kenaug74/mycobot_ros
1
0
Fork 0
mirror of https://github.com/elephantrobotics/mycobot_ros.git synced 2026-07-05 19:47:04 +00:00
Code Issues Projects Releases Packages Wiki Activity Actions

edit urdf

Browse source
This commit is contained in:
2929ss 2022-06-17 19:46:30 +08:00
parent c60d692160
commit 8ef09f61b8
1 changed files with 153 additions and 19 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

172
mycobot_description/urdf/mybuddy/mybuddy.urdf
View file

@ -10,7 +10,8 @@
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/mybuddy/mybuddy-down.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
<!-- <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> -->
<origin xyz = "0.0 0 0 " rpy = "0 0 3.14159 "/>
</visual>
<collision>
<geometry>
@ -41,7 +42,9 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/joint1_R.dae"/>
</geometry>
<origin xyz="0 0.00 -0.059" rpy="0 0 -1.5708"/>
<!-- <origin xyz="0 0.00 -0.059" rpy="0 0 0"/> -->
<origin xyz="0 0.00 -0.059" rpy="0 0 3.14159"/>
</visual>
<collision>
<geometry>
@ -86,7 +89,9 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/joint4_R.dae"/>
</geometry>
<origin xyz="0.00 0 -0.033" rpy="0 -1.5708 3.1415926 "/>
<!-- <origin xyz="0.00 0 -0.033" rpy="0 -1.5708 3.1415926 "/> -->
<origin xyz="0.00 0 -0.033" rpy="0 -1.5708 1.5708 "/>
</visual>
<collision>
<geometry>
@ -101,7 +106,7 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/joint5_R.dae"/>
</geometry>
<origin xyz="-0.00 0 -0.0" rpy="0 0 0"/>
<origin xyz="-0.00 0 -0.0" rpy="0 0 1.5708"/>
</visual>
<collision>
<geometry>
@ -132,7 +137,8 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/joint1_L.dae"/>
</geometry>
<origin xyz="0 0.00 0.059" rpy="0 3.1415926 -1.5708"/>
<!-- <origin xyz="0 0.00 0.059" rpy="0 0 0"/> -->
<origin xyz="0 0.00 -0.059" rpy="0 0 -1.5708"/>
</visual>
<collision>
<geometry>
@ -141,22 +147,146 @@
<origin xyz="0 0 -0.059" rpy="0 0 -1.5708"/>
</collision>
</link>
<link name="link2_L">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/joint2_L.dae"/>
</geometry>
<origin xyz="0 0 -0.03" rpy="0 -1.5708 3.1415926"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/joint2_L.dae"/>
</geometry>
<origin xyz="0 0 -0.03" rpy="0 -1.5708 3.1415926"/>
</collision>
</link>
<link name="link3_L">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/joint3_L.dae"/>
</geometry>
<origin xyz="-0.00 0 -0.028" rpy="0 -1.5708 3.1415926"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/joint3_L.dae"/>
</geometry>
<origin xyz="-0.00 0 -0.028" rpy="0 -1.5708 3.1415926"/>
</collision>
</link>
<link name="link4_L">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/joint4_L.dae"/>
</geometry>
<!-- <origin xyz="0.00 0 -0.033" rpy="0 -1.5708 3.1415926 "/> -->
<origin xyz="0.00 0 -0.033" rpy="0 -1.5708 1.5708 "/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/joint4_L.dae"/>
</geometry>
<origin xyz="0 0 0" rpy="0 -1.5708 3.1415926"/>
</collision>
</link>
<link name="link5_L">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/joint5_L.dae"/>
</geometry>
<origin xyz="-0.00 0 -0.0" rpy="0 0 1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/joint5_L.dae"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
</collision>
</link>
<link name="link6_L">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/joint6_L.dae"/>
</geometry>
