
<origin xyz= "0 -0.084 0" rpy = "1.57080 0 0"/> <origin xyz= "0 -0.09415 0" rpy = "1.57080 0 0"/>
</joint> </joint>
<joint name="joint6output_to_joint6" type="revolute"> <joint name="joint6output_to_joint6" type="revolute">
@ -164,7 +164,7 @@
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/> <limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
<parent link="link5"/> <parent link="link5"/>
<child link="link6"/> <child link="link6"/>
<origin xyz= "0 0.06635 0" rpy = "-1.57080 0 0 "/> <origin xyz= "0 0.055 0" rpy = "-1.57080 0 0 "/>
</joint> </joint>
</robot> </robot>

42
mycobot_description/urdf/new_320_pi/new_mycobot_vision_v2.urdf
View file

@ -10,7 +10,6 @@
<!--- 0.0 0 -0.04 1.5708 3.14159--> <!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/new_320_pi/ai_kit320.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/ai_kit320.dae"/>
</geometry> </geometry>
<!-- <origin xyz = "0 0 -0.02 " rpy = "1.5708 0 -1.5708"/> -->
<origin xyz = "0 0 0.0 " rpy = "0 0 0"/> <origin xyz = "0 0 0.0 " rpy = "0 0 0"/>
</visual> </visual>
</link> </link>
@ -21,14 +20,14 @@
<!--- 0.0 0 -0.04 1.5708 3.14159--> <!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/new_320_pi/base.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/base.dae"/>
</geometry> </geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 3.1415926"/> <origin xyz = "0.0 0 0 " rpy = " 0 0 1.5708"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159--> <!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/new_320_pi/base.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/base.dae"/>
</geometry> </geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 3.1415926"/> <origin xyz = "0.0 0 0 " rpy = " 0 0 1.5708"/>
</collision> </collision>
</link> </link>
@ -38,13 +37,13 @@
<mesh filename="package://mycobot_description/urdf/new_320_pi/link1.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/link1.dae"/>
</geometry> </geometry>
<origin xyz = "0.115 -0.172 -0.086 " rpy = " 0 0 3.1415926"/> <origin xyz = "0.0 0.0 -0.078 " rpy = " 0 0 1.5708"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/new_320_pi/link1.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/link1.dae"/>
</geometry> </geometry>
<origin xyz = "0.115 -0.172 -0.09 " rpy = " 0 0 3.1415926"/> <origin xyz = "0.0 0.0 -0.078 " rpy = " 0 0 1.5708"/>
</collision> </collision>
</link> </link>
@ -55,13 +54,13 @@
<mesh filename="package://mycobot_description/urdf/new_320_pi/link2.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/link2.dae"/>
</geometry> </geometry>
<origin xyz = "-0.075 -0.115 -0.022 " rpy = " 1.5708 0 1.5708"/> <origin xyz = "0.0 0.0 -0.04 " rpy = " 0 1.5708 0"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/new_320_pi/link2.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/link2.dae"/>
</geometry> </geometry>
<origin xyz = "-0.075 -0.115 -0.022 " rpy = " 1.5708 0 1.5708"/> <origin xyz = "0.0 0.0 -0.04 " rpy = " 0 1.5708 0"/>
</collision> </collision>
</link> </link>
@ -72,14 +71,14 @@
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_pi/link3.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/link3.dae"/>
</geometry> </geometry>
<origin xyz = "-0.22 -0.115 0.142 " rpy = " 1.5708 0 1.5708"/> <origin xyz = "0.0 0.0 0.039 " rpy = " 1.5708 1.5708 1.5708"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_pi/link3.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/link3.dae"/>
</geometry> </geometry>
<origin xyz = "-0.22 -0.115 0.142 " rpy = " 1.5708 0 1.5708"/> <origin xyz = "0.0 0.0 0.039 " rpy = " 1.5708 1.5708 1.5708"/>
</collision> </collision>
</link> </link>
@ -90,14 +89,14 @@
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_pi/link4.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/link4.dae"/>
</geometry> </geometry>
<origin xyz = "-0.115 0.338 -0.1435" rpy = " 1.5708 0 0"/> <origin xyz = "0.0 -0.0024 -0.05" rpy = " 1.5708 1.5708 0"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_pi/link4.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/link4.dae"/>
</geometry> </geometry>
<origin xyz = "-0.115 0.338 -0.1435 " rpy = " 1.5708 0 0"/> <origin xyz = "0.0 -0.0024 -0.05" rpy = " 1.5708 1.5708 0"/>
