mirror of
https://github.com/elephantrobotics/mycobot_ros.git
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This commit is contained in:
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190
mycobot_description/urdf/mecharm/mecharm_aikit.urdf
Normal file
190
mycobot_description/urdf/mecharm/mecharm_aikit.urdf
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
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<xacro:property name="width" value=".2" />
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<link name="env">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/260_pi/suit_env.dae" scale="1.3 1.3 1.3"/>
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</geometry>
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<origin xyz = "0 0 -0.02 " rpy = "1.5708 0 -1.5708"/>
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</visual>
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</link>
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<link name="base">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 1.5708 3.14159-->
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<mesh filename="package://mycobot_description/urdf/mecharm/base.dae"/>
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</geometry>
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<origin xyz = " 0 0 0 " rpy = " 0 0 -3.1415926"/>
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</visual>
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<collision>
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<geometry>
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<!--- 0.0 0 -0.04 1.5708 3.14159-->
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<mesh filename="package://mycobot_description/urdf/mecharm/base.dae"/>
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</geometry>
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<origin xyz = " 0 0 0 " rpy = " 0 0 -3.1415926"/>
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</collision>
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</link>
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<link name="link1">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mecharm/link1.dae"/>
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</geometry>
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<origin xyz = "0 0 -0.132 " rpy = " 0 0 0"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mecharm/link1.dae"/>
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</geometry>
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<origin xyz = "0 0 -0.132 " rpy = " 0 0 0"/>
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</collision>
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</link>
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<link name="link2">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mecharm/link2.dae"/>
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</geometry>
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<origin xyz = "-0.005 0.21 0.002 " rpy = " 1.5708 -3.1415926 0"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mecharm/link2.dae"/>
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</geometry>
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<origin xyz = "-0.005 -0.21 0.002 " rpy = " 1.5708 -3.1415926 0"/>
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</collision>
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</link>
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<link name="link3">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mecharm/link3.dae"/>
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</geometry>
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<origin xyz = "-0.09 0.306 0.005 " rpy = "1.5708 3.1415926 0"/>
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<!-- <origin xyz = "-0.0 0.0 0.000 " rpy = "0 0 0"/> -->
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</visual>
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<collision>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mecharm/link3.dae"/>
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</geometry>
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<origin xyz = "-0.09 0.306 0.005" rpy = "1.5708 3.1415926 0"/>
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</collision>
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</link>
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<link name="link4">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mecharm/link4.dae"/>
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</geometry>
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<origin xyz = "0.009 -0.311 -0.228" rpy = " 0 1.5708 1.5708"/>
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</visual>
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<collision>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mecharm/link4.dae"/>
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</geometry>
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<origin xyz = "0.009 -0.311 -0.228" rpy = " 0 1.5708 1.5708"/>
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</collision>
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</link>
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<link name="link5">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mecharm/link5.dae"/>
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</geometry>
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<origin xyz = "-0.292 -0.318 -0.007" rpy = " 1.5708 0 3.1415926"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mecharm/link5.dae"/>
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</geometry>
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<origin xyz = "-0.292 -0.318 -0.007 " rpy = " 1.5708 0 3.1415926"/>
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</collision>
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</link>
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<link name="link6">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mecharm/link6.dae"/>
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</geometry>
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<origin xyz = "-0.1645 0.0536 -0.211 " rpy = " 0 1.5708 0"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mecharm/link6.dae"/>
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</geometry>
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<origin xyz = "-0.1645 0.0536 -0.211 " rpy = " 0 1.5708 0"/>
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</collision>
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</link>
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<joint name="joint1_to_base" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-2.792527" upper = "2.792527" velocity = "0"/>
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<parent link="base"/>
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<child link="link1"/>
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<origin xyz= "0 0 0.1" rpy = "0 0 0"/>
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</joint>
