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fix cobotx_b450 urdf model

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wangWking 2023-10-20 17:37:52 +08:00
parent 7f5e7f705f
commit 7e622133ac
1 changed files with 81 additions and 83 deletions
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164
mycobot_description/urdf/cobotx_b450/cobotx_b450.urdf
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@ -9,13 +9,13 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/base.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/base.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
</collision>
</link>
@ -25,13 +25,13 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/body.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.11 " rpy = " 0 0 0"/>
<origin xyz = "0 0 -0.11 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/body.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.11 " rpy = " 0 0 0"/>
<origin xyz = "0 0 -0.11 " rpy = " 0 0 0"/>
</collision>
</link>
@ -41,13 +41,13 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/head.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.1 " rpy = " 0 0 0"/>
<origin xyz = "0 0 -0.1 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/head.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.1 " rpy = " 0 0 0"/>
<origin xyz = "0 0 -0.1 " rpy = " 0 0 0"/>
</collision>
</link>
@ -57,13 +57,13 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/head_eye.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.0 " rpy = " 0 0 0"/>
<origin xyz = "0 0 -0.0 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/head_eye.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.1 " rpy = " 0 0 0"/>
<origin xyz = "0 0 -0.1 " rpy = " 0 0 0"/>
</collision>
</link>
@ -72,13 +72,13 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint1_L.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.084 " rpy = " 0 0 0"/>
<origin xyz = "0 0 -0.084 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint1_L.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.084 " rpy = " 0 0 0"/>
<origin xyz = "0 0 -0.084 " rpy = " 0 0 0"/>
</collision>
</link>
@ -87,13 +87,13 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint2_L.dae"/>
</geometry>
<origin xyz = "0.0 0 0.0 " rpy = " 3.14159 0 -1.5708"/>
<origin xyz = "0 0 0.0 " rpy = " 3.14159 0 -1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint2_L.dae"/>
</geometry>
<origin xyz = "0.0 0 0.0 " rpy = " 3.14159 0 -1.5708"/>
<origin xyz = "0 0 0.0 " rpy = " 3.14159 0 -1.5708"/>
</collision>
</link>
@ -102,13 +102,13 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint3_L.dae"/>
</geometry>
<origin xyz = "0.0 0 0.038 " rpy = " 0 0 0"/>
<origin xyz = "0 0 0.038 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint3_L.dae"/>
</geometry>
<origin xyz = "0.0 0 0.038 " rpy = " 0 0 0"/>
<origin xyz = "0 0 0.038 " rpy = " 0 0 0"/>
</collision>
</link>
@ -117,13 +117,13 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint4_L.dae"/>
</geometry>
<origin xyz = "0.0 0 0.0 " rpy = " 0 0 -1.5708"/>
<origin xyz = "0 0 0 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint4_L.dae"/>
</geometry>
<origin xyz = "0.0 0 0.0 " rpy = " 0 0 -1.5708"/>
<origin xyz = "0 0 0 " rpy = " 0 0 -1.5708"/>
</collision>
</link>
@ -132,13 +132,13 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint5_L.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.069 " rpy = " 0 0 0"/>
<origin xyz = "0 0 -0.069 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint5_L.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.069 " rpy = " 0 0 0"/>
<origin xyz = "0 0 -0.069 " rpy = " 0 0 0"/>
</collision>
</link>
@ -147,13 +147,13 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint6_L.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.025 " rpy = " 0 0 -1.5708"/>
<origin xyz = "0 0 -0.025 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint6_L.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.025 " rpy = " 0 0 -1.5708"/>
<origin xyz = "0 0 -0.025 " rpy = " 0 0 -1.5708"/>
