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2929ss 2022-07-01 18:11:47 +08:00
parent 1cd52dbccb
commit 8317486de9
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mycobot_description/urdf/260_urdf/mypal_260_aikit.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="env">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/260_urdf/suit_env.dae" scale="1.2 1.2 1.2"/>
</geometry>
<origin xyz = "0 0 -0.02 " rpy = "1.5708 0 -1.5708"/>
</visual>
</link>
<link name="base">
<visual>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/260_urdf/base.dae"/>
</geometry>
<origin xyz = " 0 -0.28 0.051 " rpy = " 1.5707963 0 -1.5707963"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/260_urdf/base.dae"/>
</geometry>
<origin xyz = " 0 -0.28 0.051 " rpy = " 1.5707963 0 -1.5707963"/>
</collision>
</link>
<link name="link1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/260_urdf/link1.dae"/>
</geometry>
<origin xyz = "0 -0.282 -0.115 " rpy = " 1.5707963 0 -1.5707963"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/260_urdf/link1.dae"/>
</geometry>
<origin xyz = "0 -0.282 -0.115 " rpy = " 1.5707963 0 -1.5707963"/>
</collision>
</link>
<link name="link2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/260_urdf/link2.dae"/>
</geometry>
<origin xyz = "0 0.105 -0.414 " rpy = " 0 1.5707963 3.1415926"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/260_urdf/link2.dae"/>
</geometry>
<origin xyz = "0 0.105 -0.414 " rpy = " 0 1.5707963 3.1415926"/>
</collision>
</link>
<link name="link3">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/260_urdf/link3.dae"/>
</geometry>
<origin xyz = "0 0.235 -0.325 " rpy = "0 1.5707963 3.1419626"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/260_urdf/link3.dae"/>
</geometry>
<origin xyz = "0 0.235 -0.325 " rpy = "0 1.5707963 3.1419626"/>
</collision>
</link>
<link name="link4">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/260_urdf/link4.dae"/>
</geometry>
<origin xyz = "-0.12 -0.235 0.252" rpy = " 0 -1.5707963 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/260_urdf/link4.dae"/>
</geometry>
<origin xyz = "-0.12 -0.235 0.252" rpy = " 0 -1.5707963 0"/>
</collision>
</link>
<link name="link5">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<cylinder length="0.015" radius="0.0152"/>
</geometry>
<material name = "grey">
<color rgba = "0.5 0.5 0.5 1"/>
</material>
<origin xyz = "0 -0.001 0.01 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<cylinder length="0.015" radius="0.0152"/>
</geometry>
<origin xyz = "0 -0.001 0.01 " rpy = " 0 0 0"/>
</collision>
</link>
<joint name="joint1_to_base" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.824" upper = "2.824" velocity = "0"/>
<parent link="base"/>
<child link="link1"/>
<origin xyz= "0 0 0.12" rpy = "0 0 0"/>
</joint>
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.014" upper = "1.49" velocity = "0"/>
<parent link="link1"/>
<child link="link2"/>
<origin xyz= "0 0 0.0" rpy = " -1.5707963 0 0 "/>
</joint>
<joint name="joint3_to_joint2" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-0.213" upper = "1.106" velocity = "0"/>
<parent link="link2"/>
<child link="link3"/>
<origin xyz= "0.0 -0.14 0 " rpy = "0 0 0 "/>
</joint>
<joint name="joint4_to_joint3" type="fixed">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "0" upper = "1.5707963" velocity = "0"/>
<parent link="link3"/>
<child link="link4"/>
<origin xyz= "0.134 -0.005 0.0" rpy = "3.1415926 0 0 "/>
</joint>
<joint name="joint5_to_joint4" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="link4"/>
<child link="link5"/>
<origin xyz= " 0.044 0 0" rpy = " 1.5707963 0 0 "/>
<!-- <origin xyz= " 0.178 0 -0.005" rpy = " -1.5707963 0 0 "/> -->
</joint>
<joint name="vision_joint" type="fixed">
<axis xyz="0 0 0"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="base"/>
<child link="env"/>
<origin xyz= "0 0 0" rpy = "0 0 0"/>
</joint>
</robot>

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