</collision> </collision>
</link> </link>
@ -108,14 +107,14 @@
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_pi/link5.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/link5.dae"/>
</geometry> </geometry>
<origin xyz = "-0.1149 -0.0322 -0.482 " rpy = " 0 0 0"/> <origin xyz = "0.0 0.0 -0.05 " rpy = " 0 0 -1.5708"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_pi/link5.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/link5.dae"/>
</geometry> </geometry>
<origin xyz = "-0.1149 -0.0322 -0.482 " rpy = " 0 0 0"/> <origin xyz = "0.0 0.0 -0.05 " rpy = " 0 0 -1.5708"/>
</collision> </collision>
</link> </link>
@ -126,14 +125,14 @@
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_pi/link6.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/link6.dae"/>
</geometry> </geometry>
<origin xyz = "-0.11478 0.433 -0.15 " rpy = " 1.5708 0 0"/> <origin xyz = "0.0 0.0 -0.0115 " rpy = " 1.5708 1.5708 0"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_pi/link6.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_pi/link6.dae"/>
</geometry> </geometry>
<origin xyz = "-0.11478 0.433 -0.15 " rpy = " 1.5708 0 0"/> <origin xyz = "0.0 0.0 -0.0115 " rpy = " 1.5708 1.5708 0"/>
</collision> </collision>
</link> </link>
@ -143,7 +142,7 @@
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/> <limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
<parent link="base"/> <parent link="base"/>
<child link="link1"/> <child link="link1"/>
<origin xyz= "0 0 0.162" rpy = "0 0 0"/> <origin xyz= "0 0 0.173" rpy = "0 0 0"/>
</joint> </joint>
@ -152,7 +151,7 @@
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/> <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link1"/> <parent link="link1"/>
<child link="link2"/> <child link="link2"/>
<origin xyz= "0 0 0" rpy = "0 -1.5708 1.5708"/> <origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/>
</joint> </joint>
@ -161,7 +160,7 @@
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/> <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link2"/> <parent link="link2"/>
<child link="link3"/> <child link="link3"/>
<origin xyz= "0.13635 0 0 " rpy = "0 0 0"/> <origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/>
</joint> </joint>
@ -170,8 +169,7 @@
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/> <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link3"/> <parent link="link3"/>
<child link="link4"/> <child link="link4"/>
<!-- <origin xyz = "0.12 0 0.09 " rpy = " 0 0 1.57080"/> --> <origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/>
<origin xyz = "0.1205 0 0.082 " rpy = " 0 0 1.57080"/>
</joint> </joint>
@ -180,7 +178,7 @@
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/> <limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
<parent link="link4"/> <parent link="link4"/>
<child link="link5"/> <child link="link5"/>
<origin xyz= "0 -0.084 0" rpy = "1.5708 0 0"/> <origin xyz= "0 -0.09415 0" rpy = "1.5708 0 0"/>
</joint> </joint>
@ -189,7 +187,7 @@
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/> <limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
<parent link="link5"/> <parent link="link5"/>
<child link="link6"/> <child link="link6"/>
<origin xyz= "0 0.06635 0" rpy = "-1.5708 0 0"/> <origin xyz= "0 0.055 0" rpy = "-1.5708 0 0"/>
</joint> </joint>
<joint name="vision_joint" type="fixed"> <joint name="vision_joint" type="fixed">

183990
mycobot_description/urdf/new_320_urdf/base.dae Normal file → Executable file
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168
mycobot_description/urdf/new_320_urdf/link1.dae
View file

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960
mycobot_description/urdf/new_320_urdf/link2.dae
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1449
mycobot_description/urdf/new_320_urdf/link3.dae
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258
mycobot_description/urdf/new_320_urdf/link4.dae
View file

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410
mycobot_description/urdf/new_320_urdf/link5.dae
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161
