mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
Merge pull request #135 from elephantrobotics/mycobot600_gripper
Mycobot600 gripper
This commit is contained in:
wangWking
GitHub
commit
a819e848d7
245 changed files with 19318 additions and 286 deletions
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@ -21,14 +21,15 @@ import moveit_commander
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from geometry_msgs.msg import Pose
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global mam
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mam = MyArmM('/dev/ttyACM1', debug=False)
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mam = MyArmC('/dev/ttyACM0', debug=False)
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angle = mam.get_joints_angle()
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print(angle)
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# mam.set_tool_led_color(255,255,255)
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# mam.set_tool_led_color(0,255,0)
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# for i in range(8):
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# mam.set_servo_calibrate(i)
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# time.sleep(0.5)
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# angle = mam.get_joints_angle()
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# print(angle)
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# def linear_transform(x):
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# # 两个已知数据点
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# x1, y1 = -89.5, 0.022
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@ -11,7 +11,7 @@ Panels:
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- /TF1/Frames1
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- /TF1/Tree1
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Splitter Ratio: 0.5
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Tree Height: 609
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Tree Height: 637
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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@ -65,57 +65,7 @@ Visualization Manager:
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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camera_flange:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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g_base:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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joint1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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joint2:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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joint3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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joint4:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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joint5:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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joint6:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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joint6_flange:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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pump_box:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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pump_head:
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base:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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@ -132,48 +82,14 @@ Visualization Manager:
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Filter (whitelist): ""
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Frame Timeout: 15
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Frames:
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All Enabled: true
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camera_flange:
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Value: true
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g_base:
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Value: true
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joint1:
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Value: true
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joint2:
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Value: true
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joint3:
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Value: true
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joint4:
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Value: true
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joint5:
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Value: true
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joint6:
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Value: true
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joint6_flange:
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Value: true
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pump_box:
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Value: true
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pump_head:
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Value: true
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All Enabled: false
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Marker Alpha: 1
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Marker Scale: 0.10000000149011612
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Marker Scale: 0.30000001192092896
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: true
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Tree:
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g_base:
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joint1:
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joint2:
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joint3:
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joint4:
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joint5:
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joint6:
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joint6_flange:
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camera_flange:
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pump_head:
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{}
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pump_box:
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{}
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Update Interval: 0
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Value: true
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@ -189,7 +105,7 @@ Visualization Manager:
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Global Options:
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Background Color: 48; 48; 48
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Default Light: true
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Fixed Frame: joint1
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Fixed Frame: base
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Frame Rate: 30
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Name: root
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Tools:
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@ -213,7 +129,7 @@ Visualization Manager:
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 1.0996487140655518
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Distance: 1.204347848892212
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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@ -221,25 +137,25 @@ Visualization Manager:
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Value: false
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Field of View: 0.7853981852531433
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Focal Point:
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X: -0.07064759731292725
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Y: -0.0814988762140274
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Z: 0.10758385062217712
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X: -0.021931247785687447
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Y: -0.011295657604932785
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Z: -0.008990013971924782
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.5753980875015259
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Pitch: 0.6003984808921814
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Target Frame: <Fixed Frame>
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Yaw: 3.950380325317383
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Yaw: 1.0435491800308228
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 906
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Height: 934
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd00000004000000000000016a000002ecfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ec000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001c2000002ecfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ec000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000400000002ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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QMainWindow State: 000000ff00000000fd00000004000000000000016a00000308fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000308000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001c200000308fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000308000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007360000003efc0100000002fb0000000800540069006d0065010000000000000736000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000003fe0000030800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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@ -248,6 +164,6 @@ Window Geometry:
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collapsed: false
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Views:
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collapsed: false
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Width: 1848
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Width: 1846
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X: 72
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Y: 27
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@ -15,7 +15,7 @@
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<!-- Combinejoin values to TF，将值合并到TF -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
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<!-- <param name="use_gui" value="$(arg gui)" /> -->
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<param name="use_gui" value="$(arg gui)" />
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<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
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</node>
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<!-- Open control script -->
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@ -1,5 +1,6 @@
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<launch>
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<arg name="model" default="$(find mycobot_description)/urdf/mycobot_280_m5/mycobot_280_m5.urdf"/>
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<!-- <arg name="model" default="$(find mycobot_description)/urdf/flange/flange.urdf"/> -->
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<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
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<arg name="gui" default="true" />
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@ -24,7 +24,7 @@ def talker():
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rospy.init_node("display", anonymous=True)
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print("Try connect real mycobot...")