</collision>
</link>
@ -162,13 +162,13 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint7_L.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.002 " rpy = " 0 0 -1.5708"/>
<origin xyz = "0 0 -0.002 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint7_L.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.002 " rpy = " 0 0 -1.5708"/>
<origin xyz = "0 0 -0.002 " rpy = " 0 0 -1.5708"/>
</collision>
</link>
@ -177,13 +177,13 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint1_R.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.084 " rpy = " 0 0 0"/>
<origin xyz = "0 0 -0.084 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint1_R.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.084 " rpy = " 0 0 0"/>
<origin xyz = "0 0 -0.084 " rpy = " 0 0 0"/>
</collision>
</link>
@ -192,13 +192,13 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint2_R.dae"/>
</geometry>
<origin xyz = "0.0 0 0.0 " rpy = " 3.14159 0 -1.5708"/>
<origin xyz = "0 0 0 " rpy = " 3.14159 0 -1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint2_R.dae"/>
</geometry>
<origin xyz = "0.0 0 0.0 " rpy = " 3.14159 0 -1.5708"/>
<origin xyz = "0 0 0 " rpy = " 3.14159 0 -1.5708"/>
</collision>
</link>
@ -207,13 +207,13 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint3_R.dae"/>
</geometry>
<origin xyz = "0.0 0 0.038 " rpy = " 0 0 0"/>
<origin xyz = "0 0 0.038 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint3_R.dae"/>
</geometry>
<origin xyz = "0.0 0 0.038 " rpy = " 0 0 0"/>
<origin xyz = "0 0 0.038 " rpy = " 0 0 0"/>
</collision>
</link>
@ -222,13 +222,13 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint4_R.dae"/>
</geometry>
<origin xyz = "0.0 0 0.0 " rpy = " 0 0 -1.5708"/>
<origin xyz = "0 0 0 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint4_R.dae"/>
</geometry>
<origin xyz = "0.0 0 0.0 " rpy = " 0 0 -1.5708"/>
<origin xyz = "0 0 0 " rpy = " 0 0 -1.5708"/>
</collision>
</link>
@ -237,13 +237,13 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint5_R.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.069 " rpy = " 0 0 0"/>
<origin xyz = "0 0 -0.069 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint5_R.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.069 " rpy = " 0 0 0"/>
<origin xyz = "0 0 -0.069 " rpy = " 0 0 0"/>
</collision>
</link>
@ -252,13 +252,13 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint6_R.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.025 " rpy = " 0 0 -1.5708"/>
<origin xyz = "0 0 -0.025 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint6_R.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.025 " rpy = " 0 0 -1.5708"/>
<origin xyz = "0 0 -0.025 " rpy = " 0 0 -1.5708"/>
</collision>
</link>
@ -267,46 +267,19 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint7_R.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.002 " rpy = " 0 0 -1.5708"/>
<origin xyz = "0 0 -0.002 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint7_R.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.002 " rpy = " 0 0 -1.5708"/>
<origin xyz = "0 0 -0.002 " rpy = " 0 0 -1.5708"/>
</collision>
</link>
<!-- base joints -->
<joint name="body" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="base"/>
<child link="link_body"/>
<origin xyz= " 0 0 0.22 " rpy = "0 0 0"/>
</joint>
<joint name="head" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link_body"/>
<child link="link_head"/>
<origin xyz= " 0 0 0.22 " rpy = "0 0 0"/>
</joint>
<joint name="eye" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "0" upper = "0.7853" velocity = "0"/>
<parent link="link_head"/>
<child link="link_eye"/>
<origin xyz= " 0.03 0 -0.08 " rpy = "1.5708 0 0"/>
</joint>
<joint name="joint1_L" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
<parent link="link_body"/>
<child link="link1_L"/>
<origin xyz= " 0.075 0.186 0.085 " rpy = "-1.5708 0 -0.5235"/>
@ -314,23 +287,23 @@
<joint name="joint2_L" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-1.7453" upper = "1.7453" velocity = "0"/>