mycobot_description/urdf/new_320_urdf/link6.dae
View file

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64
mycobot_description/urdf/new_320_urdf/new_mycobot_pro_320.urdf
View file

@ -7,17 +7,15 @@
<link name="base"> <link name="base">
<visual> <visual>
<geometry> <geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/base.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/base.dae"/>
</geometry> </geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 3.1415926"/> <origin xyz = "0.0 0 0 " rpy = " 0 0 1.5708"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/base.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/base.dae"/>
</geometry> </geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 3.1415926"/> <origin xyz = "0.0 0 0 " rpy = " 0 0 1.5708"/>
</collision> </collision>
</link> </link>
@ -27,13 +25,13 @@
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link1.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/link1.dae"/>
</geometry> </geometry>
<origin xyz = "0.115 -0.172 -0.086 " rpy = " 0 0 3.1415926"/> <origin xyz = "0.0 0.0 -0.078 " rpy = " 0 0 1.5708"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link1.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/link1.dae"/>
</geometry> </geometry>
<origin xyz = "0.115 -0.172 -0.086 " rpy = " 0 0 3.1415926"/> <origin xyz = "0.0 0.0 -0.078 " rpy = " 0 0 1.5708"/>
</collision> </collision>
</link> </link>
@ -44,13 +42,13 @@
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link2.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/link2.dae"/>
</geometry> </geometry>
<origin xyz = "-0.075 -0.115 -0.022 " rpy = " 1.5708 0 1.5708"/> <origin xyz = "0.0 0.0 -0.04 " rpy = " 0 1.5708 0"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link2.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/link2.dae"/>
</geometry> </geometry>
<origin xyz = "-0.075 -0.115 -0.022 " rpy = " 1.5708 0 1.5708"/> <origin xyz = "0.0 0.0 -0.04 " rpy = " 0 1.5708 0"/>
</collision> </collision>
</link> </link>
@ -58,17 +56,15 @@
<link name="link3"> <link name="link3">
<visual> <visual>
<geometry> <geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link3.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/link3.dae"/>
</geometry> </geometry>
<origin xyz = "-0.22 -0.115 0.142 " rpy = " 1.5708 0 1.5708"/> <origin xyz = "0.0 0.0 0.039 " rpy = " 1.5708 1.5708 1.5708"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link3.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/link3.dae"/>
</geometry> </geometry>
<origin xyz = "-0.22 -0.115 0.142 " rpy = " 1.5708 0 1.5708"/> <origin xyz = "0.0 0.0 0.039 " rpy = " 1.5708 1.5708 1.5708"/>
</collision> </collision>
</link> </link>
@ -76,17 +72,15 @@
<link name="link4"> <link name="link4">
<visual> <visual>
<geometry> <geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link4.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/link4.dae"/>
</geometry> </geometry>
<origin xyz = "-0.115 0.338 -0.1435" rpy = " 1.5708 0 0"/> <origin xyz = "0.0 -0.0024 -0.05" rpy = " 1.5708 1.5708 0"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link4.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/link4.dae"/>
</geometry> </geometry>
<origin xyz = "-0.115 0.338 -0.1435" rpy = " 1.5708 0 0"/> <origin xyz = "0.0 -0.0024 -0.05" rpy = " 1.5708 1.5708 0"/>
</collision> </collision>
</link> </link>
@ -94,17 +88,15 @@
<link name="link5"> <link name="link5">
<visual> <visual>
<geometry> <geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link5.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/link5.dae"/>
</geometry> </geometry>
<origin xyz = "-0.1149 -0.0322 -0.482 " rpy = " 0 0 0"/> <origin xyz = "0.0 0.0 -0.05 " rpy = " 0 0 -1.5708"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link5.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/link5.dae"/>
</geometry> </geometry>
<origin xyz = "-0.1149 -0.0322 -0.482 " rpy = " 0 0 0"/> <origin xyz = "0.0 0.0 -0.05 " rpy = " 0 0 -1.5708"/>
</collision> </collision>
</link> </link>
@ -112,73 +104,67 @@
<link name="link6"> <link name="link6">
<visual> <visual>