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port = rospy.get_param("~port", "/dev/ttyUSB0")
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port = rospy.get_param("~port", "/dev/ttyACM0")
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baud = rospy.get_param("~baud", 115200)
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print("port: {}, baud: {}\n".format(port, baud))
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try:
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@ -52,6 +52,7 @@ def talker():
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joint_state_send.header = Header()
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joint_state_send.name = [
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"joint2_to_joint1",
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"joint3_to_joint2",
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"joint4_to_joint3",
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@ -28,6 +28,7 @@
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</group_state>
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<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
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<virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="joint1" />
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<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
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<disable_collisions link1="joint1" link2="joint2" reason="Adjacent" />
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<disable_collisions link1="joint1" link2="joint5" reason="Never" />
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@ -39,4 +40,6 @@
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<disable_collisions link1="joint5" link2="joint6" reason="Adjacent" />
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<disable_collisions link1="joint5" link2="joint6_flange" reason="Never" />
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<disable_collisions link1="joint6" link2="joint6_flange" reason="Adjacent" />
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</robot>
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@ -1,6 +1,6 @@
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Panels:
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- Class: rviz/Displays
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Help Height: 84
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Help Height: 0
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Name: Displays
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Property Tree Widget:
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Expanded:
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@ -9,8 +9,8 @@ Panels:
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- /MotionPlanning1/Scene Robot1
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- /MotionPlanning1/Planning Request1
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- /MotionPlanning1/Planned Path1
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Splitter Ratio: 0.742560029
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Tree Height: 325
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Splitter Ratio: 0.7425600290298462
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Tree Height: 204
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- Class: rviz/Help
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Name: Help
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- Class: rviz/Views
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@ -18,6 +18,8 @@ Panels:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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Preferences:
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PromptSaveOnExit: true
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Toolbars:
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toolButtonStyle: 2
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Visualization Manager:
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@ -29,7 +31,7 @@ Visualization Manager:
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.0299999993
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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@ -44,17 +46,16 @@ Visualization Manager:
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- Acceleration_Scaling_Factor: 0.5
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Class: moveit_rviz_plugin/MotionPlanning
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Enabled: true
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JointsTab_Use_Radians: true
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Move Group Namespace: ""
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MoveIt_Allow_Approximate_IK: false
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MoveIt_Allow_External_Program: false
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MoveIt_Allow_Replanning: false
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MoveIt_Allow_Sensor_Positioning: false
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MoveIt_Goal_Tolerance: 0
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MoveIt_Planning_Attempts: 10
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MoveIt_Planning_Time: 5
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MoveIt_Use_Cartesian_Path: false
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MoveIt_Use_Constraint_Aware_IK: true
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MoveIt_Warehouse_Host: 127.0.0.1