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<joint name="joint2_to_joint1" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-1.48353" upper = "1.570796" velocity = "0"/>
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<parent link="link1"/>
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<child link="link2"/>
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<origin xyz= "0 0 0.038" rpy = " -1.5708 0 0 "/>
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</joint>
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<joint name="joint3_to_joint2" type="revolute">
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<axis xyz=" 0 0 1"/>
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<limit effort = "1000.0" lower = "-3.14" upper = "0.785398" velocity = "0"/>
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<parent link="link2"/>
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<child link="link3"/>
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<origin xyz= "0.0 -0.1 0 " rpy = "0 0 0 "/>
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</joint>
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<joint name="joint4_to_joint3" type="revolute">
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<axis xyz=" 0 0 1"/>
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<limit effort = "1000.0" lower = "-2.792527" upper = "2.792527" velocity = "0"/>
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<parent link="link3"/>
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<child link="link4"/>
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<origin xyz= "0.108 -0.005 -0.001" rpy = "0 1.5708 0 "/>
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</joint>
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<joint name="joint5_to_joint4" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-1.745329" upper = "1.745329" velocity = "0"/>
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<parent link="link4"/>
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<child link="link5"/>
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<origin xyz= " -0.001 0 0.0" rpy = " 0 -1.5708 0"/>
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</joint>
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<joint name="joint6_to_joint5" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
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<parent link="link5"/>
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<child link="link6"/>
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<origin xyz= " 0.06 0.00 -0.0" rpy = " 0 1.5708 0 "/>
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</joint>
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<joint name="vision_joint" type="fixed">
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<axis xyz="0 0 0"/>
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<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
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<parent link="base"/>
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<child link="env"/>
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<origin xyz= "0 0 0" rpy = "0 0 0"/>
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</joint>
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</robot>
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66
mycobot_description/urdf/mecharm/suit_env.dae
Normal file
66
mycobot_description/urdf/mecharm/suit_env.dae
Normal file
File diff suppressed because one or more lines are too long
190
mycobot_description/urdf/mecharm_pi/mecharm_pi_aikit.urdf
Normal file
190
mycobot_description/urdf/mecharm_pi/mecharm_pi_aikit.urdf
Normal file
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@ -0,0 +1,190 @@
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
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<xacro:property name="width" value=".2" />
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<link name="env">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/260_pi/suit_env.dae" scale="1.3 1.3 1.3"/>
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</geometry>
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<origin xyz = "0 0 -0.02 " rpy = "1.5708 0 -1.5708"/>
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</visual>
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</link>
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<link name="base">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 1.5708 3.14159-->
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<mesh filename="package://mycobot_description/urdf/mecharm_pi/base.dae"/>
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</geometry>
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<origin xyz = " 0 0 0 " rpy = " 0 0 -3.1415926"/>
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</visual>
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<collision>
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<geometry>
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<!--- 0.0 0 -0.04 1.5708 3.14159-->
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<mesh filename="package://mycobot_description/urdf/mecharm_pi/base.dae"/>
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</geometry>
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<origin xyz = " 0 0 0 " rpy = " 0 0 -3.1415926"/>
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</collision>
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</link>
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<link name="link1">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mecharm_pi/link1.dae"/>
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</geometry>
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<origin xyz = "0 0 -0.132 " rpy = " 0 0 0"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mecharm_pi/link1.dae"/>
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</geometry>
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<origin xyz = "0 0 -0.132 " rpy = " 0 0 0"/>
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</collision>
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</link>
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<link name="link2">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mecharm_pi/link2.dae"/>
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</geometry>
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<origin xyz = "-0.005 0.21 0.002 " rpy = " 1.5708 -3.1415926 0"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mecharm_pi/link2.dae"/>
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</geometry>
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<origin xyz = "-0.005 -0.21 0.002 " rpy = " 1.5708 -3.1415926 0"/>
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</collision>
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</link>
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<link name="link3">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mecharm_pi/link3.dae"/>
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</geometry>