<geometry> <geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link6.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/link6.dae"/>
</geometry> </geometry>
<origin xyz = "-0.11478 0.433 -0.15 " rpy = " 1.5708 0 0"/> <origin xyz = "0.0 0.0 -0.0115 " rpy = " 1.5708 1.5708 0"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link6.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/link6.dae"/>
</geometry> </geometry>
<origin xyz = "-0.11478 0.433 -0.15 " rpy = " 1.5708 0 0"/> <origin xyz = "0.0 0.0 -0.0115 " rpy = " 1.5708 1.5708 0"/>
</collision> </collision>
</link> </link>
<joint name="joint2_to_joint1" type="revolute"> <joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/> <limit effort = "1000.0" lower = "-2.87" upper = "2.87" velocity = "0"/>
<parent link="base"/> <parent link="base"/>
<child link="link1"/> <child link="link1"/>
<origin xyz= "0 0 0.162" rpy = "0 0 0"/> <origin xyz= "0 0 0.173" rpy = "0 0 0"/>
</joint> </joint>
<joint name="joint3_to_joint2" type="revolute"> <joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/> <limit effort = "1000.0" lower = "-2.879" upper = "2.879" velocity = "0"/>
<parent link="link1"/> <parent link="link1"/>
<child link="link2"/> <child link="link2"/>
<origin xyz= "0 0 0" rpy = "0 -1.5708 1.5708"/> <origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/>
</joint> </joint>
<joint name="joint4_to_joint3" type="revolute"> <joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1"/> <axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/> <limit effort = "1000.0" lower = "-2.879" upper = "2.879" velocity = "0"/>
<parent link="link2"/> <parent link="link2"/>
<child link="link3"/> <child link="link3"/>
<origin xyz= "0.13635 0 0 " rpy = "0 0 0"/> <origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/>
</joint> </joint>
<joint name="joint5_to_joint4" type="revolute"> <joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/> <axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/> <limit effort = "1000.0" lower = "-2.879" upper = "2.879" velocity = "0"/>
<parent link="link3"/> <parent link="link3"/>
<child link="link4"/> <child link="link4"/>
<origin xyz = "0.1205 0 0.082 " rpy = " 0 0 1.57080"/> <origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/>
</joint> </joint>
<joint name="joint6_to_joint5" type="revolute"> <joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/> <limit effort = "1000.0" lower = "-2.879" upper = "2.879" velocity = "0"/>
<parent link="link4"/> <parent link="link4"/>
<child link="link5"/> <child link="link5"/>
<origin xyz= "0 -0.084 0.0" rpy = "1.5708 0 0"/> <origin xyz= "0 -0.09415 0.0" rpy = "1.5708 0 0"/>
<!-- <origin xyz= "0 -0.07813 -0.0" rpy = "1.5708 0 0"/> -->
</joint> </joint>
<joint name="joint6output_to_joint6" type="revolute"> <joint name="joint6output_to_joint6" type="revolute">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/> <limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
<parent link="link5"/> <parent link="link5"/>
<child link="link6"/> <child link="link6"/>
<origin xyz= "0 0.06635 0.0" rpy = "-1.5708 0 0"/> <origin xyz= "0 0.055 0.0" rpy = "-1.5708 0 0"/>
</joint> </joint>

54
mycobot_description/urdf/new_320_urdf/new_mycobot_pro_320_gripper.urdf
View file

@ -7,17 +7,15 @@
<link name="base"> <link name="base">
<visual> <visual>
<geometry> <geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/base.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/base.dae"/>
</geometry> </geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 3.1415926"/> <origin xyz = "0.0 0 0 " rpy = " 0 0 1.5708"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/base.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/base.dae"/>
</geometry> </geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 3.1415926"/> <origin xyz = "0.0 0 0 " rpy = " 0 0 1.5708"/>
</collision> </collision>
</link> </link>
@ -27,13 +25,13 @@
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link1.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/link1.dae"/>
</geometry> </geometry>