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MoveIt_Warehouse_Port: 33829
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MoveIt_Workspace:
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Center:
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X: 0
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@ -74,6 +75,11 @@ Visualization Manager:
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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g_base:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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joint1:
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Alpha: 1
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Show Axes: false
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@ -118,20 +124,21 @@ Visualization Manager:
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State Display Time: 0.05 s
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Trail Step Size: 1
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Trajectory Topic: move_group/display_planned_path
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Use Sim Time: false
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Planning Metrics:
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Payload: 1
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Show Joint Torques: false
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Show Manipulability: false
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Show Manipulability Index: false
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Show Weight Limit: false
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TextHeight: 0.0799999982
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TextHeight: 0.07999999821186066
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Planning Request:
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Colliding Link Color: 255; 0; 0
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Goal State Alpha: 1
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Goal State Color: 250; 128; 0
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Interactive Marker Size: 0
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Interactive Marker Size: 0.15000000596046448
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Joint Violation Color: 255; 0; 255
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Planning Group: mycobot_arm
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Planning Group: arm_group
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Query Goal State: true
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Query Start State: true
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Show Workspace: false
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|
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@ -142,7 +149,7 @@ Visualization Manager:
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Scene Geometry:
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Scene Alpha: 1
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Scene Color: 50; 230; 50
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||||
Scene Display Time: 0.200000003
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Scene Display Time: 0.20000000298023224
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||||
Show Scene Geometry: true
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||||
Voxel Coloring: Z-Axis
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Voxel Rendering: Occupied Voxels
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|
|
@ -154,6 +161,11 @@ Visualization Manager:
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|||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
g_base:
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||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint1:
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||||
Alpha: 1
|
||||
Show Axes: false
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||||
|
|
@ -210,30 +222,30 @@ Visualization Manager:
|
|||
Views:
|
||||
Current:
|
||||
Class: rviz/XYOrbit
|
||||
Distance: 1.39158678
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||||
Distance: 1.2357749938964844
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.0599999987
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Field of View: 0.7853981852531433
|
||||
Focal Point:
|
||||
X: 0.113567002
|
||||
Y: 0.105920002
|
||||
Z: 2.23518001e-07
|
||||
X: 0.0016935542225837708
|
||||
Y: -0.01711718738079071
|
||||
Z: 1.0430871100197692e-07
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.0500000007
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.00999999978
|
||||
Pitch: 0.439796686
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.2997974753379822
|
||||
Target Frame: joint1
|
||||
Value: XYOrbit (rviz)
|
||||
Yaw: 2.5317657
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||||
Yaw: 0.9767614603042603
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 1028
|
||||
Height: 824
|
||||
Help:
|
||||
collapsed: false
|
||||
Hide Left Dock: false
|
||||
|
|
@ -242,9 +254,9 @@ Window Geometry:
|
|||
collapsed: false
|
||||
MotionPlanning - Trajectory Slider:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd0000000100000000000002ad000003befc0200000007fb000000100044006900730070006c0061007900730100000028000001da000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000002080000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000002580000018e0000018300ffffff00000471000003be00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