<limit effort = "1000.0" lower = "-1.4311" upper = "2.2689" velocity = "0"/>
<parent link="link1_L"/>
<child link="link2_L"/>
<origin xyz= " 0 0 0.0 " rpy = "-1.5708 0 0"/>
<origin xyz= " 0 0 0 " rpy = "-1.5708 0 0"/>
</joint>
<joint name="joint3_L" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
<parent link="link2_L"/>
<child link="link3_L"/>
<origin xyz= " 0 -0.11 0.0 " rpy = "1.5708 0 0"/>
<origin xyz= " 0 -0.11 0 " rpy = "1.5708 0 0"/>
</joint>
<joint name="joint4_L" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.0543" upper = "0.0174" velocity = "0"/>
<limit effort = "1000.0" lower = "-3.0543" upper = "0.2617" velocity = "0"/>
<parent link="link3_L"/>
<child link="link4_L"/>
<origin xyz= " 0.03 0 0.095" rpy = "-1.5708 0 3.14159"/>
@ -338,7 +311,7 @@
<joint name="joint5_L" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
<parent link="link4_L"/>
<child link="link5_L"/>
<origin xyz= " 0.03 -0.126 0" rpy = "1.5708 3.14159 0"/>
@ -346,15 +319,15 @@
<joint name="joint6_L" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-0.0174" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-0.0174" upper = "2.9321" velocity = "0"/>
<parent link="link5_L"/>
<child link="link6_L"/>
<origin xyz= " 0 0.0 0.08" rpy = "1.5708 0 0"/>
<origin xyz= " 0 0 0.08" rpy = "1.5708 0 0"/>
</joint>
<joint name="joint7_L" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
<parent link="link6_L"/>
<child link="link7_L"/>
<origin xyz= " 0.038 -0.046 0" rpy = "1.5708 0 0"/>
@ -362,7 +335,7 @@
<joint name="joint1_R" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
<parent link="link_body"/>
<child link="link1_R"/>
<origin xyz= " 0.075 -0.186 0.085 " rpy = "1.5708 0 0.5235"/>
@ -370,23 +343,23 @@
<joint name="joint2_R" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-1.7453" upper = "1.7453" velocity = "0"/>
<limit effort = "1000.0" lower = "-1.4311" upper = "2.2689" velocity = "0"/>
<parent link="link1_R"/>
<child link="link2_R"/>
<origin xyz= " 0 0 0.0 " rpy = "-1.5708 0 0"/>
<origin xyz= " 0 0 0 " rpy = "-1.5708 0 0"/>
</joint>
<joint name="joint3_R" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
<parent link="link2_R"/>
<child link="link3_R"/>
<origin xyz= " 0 -0.11 0.0 " rpy = "1.5708 0 0"/>
<origin xyz= " 0 -0.11 0 " rpy = "1.5708 0 0"/>
</joint>
<joint name="joint4_R" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.0543" upper = "0.0174" velocity = "0"/>
<limit effort = "1000.0" lower = "-3.0543" upper = "0.2617" velocity = "0"/>
<parent link="link3_R"/>
<child link="link4_R"/>
<origin xyz= " 0.03 0 0.095" rpy = "-1.5708 0 3.14159"/>
@ -394,7 +367,7 @@
<joint name="joint5_R" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
<parent link="link4_R"/>
<child link="link5_R"/>
<origin xyz= " 0.03 -0.126 0" rpy = "1.5708 3.14159 0"/>
@ -402,18 +375,43 @@
<joint name="joint6_R" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-0.0174" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-0.0174" upper = "2.9321" velocity = "0"/>
<parent link="link5_R"/>
<child link="link6_R"/>
<origin xyz= " 0 0.0 0.08" rpy = "1.5708 0 0"/>
<origin xyz= " 0 0 0.08" rpy = "1.5708 0 0"/>
</joint>
<joint name="joint7_R" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
<parent link="link6_R"/>
<child link="link7_R"/>
<origin xyz= " 0.038 -0.046 0" rpy = "1.5708 0 0"/>
</joint>
<joint name="eye" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "0" upper = "0.8377" velocity = "0"/>
<parent link="link_head"/>
<child link="link_eye"/>
<origin xyz= " 0.03 0 -0.08 " rpy = "1.5708 0 0"/>
</joint>
<joint name="head" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.4085" upper = "3.2812" velocity = "0"/>
<parent link="link_body"/>
<child link="link_head"/>
<origin xyz= " 0 0 0.22 " rpy = "0 0 0"/>
</joint>
<joint name="body" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.0594" upper = "2.0594" velocity = "0"/>
<parent link="base"/>
<child link="link_body"/>
<origin xyz= " 0 0 0.22 " rpy = "0 0 0"/>
</joint>
</robot>