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update mira urdf

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This commit is contained in:
weijian 2022-08-31 13:54:59 +08:00
parent 954411ca66
commit 719251df86
5 changed files with 505 additions and 375 deletions
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293
mycobot_description/urdf/mira_urdf/Mira-1.dae
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mycobot_description/urdf/mira_urdf/Mira-2.dae
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mycobot_description/urdf/mira_urdf/Mira-3.dae
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mycobot_description/urdf/mira_urdf/Mira-base.dae
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mycobot_description/urdf/mira_urdf/mira.urdf
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@ -27,13 +27,13 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/mira_urdf/Mira-1.dae"/>
</geometry>
<origin xyz = "0 0 -0.122 " rpy = " 0 0 0"/>
<origin xyz = "0 0 0.122 " rpy = " 3.1415926 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mira_urdf/Mira-1.dae"/>
</geometry>
<origin xyz = "0 0 -0.122 " rpy = " 0 0 0"/>
<origin xyz = "0 0 0.122 " rpy = " 3.1415926 0 0"/>
</collision>
</link>
@ -42,13 +42,13 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/mira_urdf/Mira-2.dae"/>
</geometry>
<origin xyz = "0.001 0.11 0.0 " rpy = " 1.5708 0 -0.2617"/>
<origin xyz = "-0.03 0.112 0.0 " rpy = " 1.5708 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mira_urdf/Mira-2.dae"/>
</geometry>
<origin xyz = "0.001 0.11 0.0 " rpy = " 1.5708 0 -0.2617"/>
<origin xyz = "-0.03 0.112 0.0 " rpy = " 1.5708 0 0"/>
</collision>
</link>
@ -59,14 +59,14 @@
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mira_urdf/Mira-3.dae"/>
</geometry>
<origin xyz = "0.112 0.206 -0.0 " rpy = "1.5708 0 -0.7853"/>
<origin xyz = "-0.03 0.23 0.0 " rpy = "1.5708 0 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mira_urdf/Mira-3.dae"/>
</geometry>
<origin xyz = "0.112 0.206 -0.0 " rpy = "1.5708 0 -0.7853"/>
<origin xyz = "-0.03 0.23 0.0 " rpy = "1.5708 0 0"/>
</collision>
</link>
@ -76,25 +76,25 @@
<limit effort = "1000.0" lower = "-2.967" upper = "2.967" velocity = "0"/>
<parent link="base"/>
<child link="link1"/>
<origin xyz= "0 0 0.12" rpy = "0 0 0"/>
<origin xyz= "0 0 0.12" rpy = "3.1415926 0 0"/>
</joint>
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "0" upper = "1.5708" velocity = "0"/>
<limit effort = "1000.0" lower = "0" upper = "1.14" velocity = "0"/>
<parent link="link1"/>
<child link="link2"/>
<origin xyz= "0.03 0 -0.01" rpy = " -1.5707963 0 0 "/>
<origin xyz= "0.03 0 0.01" rpy = " -1.5707963 3.1415926 3.1415926 "/>
</joint>
<joint name="joint3_to_joint2" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "0" upper = "1.309" velocity = "0"/>
<limit effort = "1000.0" lower = "0" upper = "1.0472" velocity = "0"/>
<parent link="link2"/>
<child link="link3"/>
<origin xyz= "0.004 -0.126 0 " rpy = "0 0 0 "/>
<origin xyz= "0.00 -0.12 0 " rpy = "0 0 0 "/>
</joint>
</robot>