QMainWindow State: 000000ff00000000fd0000000100000000000001f3000002defc0200000007fb000000100044006900730070006c006100790073010000003d00000109000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c0069006400650072010000014c000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000193000001880000017d00ffffff0000053d000002de00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1828
|
||||
X: 92
|
||||
Y: 24
|
||||
Width: 1846
|
||||
X: 72
|
||||
Y: 27
|
||||
|
|
|
|||
|
|
@ -7,6 +7,9 @@
|
|||
|
||||
<!-- Load universal robot description format (URDF) -->
|
||||
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_280_m5/mycobot_280_m5.urdf"/>
|
||||
<!-- <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_630/mycobot_pro_630.urdf"/> -->
|
||||
<!-- <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_630/mybase_j3.urdf"/> -->
|
||||
|
||||
|
||||
<!-- The semantic description that corresponds to the URDF -->
|
||||
<param name="$(arg robot_description)_semantic" textfile="$(find mycobot_280_moveit)/config/firefighter.srdf" />
|
||||
|
|
|
|||
|
|
@ -6,6 +6,6 @@ moveit_setup_assistant_config:
|
|||
SRDF:
|
||||
relative_path: config/firefighter.srdf
|
||||
CONFIG:
|
||||
author_name: wwj
|
||||
author_email: wwj@elephantrobot.com
|
||||
author_name: Jz
|
||||
author_email: Jz@elephantrobot.com
|
||||
generated_timestamp: 1683628879
|
||||
|
|
@ -2,18 +2,25 @@ controller_list:
|
|||
- name: fake_arm_group_controller
|
||||
type: $(arg fake_execution_type)
|
||||
joints:
|
||||
# - joint2_to_joint1
|
||||
# - joint3_to_joint2
|
||||
# - joint4_to_joint3
|
||||
# - joint5_to_joint4
|
||||
# - joint6_to_joint5
|
||||
# - joint6output_to_joint6
|
||||
- joint1_to_base
|
||||
- joint2_to_joint1
|
||||
- joint3_to_joint2
|
||||
- joint4_to_joint3
|
||||
- joint5_to_joint4
|
||||
- joint6_to_joint5
|
||||
- joint6output_to_joint6
|
||||
- joint6output_to_tool1
|
||||
- name: fake_gripper_group_controller
|
||||
type: $(arg fake_execution_type)
|
||||
joints:
|
||||
- gripper_controller
|
||||
initial: # Define initial robot poses per group
|
||||
- group: arm_group
|
||||
pose: init_pose
|
||||
- group: gripper_group
|
||||
pose: init_gripper
|
||||
# initial: # Define initial robot poses per group
|
||||
# - group: arm_group
|
||||
# pose: init_pose
|
||||
# - group: gripper_group
|
||||
# pose: init_gripper
|
||||
|
|
@ -1,6 +1,6 @@
|
|||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 84
|
||||
Help Height: 0
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
|
|
@ -9,7 +9,7 @@ Panels:
|
|||
- /MotionPlanning1/Planning Request1
|
||||
- /MotionPlanning1/Planned Path1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 109
|
||||
Tree Height: 200
|
||||
- Class: rviz/Help
|
||||
Name: Help
|
||||
- Class: rviz/Views
|
||||
|
|
@ -45,6 +45,7 @@ Visualization Manager:
|
|||
- Acceleration_Scaling_Factor: 0.1
|
||||
Class: moveit_rviz_plugin/MotionPlanning
|
||||
Enabled: true
|
||||
JointsTab_Use_Radians: true
|
||||
Move Group Namespace: ""
|
||||
MoveIt_Allow_Approximate_IK: true
|
||||
MoveIt_Allow_External_Program: false
|
||||
|
|
@ -52,7 +53,7 @@ Visualization Manager:
|
|||
MoveIt_Allow_Sensor_Positioning: false
|
||||
MoveIt_Planning_Attempts: 10
|
||||
MoveIt_Planning_Time: 5
|
||||
MoveIt_Use_Cartesian_Path: false
|
||||
MoveIt_Use_Cartesian_Path: true
|
||||
MoveIt_Use_Constraint_Aware_IK: true
|
||||
MoveIt_Workspace:
|
||||
Center:
|
||||
|
|
@ -78,10 +79,6 @@ Visualization Manager:
|
|||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
base_footprint:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
gripper_base:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
|
|
@ -117,32 +114,42 @@ Visualization Manager:
|
|||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
link1:
|
||||
joint1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
link2:
|
||||
joint2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
link3:
|
||||
joint3:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
link4:
|
||||
joint4:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
link5:
|
||||
joint5:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
link6:
|
||||
joint6:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
tool1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
tool2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
|
|
@ -168,11 +175,11 @@ Visualization Manager:
|
|||
Colliding Link Color: 255; 0; 0
|
||||
Goal State Alpha: 1
|
||||
Goal State Color: 250; 128; 0
|
||||
Interactive Marker Size: 0.15000000596046448
|
||||
Interactive Marker Size: 0.20000000298023224
|
||||
Joint Violation Color: 255; 0; 255
|
||||
Planning Group: arm_group
|
||||
Query Goal State: true
|
||||
Query Start State: false
|
||||
Query Start State: true
|
||||
Show Workspace: false
|
||||
Start State Alpha: 1
|
||||
Start State Color: 0; 255; 0
|
||||
|
|
@ -198,10 +205,6 @@ Visualization Manager:
|
|||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
base_footprint:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
gripper_base:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
|
|
@ -237,32 +240,42 @@ Visualization Manager:
|
|||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
link1:
|
||||
joint1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
link2:
|
||||
joint2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
link3:
|
||||
joint3:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
link4:
|
||||
joint4:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
link5:
|
||||
joint5:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