<origin xyz = "0.115 -0.172 -0.086 " rpy = " 0 0 3.1415926"/> <origin xyz = "0.0 0.0 -0.078 " rpy = " 0 0 1.5708"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link1.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/link1.dae"/>
</geometry> </geometry>
<origin xyz = "0.115 -0.172 -0.086 " rpy = " 0 0 3.1415926"/> <origin xyz = "0.0 0.0 -0.078 " rpy = " 0 0 1.5708"/>
</collision> </collision>
</link> </link>
@ -44,13 +42,13 @@
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link2.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/link2.dae"/>
</geometry> </geometry>
<origin xyz = "-0.075 -0.115 -0.022 " rpy = " 1.5708 0 1.5708"/> <origin xyz = "0.0 0.0 -0.04 " rpy = " 0 1.5708 0"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link2.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/link2.dae"/>
</geometry> </geometry>
<origin xyz = "-0.075 -0.115 -0.022 " rpy = " 1.5708 0 1.5708"/> <origin xyz = "0.0 0.0 -0.04 " rpy = " 0 1.5708 0"/>
</collision> </collision>
</link> </link>
@ -58,17 +56,15 @@
<link name="link3"> <link name="link3">
<visual> <visual>
<geometry> <geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link3.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/link3.dae"/>
</geometry> </geometry>
<origin xyz = "-0.22 -0.115 0.142 " rpy = " 1.5708 0 1.5708"/> <origin xyz = "0.0 0.0 0.039 " rpy = " 1.5708 1.5708 1.5708"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link3.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/link3.dae"/>
</geometry> </geometry>
<origin xyz = "-0.22 -0.115 0.142 " rpy = " 1.5708 0 1.5708"/> <origin xyz = "0.0 0.0 0.039 " rpy = " 1.5708 1.5708 1.5708"/>
</collision> </collision>
</link> </link>
@ -76,17 +72,15 @@
<link name="link4"> <link name="link4">
<visual> <visual>
<geometry> <geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link4.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/link4.dae"/>
</geometry> </geometry>
<origin xyz = "-0.115 0.338 -0.1435" rpy = " 1.5708 0 0"/> <origin xyz = "0.0 -0.0024 -0.05" rpy = " 1.5708 1.5708 0"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link4.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/link4.dae"/>
</geometry> </geometry>
<origin xyz = "-0.115 0.338 -0.1435" rpy = " 1.5708 0 0"/> <origin xyz = "0.0 -0.0024 -0.05" rpy = " 1.5708 1.5708 0"/>
</collision> </collision>
</link> </link>
@ -94,17 +88,15 @@
<link name="link5"> <link name="link5">
<visual> <visual>
<geometry> <geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link5.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/link5.dae"/>
</geometry> </geometry>
<origin xyz = "-0.1149 -0.0322 -0.482 " rpy = " 0 0 0"/> <origin xyz = "0.0 0.0 -0.05 " rpy = " 0 0 -1.5708"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link5.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/link5.dae"/>
</geometry> </geometry>
<origin xyz = "-0.1149 -0.0322 -0.482 " rpy = " 0 0 0"/> <origin xyz = "0.0 0.0 -0.05 " rpy = " 0 0 -1.5708"/>
</collision> </collision>
</link> </link>
@ -112,17 +104,15 @@
<link name="link6"> <link name="link6">
<visual> <visual>
<geometry> <geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link6.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/link6.dae"/>
</geometry> </geometry>
<origin xyz = "-0.11478 0.433 -0.15 " rpy = " 1.5708 0 0"/> <origin xyz = "0.0 0.0 -0.0115 " rpy = " 1.5708 1.5708 0"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link6.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/link6.dae"/>
</geometry> </geometry>
<origin xyz = "-0.11478 0.433 -0.15 " rpy = " 1.5708 0 0"/> <origin xyz = "0.0 0.0 -0.0115 " rpy = " 1.5708 1.5708 0"/>
</collision> </collision>
</link> </link>
@ -247,7 +237,7 @@
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/> <limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
<parent link="base"/> <parent link="base"/>
<child link="link1"/> <child link="link1"/>
<origin xyz= "0 0 0.162" rpy = "0 0 0"/> <origin xyz= "0 0 0.173" rpy = "0 0 0"/>
</joint> </joint>
@ -256,7 +246,7 @@
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/> <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link1"/> <parent link="link1"/>
<child link="link2"/> <child link="link2"/>
