mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
add cobotx_b450 urdf and opt fix
This commit is contained in:
wangWking
parent
25fdeb5754
commit
7f5e7f705f
19 changed files with 13723 additions and 0 deletions
293
mycobot_description/urdf/cobotx_b450/base.dae
Normal file
293
mycobot_description/urdf/cobotx_b450/base.dae
Normal file
File diff suppressed because one or more lines are too long
695
mycobot_description/urdf/cobotx_b450/body.dae
Normal file
695
mycobot_description/urdf/cobotx_b450/body.dae
Normal file
File diff suppressed because one or more lines are too long
419
mycobot_description/urdf/cobotx_b450/cobotx_b450.urdf
Normal file
419
mycobot_description/urdf/cobotx_b450/cobotx_b450.urdf
Normal file
|
|
@ -0,0 +1,419 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
|
||||
|
||||
<xacro:property name="width" value=".2" />
|
||||
|
||||
<!-- 底部 -->
|
||||
<link name="base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/cobotx_b450/base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 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"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<!-- 腰部 -->
|
||||
<link name="link_body">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/cobotx_b450/body.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 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"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<!-- 屏幕头部 -->
|
||||
<link name="link_head">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/cobotx_b450/head.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 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"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<!-- 摄像头 -->
|
||||
<link name="link_eye">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/cobotx_b450/head_eye.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 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"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link1_L">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint1_L.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 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"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link2_L">
|
||||
<visual>
|
||||
<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"/>
|
||||
</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"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link3_L">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint3_L.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 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"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link4_L">
|
||||
<visual>
|
||||
<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"/>
|
||||
</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"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link5_L">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint5_L.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 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"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link6_L">
|
||||
<visual>
|
||||
<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"/>
|
||||
</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"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link7_L">
|
||||
<visual>
|
||||
<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"/>
|
||||
</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"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link1_R">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint1_R.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 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"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link2_R">
|
||||
<visual>
|
||||
<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"/>
|
||||
</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"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link3_R">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint3_R.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 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"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link4_R">
|
||||
<visual>
|
||||
<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"/>
|
||||
</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"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link5_R">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint5_R.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 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"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link6_R">
|
||||
<visual>
|
||||
<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"/>
|
||||
</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"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link7_R">
|
||||
<visual>
|
||||
<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"/>
|
||||
</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"/>
|
||||
</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"/>
|
||||
<parent link="link_body"/>
|
||||
<child link="link1_L"/>
|
||||
<origin xyz= " 0.075 0.186 0.085 " rpy = "-1.5708 0 -0.5235"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint2_L" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-1.7453" upper = "1.7453" velocity = "0"/>
|
||||
<parent link="link1_L"/>
|
||||
<child link="link2_L"/>
|
||||
<origin xyz= " 0 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"/>
|
||||
<parent link="link2_L"/>
|
||||
<child link="link3_L"/>