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<origin xyz = "-0.09 0.306 0.005 " rpy = "1.5708 3.1415926 0"/>
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<!-- <origin xyz = "-0.0 0.0 0.000 " rpy = "0 0 0"/> -->
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</visual>
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<collision>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mecharm_pi/link3.dae"/>
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</geometry>
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<origin xyz = "-0.09 0.306 0.005" rpy = "1.5708 3.1415926 0"/>
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</collision>
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</link>
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<link name="link4">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mecharm_pi/link4.dae"/>
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</geometry>
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<origin xyz = "0.009 -0.311 -0.228" rpy = " 0 1.5708 1.5708"/>
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</visual>
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<collision>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mecharm_pi/link4.dae"/>
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</geometry>
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<origin xyz = "0.009 -0.311 -0.228" rpy = " 0 1.5708 1.5708"/>
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</collision>
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</link>
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<link name="link5">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mecharm_pi/link5.dae"/>
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</geometry>
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<origin xyz = "-0.292 -0.318 -0.007" rpy = " 1.5708 0 3.1415926"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mecharm_pi/link5.dae"/>
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</geometry>
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<origin xyz = "-0.292 -0.318 -0.007 " rpy = " 1.5708 0 3.1415926"/>
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</collision>
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</link>
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<link name="link6">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mecharm_pi/link6.dae"/>
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</geometry>
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<origin xyz = "-0.1645 0.0536 -0.211 " rpy = " 0 1.5708 0"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mecharm_pi/link6.dae"/>
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</geometry>
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<origin xyz = "-0.1645 0.0536 -0.211 " rpy = " 0 1.5708 0"/>
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</collision>
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</link>
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<joint name="joint1_to_base" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-2.792527" upper = "2.792527" velocity = "0"/>
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<parent link="base"/>
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<child link="link1"/>
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<origin xyz= "0 0 0.1" rpy = "0 0 0"/>
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</joint>
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<joint name="joint2_to_joint1" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-1.48353" upper = "1.570796" velocity = "0"/>
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<parent link="link1"/>
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<child link="link2"/>
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<origin xyz= "0 0 0.038" rpy = " -1.5708 0 0 "/>
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</joint>
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<joint name="joint3_to_joint2" type="revolute">
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<axis xyz=" 0 0 1"/>
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<limit effort = "1000.0" lower = "-3.14" upper = "0.785398" velocity = "0"/>
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<parent link="link2"/>
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<child link="link3"/>
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<origin xyz= "0.0 -0.1 0 " rpy = "0 0 0 "/>
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</joint>
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<joint name="joint4_to_joint3" type="revolute">
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<axis xyz=" 0 0 1"/>
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<limit effort = "1000.0" lower = "-2.792527" upper = "2.792527" velocity = "0"/>
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<parent link="link3"/>
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<child link="link4"/>
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<origin xyz= "0.108 -0.005 -0.001" rpy = "0 1.5708 0 "/>
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</joint>
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<joint name="joint5_to_joint4" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-1.745329" upper = "1.745329" velocity = "0"/>
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<parent link="link4"/>
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<child link="link5"/>
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<origin xyz= " -0.001 0 0.0" rpy = " 0 -1.5708 0"/>
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</joint>
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<joint name="joint6_to_joint5" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
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<parent link="link5"/>
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<child link="link6"/>
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<origin xyz= " 0.06 0.00 -0.0" rpy = " 0 1.5708 0 "/>
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</joint>
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<joint name="vision_joint" type="fixed">
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<axis xyz="0 0 0"/>
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<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
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<parent link="base"/>
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<child link="env"/>
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<origin xyz= "0 0 0" rpy = "0 0 0"/>
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</joint>
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</robot>
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66
mycobot_description/urdf/mecharm_pi/suit_env.dae
Normal file
66
mycobot_description/urdf/mecharm_pi/suit_env.dae
Normal file
File diff suppressed because one or more lines are too long
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