<origin xyz= "0 0 0" rpy = "0 -1.5708 1.5708"/> <origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/>
</joint> </joint>
@ -265,35 +255,31 @@
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/> <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link2"/> <parent link="link2"/>
<child link="link3"/> <child link="link3"/>
<origin xyz= "0.13635 0 0 " rpy = "0 0 0"/> <origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/>
</joint> </joint>
<joint name="joint5_to_joint4" type="revolute"> <joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/> <axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/> <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link3"/> <parent link="link3"/>
<child link="link4"/> <child link="link4"/>
<origin xyz = "0.1205 0 0.082 " rpy = " 0 0 1.57080"/> <origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/>
</joint> </joint>
<joint name="joint6_to_joint5" type="revolute"> <joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/> <limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
<parent link="link4"/> <parent link="link4"/>
<child link="link5"/> <child link="link5"/>
<origin xyz= "0 -0.084 0.0" rpy = "1.5708 0 0"/> <origin xyz= "0 -0.09415 0.0" rpy = "1.5708 0 0"/>
<!-- <origin xyz= "0 -0.07813 -0.0" rpy = "1.5708 0 0"/> -->
</joint> </joint>
<joint name="joint6output_to_joint6" type="revolute"> <joint name="joint6output_to_joint6" type="revolute">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/> <limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
<parent link="link5"/> <parent link="link5"/>
<child link="link6"/> <child link="link6"/>
<origin xyz= "0 0.06635 0.0" rpy = "-1.5708 0 0"/> <origin xyz= "0 0.055 0.0" rpy = "-1.5708 0 0"/>
</joint> </joint>
<joint name="joint6output_to_gripper_base" type="fixed"> <joint name="joint6output_to_gripper_base" type="fixed">

40
mycobot_description/urdf/new_320_urdf/new_mycobot_pro_320moveit.urdf
View file

@ -9,10 +9,10 @@
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/new_320_urdf/base.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/base.dae"/>
</geometry> </geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 3.1415926"/> <origin xyz = "0 0 0 " rpy = " 0 0 1.5708"/>
</visual> </visual>
<collision> <collision>
<origin xyz = "0 0 0 " rpy = " 0 0 3.1415926"/> <origin xyz = "0 0 0 " rpy = " 0 0 1.5708"/>
<geometry> <geometry>
<cylinder length="0.102" radius="0.0725"/> <cylinder length="0.102" radius="0.0725"/>
</geometry> </geometry>
@ -24,10 +24,10 @@
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link1.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/link1.dae"/>
</geometry> </geometry>
<origin xyz = "0.115 -0.172 -0.086 " rpy = " 0 0 3.1415926"/> <origin xyz = "0.0 0.0 -0.078 " rpy = " 0 0 1.5708"/>
</visual> </visual>
<collision> <collision>
<origin xyz = "0 0 -0.02 " rpy = " 0 0 3.1415926"/> <origin xyz = "0.0 0.0 -0.078 " rpy = " 0 0 1.5708"/>
<geometry> <geometry>
<cylinder length="0.106" radius="0.043"/> <cylinder length="0.106" radius="0.043"/>
</geometry> </geometry>
@ -40,10 +40,10 @@
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link2.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/link2.dae"/>
</geometry> </geometry>
<origin xyz = "-0.075 -0.115 -0.022 " rpy = " 1.5708 0 1.5708"/> <origin xyz = "0.0 0.0 -0.04 " rpy = " 0 1.5708 0"/>
</visual> </visual>
<collision> <collision>
<origin xyz = "0.07 0 0.095 " rpy = " 1.5708 0 1.5708"/> <origin xyz = "0.0 0.0 -0.04 " rpy = " 0 1.5708 0"/>
<geometry> <geometry>
<cylinder length="0.18" radius="0.036"/> <cylinder length="0.18" radius="0.036"/>
</geometry> </geometry>
@ -56,10 +56,10 @@
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link3.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/link3.dae"/>
</geometry> </geometry>
<origin xyz = "-0.22 -0.115 0.142 " rpy = " 1.5708 0 1.5708"/> <origin xyz = "0.0 0.0 0.039 " rpy = " 1.5708 1.5708 1.5708"/>
</visual> </visual>
<collision> <collision>
<origin xyz = "0.044 0 0 " rpy = " 1.5708 0 1.5708"/> <origin xyz = "0.0 0.0 0.039 " rpy = " 1.5708 1.5708 1.5708"/>
<geometry> <geometry>