link6:
|
||||
joint6:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
tool1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
tool2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
|
|
@ -314,7 +327,7 @@ Visualization Manager:
|
|||
Views:
|
||||
Current:
|
||||
Class: rviz/Orbit
|
||||
Distance: 2
|
||||
Distance: 1.4812843799591064
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
|
|
@ -322,17 +335,17 @@ Visualization Manager:
|
|||
Value: false
|
||||
Field of View: 0.75
|
||||
Focal Point:
|
||||
X: -0.10000000149011612
|
||||
Y: 0.25
|
||||
Z: 0.30000001192092896
|
||||
X: -0.07944566011428833
|
||||
Y: 0.29104751348495483
|
||||
Z: 0.29134249687194824
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.3399999737739563
|
||||
Pitch: 1.0449998378753662
|
||||
Target Frame: base
|
||||
Yaw: 2.9449498653411865
|
||||
Yaw: 6.149951934814453
|
||||
Saved:
|
||||
- Class: rviz/Orbit
|
||||
Distance: 2
|
||||
|
|
@ -357,7 +370,7 @@ Visualization Manager:
|
|||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 919
|
||||
Height: 820
|
||||
Help:
|
||||
collapsed: false
|
||||
Hide Left Dock: false
|
||||
|
|
@ -366,9 +379,9 @@ Window Geometry:
|
|||
collapsed: false
|
||||
MotionPlanning - Trajectory Slider:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd0000000100000000000001f30000033dfc0200000007fb000000100044006900730070006c006100790073010000003d000000fe000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000141000000520000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000199000001e10000017d00ffffff000003120000033d00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
QMainWindow State: 000000ff00000000fd0000000100000000000001f3000002dafc0200000007fb000000100044006900730070006c006100790073010000003d00000105000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000148000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000018f000001880000017d00ffffff00000539000002da00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1291
|
||||
X: 454
|
||||
Width: 1842
|
||||
X: 72
|
||||
Y: 27
|
||||
|
|
|
|||
|
|
@ -6,10 +6,12 @@
|
|||
<arg name="robot_description" default="robot_description"/>
|
||||
|
||||
<!-- Load universal robot description format (URDF) -->
|
||||
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_320_m5_2020/mycobot_pro_320_m5_2020_gripper.urdf"/>
|
||||
<!-- <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_320_m5_2020/mycobot_pro_320_m5_2020_gripper.urdf"/> -->
|
||||
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_630/mycobot_630_gripper.urdf"/>
|
||||
|
||||
<!-- The semantic description that corresponds to the URDF -->
|
||||
<param name="$(arg robot_description)_semantic" textfile="$(find mycobot_320_gripper_moveit)/config/firefighter.srdf" />
|
||||
<!-- <param name="$(arg robot_description)_semantic" textfile="$(find mycobot_320_gripper_moveit)/config/firefighter.srdf" /> -->
|
||||
<param name="$(arg robot_description)_semantic" textfile="$(find new_mycobot_630_gripper_moveit)/config/firefighter.srdf" />
|
||||
|
||||
<!-- Load updated joint limits (override information from URDF) -->
|
||||
<group ns="$(arg robot_description)_planning">
|
||||
|
|
|
|||
|
|
@ -8,7 +8,16 @@ Passable parameters:
|
|||
port: serial prot string. Defaults is '/dev/ttyUSB0'
|
||||
baud: serial prot baudrate. Defaults is 115200.
|
||||
"""
|
||||
from socket import *
|
||||
import math
|
||||
import sys
|
||||
import time
|
||||
from multiprocessing import Lock
|
||||
|
||||
import rospy
|
||||
from sensor_msgs.msg import JointState
|
||||
|
||||
from pymycobot.elephantrobot import ElephantRobot
|
||||
import rospy
|
||||
import time
|
||||
from sensor_msgs.msg import JointState
|
||||
|
|
@ -50,17 +59,24 @@ def callback(data):
|
|||
def listener():
|
||||
global mc
|
||||
global gripper_value
|
||||
|
||||
rospy.init_node("control_slider", anonymous=True)
|
||||
|
||||
ip = rospy.get_param("~ip", "192.168.1.161")
|
||||
port = rospy.get_param("~port", 5001)
|
||||
print (ip, port)
|
||||
mc = ElephantRobot(ip, int(port))
|
||||
# START CLIENT,启动客户端
|
||||
res = mc.start_client()
|
||||
if res != "":
|
||||
sys.exit(1)
|
||||
|
||||
mc.set_speed(90)
|
||||
|
||||
rospy.Subscriber("joint_states", JointState, callback)
|
||||
port = rospy.get_param("~port", "/dev/ttyUSB0")
|
||||
baud = rospy.get_param("~baud", 115200)
|
||||
print(port, baud)
|
||||
mc = MyCobot(port, baud)
|
||||
|
||||
# spin() simply keeps python from exiting until this node is stopped
|
||||
print("spin ...")
|
||||
# spin()只是阻止python退出，直到该节点停止
|
||||
print ("sping ...")
|
||||
rospy.spin()
|
||||
|
||||
|
||||
|
|
|
|||
102
mycobot_320/mycobot_320_gripper_moveit/scripts/sync_plan_630.py
Executable file
102
mycobot_320/mycobot_320_gripper_moveit/scripts/sync_plan_630.py
Executable file
|
|
@ -0,0 +1,102 @@
|
|||
#!/usr/bin/env python3
|
||||
# -*- coding: utf-8 -*-
|
||||
from socket import *
|
||||
import math
|
||||
import sys
|
||||
import time
|
||||
from multiprocessing import Lock
|
||||
import numpy as np
|
||||
import rospy
|
||||
from sensor_msgs.msg import JointState
|
||||
|
||||
from pymycobot.elephantrobot import ElephantRobot
|
||||
|
||||
global mc
|
||||
gripper_value = []
|
||||
|
||||
|
||||
|
||||
def linear_mapping(value, input_start, input_end, output_start, output_end):
|
||||
"""
|
||||
Maps a value from one range to another using a linear transformation.
|
||||
|
||||
Args:
|
||||
value (float): The input value to be mapped.
|
||||
input_start (float): The start of the input range.
|
||||
input_end (float): The end of the input range.
