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Remove the gripper of the 320 model

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This commit is contained in:
weiquan 2021-12-13 10:19:49 +08:00
parent 601941d65a
commit a22eb3a236
2 changed files with 12 additions and 33 deletions
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1
mycobot_320_moveit/config/firefighter.srdf
View file

@ -16,7 +16,6 @@
<joint name="joint5_to_joint4" />
<joint name="joint6_to_joint5" />
<joint name="joint6output_to_joint6" />
<joint name="gitpper_to_joint6output" />
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="init_pose" group="arm_group">

44
mycobot_description/urdf/320_urdf/mycobot_pro_320.urdf
View file

@ -1,15 +1,15 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
<xacro:property name="width" value=".2" />
<xacro:property name="width" value=".2" />
<link name="base">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/base.dae"/>
<mesh filename="package://mycobot_description/urdf/320_urdf/base.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
</visual>
<collision>
<origin xyz = "0 0 0.05 " rpy = " 0 0 0"/>
@ -22,7 +22,7 @@
<link name="link1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/link1.dae"/>
<mesh filename="package://mycobot_description/urdf/320_urdf/link1.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
</visual>
@ -38,12 +38,12 @@
<link name="link2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/link2.dae"/>
<mesh filename="package://mycobot_description/urdf/320_urdf/link2.dae"/>
</geometry>
<origin xyz = "0 0 0.0587 " rpy = " 0 0 3.1415926"/>
</visual>
<collision>
<origin xyz = "0.07 0 0.095 " rpy = " 0 -1.5708 0"/>
<origin xyz = "0.07 0 0.095 " rpy = " 0 -1.5708 0"/>
<geometry>
<cylinder length="0.18" radius="0.036"/>
</geometry>
@ -54,7 +54,7 @@
<link name="link3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/link3.dae"/>
<mesh filename="package://mycobot_description/urdf/320_urdf/link3.dae"/>
</geometry>
<origin xyz = "0 0 0.038 " rpy = " 0 0 3.1415926"/>
</visual>
@ -71,7 +71,7 @@
<link name="link4">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/link4.dae"/>
<mesh filename="package://mycobot_description/urdf/320_urdf/link4.dae"/>
</geometry>
<origin xyz = "0 -0.001 0 " rpy = " 0 0 0"/>
</visual>
@ -87,7 +87,7 @@
<link name="link5">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/link5.dae"/>
<mesh filename="package://mycobot_description/urdf/320_urdf/link5.dae"/>
</geometry>
<origin xyz = "0 0.002 0 " rpy = " 0 0 3.1415926"/>
</visual>
@ -107,9 +107,9 @@
<material name = "grey">
<color rgba = "0.5 0.5 0.5 1"/>
</material>
<origin xyz = "0 0 -0.01 " rpy = " 0 0 0"/>
<origin xyz = "0 0 -0.01 " rpy = " 0 0 0"/>
</visual>
<collision>
<collision>
<origin xyz = "0.0 0 -0.01 " rpy = " 0 0 0"/>
<geometry>
<cylinder length="0.0225" radius="0.026"/>
@ -117,16 +117,6 @@
</collision>
</link>
<link name="gripper">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/gripper.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
</visual>
</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"/>
@ -177,15 +167,5 @@
<origin xyz= "0 0.06 0" rpy = "-1.57080 0 0 "/>
</joint>
<joint name="gitpper_to_joint6output" type="fixed">
<axis xyz="0 0 0"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link6"/>
<child link="gripper"/>
<origin xyz= "0 0 0" rpy = "0 0 0 "/>
</joint>
</robot>