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add new_mycobot320_moveit urdf

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wangWking 2022-04-19 16:58:20 +08:00
parent f075ca7725
commit 77fbdfd8e2
1 changed files with 171 additions and 0 deletions
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mycobot_description/urdf/new_320_urdf/new_mycobot_pro_320moveit.urdf Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
<xacro:property name="width" value=".2" />
<link name="base">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/new_320_urdf/base.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 3.1415926"/>
</visual>
<collision>
<origin xyz = "0 0 0.05 " rpy = " 0 0 3.1415926"/>
<geometry>
<cylinder length="0.102" radius="0.0725"/>
</geometry>
</collision>
</link>
<link name="link1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link1.dae"/>
</geometry>
<origin xyz = "-0.29156 -0.220 -0.085 " rpy = " 0 0 1.5708"/>
</visual>
<collision>
<origin xyz = "0 0 -0.02 " rpy = " 0 0 1.5708"/>
<geometry>
<cylinder length="0.106" radius="0.043"/>
</geometry>
</collision>
</link>
<link name="link2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link2.dae"/>
</geometry>
<origin xyz = "-0.090 0 -0.138 " rpy = " 0 1.5708 0"/>
</visual>
<collision>
<origin xyz = "0.07 0 0.095 " rpy = " 0 1.5708 0"/>
<geometry>
<cylinder length="0.18" radius="0.036"/>
</geometry>
</collision>
</link>
<link name="link3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link3.dae"/>
</geometry>
<origin xyz = "-0.22 0 0.093 " rpy = " 0 1.5708 0"/>
</visual>
<collision>
<origin xyz = "0.044 0 0 " rpy = " 0 1.5708 0"/>
<geometry>
<cylinder length="0.14" radius="0.0305"/>
</geometry>
</collision>
</link>
<link name="link4">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link4.dae"/>
</geometry>
<origin xyz = "0 0.275 -0.096 " rpy = " 1.5708 1.5708 0"/>
</visual>
<collision>
<origin xyz = "0.0 -0.014 0 " rpy = " 1.5708 1.5708 0"/>
<geometry>
<cylinder length="0.083" radius="0.029"/>
</geometry>
</collision>
</link>
<link name="link5">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link5.dae"/>
</geometry>
<origin xyz = "0.0012 -0.044 -0.456 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<origin xyz = "0 -0.01 0 " rpy = " 0 0 -1.5708"/>
<geometry>
<cylinder length="0.0849" radius="0.029"/>
</geometry>
</collision>
</link>
<link name="link6">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link6.dae"/>
</geometry>
<material name = "grey">
<color rgba = "0.5 0.5 0.5 1"/>
</material>
<origin xyz = "-0.431 0.0009 -0.16536 " rpy = " 0 1.5708 0"/>
</visual>
<collision>
<origin xyz = "-0.431 0.0009 -0.16536 " rpy = " 0 1.5708 0"/>
<geometry>
<cylinder length="0.0225" radius="0.026"/>
</geometry>
</collision>
</link>
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="base"/>
<child link="link1"/>
<origin xyz= "0 0 0.17846" rpy = "0 0 0"/>
</joint>
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link1"/>
<child link="link2"/>
<origin xyz= "0 0 0" rpy = "0 -1.57080 1.57080"/>
</joint>
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link2"/>
<child link="link3"/>
<origin xyz= "0.13635 0 0 " rpy = "0 0 0"/>
</joint>
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link3"/>
<child link="link4"/>
<origin xyz= "0.12 0 0.090" rpy = "0 0 1.57080"/>
</joint>
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link4"/>
<child link="link5"/>
<origin xyz= "0 -0.08515 0" rpy = "1.57080 0 0"/>
</joint>
<joint name="joint6output_to_joint6" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link5"/>
<child link="link6"/>
<origin xyz= "0 0.0760 0" rpy = "-1.57080 0 0 "/>
</joint>
</robot>