|
||||
output_start (float): The start of the output range.
|
||||
output_end (float): The end of the output range.
|
||||
|
||||
Returns:
|
||||
float: The mapped value in the output range.
|
||||
"""
|
||||
# Calculate the slope of the linear function
|
||||
slope = (output_end - output_start) / (input_end - input_start)
|
||||
# Calculate the mapped value
|
||||
mapped_value = output_start + slope * (value - input_start)
|
||||
return mapped_value
|
||||
|
||||
|
||||
def callback(data):
|
||||
"""callback function,回调函数"""
|
||||
# rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
|
||||
|
||||
data_list = []
|
||||
for index, value in enumerate(data.position):
|
||||
radians_to_angles = round(math.degrees(value), 2)
|
||||
data_list.append(radians_to_angles)
|
||||
|
||||
rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
|
||||
# mc.write_angles(data_list, 800)
|
||||
|
||||
list_i = []
|
||||
for i in data_list[:6]:
|
||||
list_i.append(i)
|
||||
mc.write_angles(list_i,800)
|
||||
|
||||
list_j = []
|
||||
for j in data_list[6:]:
|
||||
list_j.append(j)
|
||||
# list_j = [int(a) for a in list_j]
|
||||
|
||||
mc.set_gripper_mode(0)
|
||||
# Define the input and output ranges
|
||||
input_start = 17
|
||||
input_end = -40
|
||||
output_start = 100
|
||||
output_end = 0
|
||||
num = [linear_mapping(value, input_start, input_end, output_start, output_end) for value in list_j]
|
||||
num2 = [int(i) for i in num]
|
||||
num2 = num2[1]
|
||||
mc.set_gripper_value(num2,100)
|
||||
rospy.loginfo(num2)
|
||||
|
||||
|
||||
|
||||
|
||||
def listener():
|
||||
global mc
|
||||
global gripper_value
|
||||
rospy.init_node("control_slider", anonymous=True)
|
||||
|
||||
ip = rospy.get_param("~ip", "192.168.1.161")
|
||||
port = rospy.get_param("~port", 5001)
|
||||
print (ip, port)
|
||||
mc = ElephantRobot(ip, int(port))
|
||||
# START CLIENT,启动客户端
|
||||
res = mc.start_client()
|
||||
if res != "":
|
||||
sys.exit(1)
|
||||
|
||||
mc.set_speed(90)
|
||||
|
||||
rospy.Subscriber("joint_states", JointState, callback)
|
||||
|
||||
# spin() simply keeps python from exiting until this node is stopped
|
||||
# spin()只是阻止python退出，直到该节点停止
|
||||
print ("sping ...")
|
||||
rospy.spin()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
listener()
|
||||
35
mycobot_320/mycobot_320_gripper_moveit/scripts/test.py
Normal file
35
mycobot_320/mycobot_320_gripper_moveit/scripts/test.py
Normal file
|
|
@ -0,0 +1,35 @@
|
|||
from pymycobot.elephantrobot import ElephantRobot
|
||||
import time
|
||||
|
||||
global mc
|
||||
|
||||
mc = ElephantRobot("192.168.1.161",5001)
|
||||
|
||||
|
||||
|
||||
|
||||
# 启动机器人必要指令
|
||||
mc.start_client()
|
||||
time.sleep(1)
|
||||
mc.set_gripper_mode(0)
|
||||
time.sleep(1)
|
||||
|
||||
|
||||
|
||||
# mc.power_off()#夹爪透传换IO模式时需要先关闭机器再重启机器人一次，仅使用夹爪透传模式不必关闭机器人
|
||||
# mc.state_off()
|
||||
# time.sleep(3)
|
||||
# mc.power_on()
|
||||
# time.sleep(3)
|
||||
# mc.state_on()
|
||||
# time.sleep(3)
|
||||
# mc.set_gripper_mode(0)
|
||||
mc.set_gripper_calibrate()
|
||||
|
||||
# #透传模式
|
||||
|
||||
# for i in range(3):
|
||||
# mc.set_gripper_value(46, 20)
|
||||
# time.sleep(1)
|
||||
# mc.set_gripper_value(96, 20)
|
||||
# time.sleep(1)
|
||||
19
mycobot_description/urdf/flange/flange.urdf
Normal file
19
mycobot_description/urdf/flange/flange.urdf
Normal file
|
|
@ -0,0 +1,19 @@
|
|||
<?xml version="1.0" ?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
|
||||
<xacro:property name="width" value=".2" />
|
||||
<link name="base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/flange/v1.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0 " rpy=" 1.5706 0 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/flange/v1.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0 " rpy=" 1.5706 0 0" />
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
649
mycobot_description/urdf/flange/v1.dae
Executable file
649
mycobot_description/urdf/flange/v1.dae
Executable file
File diff suppressed because one or more lines are too long
277
mycobot_description/urdf/mycobot_280_m5/mycobot_280_improve.urdf
Normal file
277
mycobot_description/urdf/mycobot_280_m5/mycobot_280_improve.urdf
Normal file
|
|
@ -0,0 +1,277 @@
|
|||
<?xml version="1.0" ?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
|
||||
<xacro:property name="width" value=".2" />
|
||||
<link name="g_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/G_base.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 -0.03" rpy="0 0 1.5708" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/G_base.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 -0.03" rpy="0 0 1.5708" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="joint1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint1.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0 " rpy=" 0 0 -1.5708" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint1.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0 " rpy=" 0 0 -1.5708" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="joint2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint2.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 -0.06096 " rpy=" 0 0 -1.5708" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint2.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 -0.06096 " rpy=" 0 0 -1.5708" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="joint3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint3.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0.03256 " rpy=" 0 -1.5708 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint3.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0.03256 " rpy=" 0 -1.5708 0" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="joint4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint4.