<cylinder length="0.14" radius="0.0305"/> <cylinder length="0.14" radius="0.0305"/>
</geometry> </geometry>
@ -73,10 +73,10 @@
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link4.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/link4.dae"/>
</geometry> </geometry>
<origin xyz = "-0.115 0.338 -0.1435" rpy = " 1.5708 0 0"/> <origin xyz = "0.0 -0.0024 -0.05" rpy = " 1.5708 1.5708 0"/>
</visual> </visual>
<collision> <collision>
<origin xyz = "0.0 -0.014 0 " rpy = " 1.5708 0 0"/> <origin xyz = "0.0 -0.0024 -0.05" rpy = " 1.5708 1.5708 0"/>
<geometry> <geometry>
<cylinder length="0.083" radius="0.029"/> <cylinder length="0.083" radius="0.029"/>
</geometry> </geometry>
@ -89,10 +89,10 @@
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link5.dae"/> <mesh filename="package://mycobot_description/urdf/new_320_urdf/link5.dae"/>
</geometry> </geometry>
<origin xyz = "-0.1149 -0.0322 -0.482 " rpy = " 0 0 0"/> <origin xyz = "0.0 0.0 -0.05 " rpy = " 0 0 -1.5708"/>
</visual> </visual>
<collision> <collision>
<origin xyz = "0 -0.01 0 " rpy = " 0 0 0"/> <origin xyz = "0.0 0.0 -0.05 " rpy = " 0 0 -1.5708"/>
<geometry> <geometry>
<cylinder length="0.0849" radius="0.029"/> <cylinder length="0.0849" radius="0.029"/>
</geometry> </geometry>
@ -107,10 +107,10 @@
<material name = "grey"> <material name = "grey">
<color rgba = "0.5 0.5 0.5 1"/> <color rgba = "0.5 0.5 0.5 1"/>
</material> </material>
<origin xyz = "-0.11478 0.433 -0.15 " rpy = " 1.5708 0 0"/> <origin xyz = "0.0 0.0 -0.0115 " rpy = " 1.5708 1.5708 0"/>
</visual> </visual>
<collision> <collision>
<origin xyz = "-0.431 0.0009 -0.16 " rpy = " 1.5708 0 0"/> <origin xyz = "0.0 0.0 -0.0115 " rpy = " 1.5708 1.5708 0"/>
<geometry> <geometry>
<cylinder length="0.0225" radius="0.026"/> <cylinder length="0.0225" radius="0.026"/>
</geometry> </geometry>
@ -122,7 +122,7 @@
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/> <limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
<parent link="base"/> <parent link="base"/>
<child link="link1"/> <child link="link1"/>
<origin xyz= "0 0 0.162" rpy = "0 0 0"/> <origin xyz= "0 0 0.173" rpy = "0 0 0"/>
</joint> </joint>
@ -131,7 +131,7 @@
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/> <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link1"/> <parent link="link1"/>
<child link="link2"/> <child link="link2"/>
<origin xyz= "0 0 0" rpy = "0 -1.57080 1.57080"/> <origin xyz= "0 -0.086 0" rpy = "0 -1.57080 1.57080"/>
</joint> </joint>
@ -140,7 +140,7 @@
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/> <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link2"/> <parent link="link2"/>
<child link="link3"/> <child link="link3"/>
<origin xyz= "0.13635 0 0 " rpy = "0 0 0"/> <origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/>
</joint> </joint>
<joint name="joint5_to_joint4" type="revolute"> <joint name="joint5_to_joint4" type="revolute">
@ -148,7 +148,7 @@
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/> <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link3"/> <parent link="link3"/>
<child link="link4"/> <child link="link4"/>
<origin xyz= "0.1205 0 0.082" rpy = "0 0 1.57080"/> <origin xyz= "0.1195 0 0.082" rpy = "0 0 1.57080"/>
</joint> </joint>
<joint name="joint6_to_joint5" type="revolute"> <joint name="joint6_to_joint5" type="revolute">
@ -156,7 +156,7 @@
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/> <limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
<parent link="link4"/> <parent link="link4"/>
<child link="link5"/> <child link="link5"/>
<origin xyz= "0 -0.084 0" rpy = "1.57080 0 0"/> <origin xyz= "0 -0.09415 0" rpy = "1.57080 0 0"/>
</joint> </joint>
<joint name="joint6output_to_joint6" type="revolute"> <joint name="joint6output_to_joint6" type="revolute">
@ -164,7 +164,7 @@
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/> <limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
<parent link="link5"/> <parent link="link5"/>
<child link="link6"/> <child link="link6"/>
<origin xyz= "0 0.06635 0" rpy = "-1.57080 0 0 "/> <origin xyz= "0 0.055 0" rpy = "-1.57080 0 0 "/>
</joint> </joint>
</robot> </robot>