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This commit is contained in:
wuchangji 2022-07-08 09:43:53 +08:00
parent 1870ed83ab
commit 72db369e25
1 changed files with 15 additions and 13 deletions
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28
mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf
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@ -42,25 +42,26 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/mecharm_pi/link2.dae"/>
</geometry>
<origin xyz = "-0.005 -0.21 -0.002 " rpy = " 1.5708 0 3.1415926"/>
<origin xyz = "-0.005 0.21 0.002 " rpy = " 1.5708 -3.1415926 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mecharm_pi/link2.dae"/>
</geometry>
<origin xyz = "-0.005 -0.21 -0.002 " rpy = " 1.5708 0 3.1415926"/>
<origin xyz = "-0.005 -0.21 0.002 " rpy = " 1.5708 -3.1415926 0"/>
</collision>
</link>
<link name="link3">
<visual>
<geometry>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mecharm_pi/link3.dae"/>
</geometry>
<origin xyz = "-0.09 0.306 0.005 " rpy = "1.5708 3.1415926 0"/>
<!-- <origin xyz = "-0.0 0.0 0.000 " rpy = "0 0 0"/> -->
</visual>
<collision>
<geometry>
@ -94,13 +95,13 @@
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mecharm_pi/link5.dae"/>
</geometry>
<origin xyz = "-0.292 -0.318 -0.009" rpy = " 1.5708 0 3.1415926"/>
<origin xyz = "-0.292 -0.318 -0.007" rpy = " 1.5708 0 3.1415926"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mecharm_pi/link5.dae"/>
</geometry>
<origin xyz = "-0.292 -0.318 -0.009 " rpy = " 1.5708 0 3.1415926"/>
<origin xyz = "-0.292 -0.318 -0.007 " rpy = " 1.5708 0 3.1415926"/>
</collision>
</link>
@ -110,13 +111,13 @@
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mecharm_pi/link6.dae"/>
</geometry>
<origin xyz = "-0.1625 0.0536 -0.211 " rpy = " 0 1.5708 0"/>
<origin xyz = "-0.1645 0.0536 -0.211 " rpy = " 0 1.5708 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mecharm_pi/link6.dae"/>
</geometry>
<origin xyz = "-0.1625 0.0536 -0.211 " rpy = " 0 1.5708 0"/>
<origin xyz = "-0.1645 0.0536 -0.211 " rpy = " 0 1.5708 0"/>
</collision>
</link>
@ -132,19 +133,19 @@
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-1.570796" upper = "1.570796" velocity = "0"/>
<limit effort = "1000.0" lower = "-1.48353" upper = "1.570796" velocity = "0"/>
<parent link="link1"/>
<child link="link2"/>
<origin xyz= "0 0 0.038" rpy = " 1.5708 0 0 "/>
<origin xyz= "0 0 0.038" rpy = " -1.5708 0 0 "/>
</joint>
<joint name="joint3_to_joint2" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.08" upper = "0.785398" velocity = "0"/>
<limit effort = "1000.0" lower = "-3.14" upper = "0.785398" velocity = "0"/>
<parent link="link2"/>
<child link="link3"/>
<origin xyz= "0.0 0.1 0 " rpy = "3.1415926 0 0 "/>
<origin xyz= "0.0 -0.1 0 " rpy = "0 0 0 "/>
</joint>
<joint name="joint4_to_joint3" type="revolute">
@ -160,7 +161,7 @@
<limit effort = "1000.0" lower = "-1.745329" upper = "1.745329" velocity = "0"/>
<parent link="link4"/>
<child link="link5"/>
<origin xyz= " -0.001 0 0.0" rpy = " 0 -1.5708 3.1415926"/>
<origin xyz= " -0.001 0 0.0" rpy = " 0 -1.5708 0"/>
</joint>
<joint name="joint6_to_joint5" type="revolute">
@ -168,6 +169,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="link5"/>
<child link="link6"/>
<origin xyz= " 0.06 0.00 -0.0" rpy = " 0 1.5708 0 "/> </joint>
<origin xyz= " 0.06 0.00 -0.0" rpy = " 0 1.5708 0 "/>
</joint>
</robot>