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0.03056 " rpy=" 0 -1.5708 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint4.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0.03056 " rpy=" 0 -1.5708 0" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="joint5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint5.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 -0.03356 " rpy=" -1.5708 0 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint5.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 -0.03356 " rpy=" -1.5708 0 0" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="joint6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint6.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0.00 -0.038 " rpy=" 0 0 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint6.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0.00 -0.038 " rpy=" 0 0 0" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="joint6_flange">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint7.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 -0.012 " rpy=" 0 0 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint7.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 -0.012 " rpy=" 0 0 0" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="g_base_to_joint1" type="fixed">
|
||||
<axis xyz="0 0 0" />
|
||||
<limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
|
||||
<parent link="g_base" />
|
||||
<child link="joint1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
</joint>
|
||||
<joint name="joint2_to_joint1" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
|
||||
<parent link="joint1" />
|
||||
<child link="joint2" />
|
||||
<origin xyz="0 0 0.13156" rpy="0 0 0" />
|
||||
</joint>
|
||||
<joint name="joint3_to_joint2" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
|
||||
<parent link="joint2" />
|
||||
<child link="joint3" />
|
||||
<origin xyz="0 0 0" rpy="0 1.5708 -1.5708" />
|
||||
</joint>
|
||||
<joint name="joint4_to_joint3" type="revolute">
|
||||
<axis xyz=" 0 0 1" />
|
||||
<limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
|
||||
<parent link="joint3" />
|
||||
<child link="joint4" />
|
||||
<origin xyz=" -0.1104 0 0 " rpy="0 0 0" />
|
||||
</joint>
|
||||
<joint name="joint5_to_joint4" type="revolute">
|
||||
<axis xyz=" 0 0 1" />
|
||||
<limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
|
||||
<parent link="joint4" />
|
||||
<child link="joint5" />
|
||||
<origin xyz="-0.096 0 0.06462" rpy="0 0 -1.5708" />
|
||||
</joint>
|
||||
<joint name="joint6_to_joint5" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
|
||||
<parent link="joint5" />
|
||||
<child link="joint6" />
|
||||
<origin xyz="0 -0.07318 0" rpy="1.5708 -1.5708 0" />
|
||||
</joint>
|
||||
<joint name="joint6output_to_joint6" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
|
||||
<parent link="joint6" />
|
||||
<child link="joint6_flange" />
|
||||
<origin xyz="0 0.0456 0" rpy="-1.5708 0 0" />
|
||||
</joint>
|
||||
<transmission name="trans_joint2_to_joint1">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint2_to_joint1">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="joint2_to_joint1_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_joint3_to_joint2">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint3_to_joint2">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="joint3_to_joint2_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_joint4_to_joint3">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint4_to_joint3">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="joint4_to_joint3_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_joint5_to_joint4">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint5_to_joint4">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="joint5_to_joint4_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_joint6_to_joint5">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint6_to_joint5">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="joint6_to_joint5_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_joint6output_to_joint6">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint6output_to_joint6">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="joint6output_to_joint6_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
</robot>
|
||||
|
||||
|
|
@ -71,14 +71,12 @@
|
|||
<link name="joint4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint4.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint4.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
|
||||
|
|
@ -89,14 +87,12 @@
|
|||
<link name="joint5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint5.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint5.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
|
||||
|
|
@ -107,14 +103,12 @@
|
|||
<link name="joint6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
|
||||
|
|
@ -125,14 +119,12 @@
|
|||
<link name="joint6_flange">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint7.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint7.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
|
||||
|
|
|
|||
|
|
@ -1,3 +1,407 @@
|
|||
<<<<<<< HEAD
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
|
||||
|
||||
<xacro:property name="width" value=".2" />
|
||||
|
||||
|
||||