|
||||
<origin xyz= " 0 -0.11 0.0 " 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"/>
|
||||
<parent link="link3_L"/>
|
||||
<child link="link4_L"/>
|
||||
<origin xyz= " 0.03 0 0.095" rpy = "-1.5708 0 3.14159"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint5_L" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
|
||||
<parent link="link4_L"/>
|
||||
<child link="link5_L"/>
|
||||
<origin xyz= " 0.03 -0.126 0" rpy = "1.5708 3.14159 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6_L" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.0174" upper = "3.14159" velocity = "0"/>
|
||||
<parent link="link5_L"/>
|
||||
<child link="link6_L"/>
|
||||
<origin xyz= " 0 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"/>
|
||||
<parent link="link6_L"/>
|
||||
<child link="link7_L"/>
|
||||
<origin xyz= " 0.038 -0.046 0" rpy = "1.5708 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint1_R" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
|
||||
<parent link="link_body"/>
|
||||
<child link="link1_R"/>
|
||||
<origin xyz= " 0.075 -0.186 0.085 " rpy = "1.5708 0 0.5235"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint2_R" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-1.7453" upper = "1.7453" velocity = "0"/>
|
||||
<parent link="link1_R"/>
|
||||
<child link="link2_R"/>
|
||||
<origin xyz= " 0 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"/>
|
||||
<parent link="link2_R"/>
|
||||
<child link="link3_R"/>
|
||||
<origin xyz= " 0 -0.11 0.0 " 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"/>
|
||||
<parent link="link3_R"/>
|
||||
<child link="link4_R"/>
|
||||
<origin xyz= " 0.03 0 0.095" rpy = "-1.5708 0 3.14159"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint5_R" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
|
||||
<parent link="link4_R"/>
|
||||
<child link="link5_R"/>
|
||||
<origin xyz= " 0.03 -0.126 0" rpy = "1.5708 3.14159 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6_R" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.0174" upper = "3.14159" velocity = "0"/>
|
||||
<parent link="link5_R"/>
|
||||
<child link="link6_R"/>
|
||||
<origin xyz= " 0 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"/>
|
||||
<parent link="link6_R"/>
|
||||
<child link="link7_R"/>
|
||||
<origin xyz= " 0.038 -0.046 0" rpy = "1.5708 0 0"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
9359
mycobot_description/urdf/cobotx_b450/head.dae
Normal file
9359
mycobot_description/urdf/cobotx_b450/head.dae
Normal file
File diff suppressed because one or more lines are too long
237
mycobot_description/urdf/cobotx_b450/head_eye.dae
Normal file
237
mycobot_description/urdf/cobotx_b450/head_eye.dae
Normal file
File diff suppressed because one or more lines are too long
187
mycobot_description/urdf/cobotx_b450/joint1_L.dae
Normal file
187
mycobot_description/urdf/cobotx_b450/joint1_L.dae
Normal file
File diff suppressed because one or more lines are too long
187
mycobot_description/urdf/cobotx_b450/joint1_R.dae
Normal file
187
mycobot_description/urdf/cobotx_b450/joint1_R.dae
Normal file
File diff suppressed because one or more lines are too long
187
mycobot_description/urdf/cobotx_b450/joint2_L.dae
Normal file
187
mycobot_description/urdf/cobotx_b450/joint2_L.dae
Normal file
File diff suppressed because one or more lines are too long
187
mycobot_description/urdf/cobotx_b450/joint2_R.dae
Normal file
187
mycobot_description/urdf/cobotx_b450/joint2_R.dae
Normal file
File diff suppressed because one or more lines are too long
187
mycobot_description/urdf/cobotx_b450/joint3_L.dae
Normal file
187
mycobot_description/urdf/cobotx_b450/joint3_L.dae
Normal file
File diff suppressed because one or more lines are too long
187
mycobot_description/urdf/cobotx_b450/joint3_R.dae
Normal file
187
mycobot_description/urdf/cobotx_b450/joint3_R.dae
Normal file
File diff suppressed because one or more lines are too long
187
mycobot_description/urdf/cobotx_b450/joint4_L.dae
Normal file
187
mycobot_description/urdf/cobotx_b450/joint4_L.dae
Normal file
File diff suppressed because one or more lines are too long
187
mycobot_description/urdf/cobotx_b450/joint4_R.dae
Normal file
187
mycobot_description/urdf/cobotx_b450/joint4_R.dae
Normal file
File diff suppressed because one or more lines are too long
187
mycobot_description/urdf/cobotx_b450/joint5_L.dae
Normal file
187
mycobot_description/urdf/cobotx_b450/joint5_L.dae
Normal file
File diff suppressed because one or more lines are too long
187
mycobot_description/urdf/cobotx_b450/joint5_R.dae
Normal file
187
mycobot_description/urdf/cobotx_b450/joint5_R.dae
Normal file
File diff suppressed because one or more lines are too long
238
mycobot_description/urdf/cobotx_b450/joint6_L.dae
Normal file
238
mycobot_description/urdf/cobotx_b450/joint6_L.dae
Normal file
File diff suppressed because one or more lines are too long
238
mycobot_description/urdf/cobotx_b450/joint6_R.dae
Normal file
238
mycobot_description/urdf/cobotx_b450/joint6_R.dae
Normal file
File diff suppressed because one or more lines are too long
187
mycobot_description/urdf/cobotx_b450/joint7_L.dae
Normal file
187
mycobot_description/urdf/cobotx_b450/joint7_L.dae
Normal file
File diff suppressed because one or more lines are too long
187
mycobot_description/urdf/cobotx_b450/joint7_R.dae
Normal file
187
mycobot_description/urdf/cobotx_b450/joint7_R.dae
Normal file
File diff suppressed because one or more lines are too long
Loading…
Add table
Reference in a new issue