<origin xyz="-0.00 0 -0.0" rpy="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/joint6_L.dae"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
</collision>
</link>
<joint name="base_link1" type="revolute">
<!-- left joints -->
<joint name="joint1_L" 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 0.22 " rpy = "0 0 0"/>
<parent link="link1"/>
<child link="link1_L"/>
<!-- <origin xyz= " 0 -0.129 0.001 " rpy = "0 0 0"/> -->
<origin xyz= " 0 -0.129 0.001 " rpy = "1.5708 -1.5708 0"/>
</joint>
<joint name="joint2_L" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link1_L"/>
<child link="link2_L"/>
<!-- <origin xyz= " 0 -0.05 0.00 " rpy = "0 0 0"/> -->
<origin xyz= " 0 -0.05 0.00 " rpy = "1.5708 -1.5708 0"/>
</joint>
<joint name="joint3_L" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link2_L"/>
<child link="link3_L"/>
<origin xyz= " 0.11 0.0 0.00 " rpy = "0 0 0"/>
</joint>
<joint name="joint4_L" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link3_L"/>
<child link="link4_L"/>
<origin xyz= " 0.097 0.0 -0.0 " rpy = "0 0 1.5708"/>
</joint>
<joint name="joint5_L" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link4_L"/>
<child link="link5_L"/>
<!-- <origin xyz= "0 -0.035 0.00 " rpy = "0 0 0"/> -->
<origin xyz= "0 -0.035 0.00 " rpy = "1.5708 3.14159 0 "/>
</joint>
<joint name="joint6_L" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link5_L"/>
<child link="link6_L"/>
<origin xyz= "-0.035 0 0.0375 " rpy = "0 -1.5708 0"/>
</joint>
<!-- right joints -->
<joint name="joint1_R" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link1"/>
<child link="link1_R"/>
<origin xyz= " 0 -0.129 0.001 " rpy = "1.5708 0 0"/>
<!-- <origin xyz= " 0 0.129 0.001 " rpy = "0 0 0"/> -->
<origin xyz= " 0 0.129 0.001 " rpy = "-1.5708 3.14159 0"/>
</joint>
<joint name="joint2_R" type="revolute">
@ -164,7 +294,8 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link1_R"/>
<child link="link2_R"/>
<origin xyz= " 0 -0.05 0.00 " rpy = "1.5708 0 0"/>
<!-- <origin xyz= " 0 -0.05 0.00 " rpy = "0 0 0"/> -->
<origin xyz= "-0.05 0.00 0.00 " rpy = "0 -1.5708 0"/>
</joint>
<joint name="joint3_R" type="revolute">
@ -180,7 +311,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link3_R"/>
<child link="link4_R"/>
<origin xyz= " 0.097 0.0 -0.0 " rpy = "0 0 0"/>
<origin xyz= " 0.097 0.0 -0.0 " rpy = "0 0 1.5708"/>
</joint>
<joint name="joint5_R" type="revolute">
@ -188,7 +319,8 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link4_R"/>
<child link="link5_R"/>
<origin xyz= " 0.1 0 0.00 " rpy = "0 0 0"/>
<!-- <origin xyz= "0 -0.05 0.00 " rpy = "0 0 0"/> -->
<origin xyz= "0 -0.035 0.00 " rpy = "1.570795 0 0"/>
</joint>
<joint name="joint6_R" type="revolute">
@ -196,16 +328,18 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link5_R"/>
<child link="link6_R"/>
<origin xyz= " 0.1 0.0 0.00 " rpy = "0 0 0"/>
<origin xyz= "-0.035 0 0.0375 " rpy = "0 -1.5708 0"/>
<!-- <origin xyz= "-0.035 0 0.0375 " rpy = "0 0 0"/> -->
</joint>
<!-- left joint -->
<joint name="joint1_L" type="revolute">
<!-- base joints -->
<joint name="base_link1" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link1"/>
<child link="link1_L"/>
<origin xyz= " 0 0.129 0.001 " rpy = "1.5708 0 0"/>
<parent link="base"/>
<child link="link1"/>
<origin xyz= " 0 0 0.22 " rpy = "0 0 0"/>
</joint>
</robot>