<link name="g_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/G_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/G_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="joint3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="joint4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint4.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint4.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="joint5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint5.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint5.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="joint6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="joint6_flange">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint7.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint7.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_left1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
|
||||
<!-- <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/> -->
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_left2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_left3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.012 0.0025 -0.012 " rpy = " 0 0 0"/>
|
||||
<!-- <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> -->
|
||||
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.012 0.0025 -0.012 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_right1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_right1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_right1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_right2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_right2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_right2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_right3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_right3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.012 0.0025 -0.012 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_right3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.012 0.0025 -0.012" rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<joint name="g_base_to_joint1" type="fixed">
|
||||
<axis xyz="0 0 0"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||
<parent link="g_base"/>
|
||||
<child link="joint1"/>
|
||||
<origin xyz= "0 0 0" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint2_to_joint1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
|
||||
<parent link="joint1"/>
|
||||
<child link="joint2"/>
|
||||
<origin xyz= "0 0 0.13156" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint3_to_joint2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
|
||||
<parent link="joint2"/>
|
||||
<child link="joint3"/>
|
||||
<origin xyz= "0 0 0" rpy = "0 1.5708 -1.5708"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint4_to_joint3" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
|
||||
<parent link="joint3"/>
|
||||
<child link="joint4"/>
|
||||
<origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint5_to_joint4" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
|
||||
<parent link="joint4"/>
|
||||
<child link="joint5"/>
|
||||
<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6_to_joint5" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
|
||||
<parent link="joint5"/>
|
||||
<child link="joint6"/>
|
||||
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6output_to_joint6" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
|
||||
<parent link="joint6"/>
|
||||
<child link="joint6_flange"/>
|
||||
<origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6output_to_gripper_base" type="fixed">
|
||||
<!-- <axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> -->
|
||||
<parent link="joint6_flange"/>
|
||||
<child link="gripper_base"/>
|
||||
<!-- <origin xyz= "0 0.0 0" rpy = "-1.5708 0 0"/> -->
|
||||
<origin xyz= "0 0 0.034" rpy = "1.579 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="gripper_controller" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.7" upper = "0.15" velocity = "0"/>
|
||||
<parent link="gripper_base"/>
|
||||
<child link="gripper_left3"/>
|
||||
<origin xyz= "-0.012 0.005 0" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_base_to_gripper_left2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.8" upper = "0.5" velocity = "0"/>
|
||||
<parent link="gripper_base"/>
|
||||
<child link="gripper_left2"/>
|
||||
<origin xyz= "-0.005 0.027 0" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_left3_to_gripper_left1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
|
||||
<parent link="gripper_left3"/>
|
||||
<child link="gripper_left1"/>
|
||||
<origin xyz= "-0.027 0.016 0" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
<!-- <joint name="gripper_left3_to_gripper_left2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
|
||||
<parent link="gripper_left3"/>
|
||||
<child link="gripper_left2"/>
|
||||
<origin xyz= "-0.027 0.016 0" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint> -->
|
||||
|
||||
<!-- <joint name="gripper_left2_to_gripper_left1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
|
||||
<parent link="gripper_left2"/>
|
||||
<child link="gripper_left1"/>
|
||||
<origin xyz= "-0.040 0.050 0" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint> -->
|
||||
|
||||
<joint name="gripper_base_to_gripper_right3" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.15" upper = "0.7" velocity = "0"/>
|
||||
<parent link="gripper_base"/>
|
||||
<child link="gripper_right3"/>
|
||||
<origin xyz= "0.012 0.005 0" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_base_to_gripper_right2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.5" upper = "0.8" velocity = "0"/>
|
||||
<parent link="gripper_base"/>
|
||||
<child link="gripper_right2"/>
|
||||
<origin xyz= "0.005 0.027 0" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_right3_to_gripper_right1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
|
||||
<parent link="gripper_right3"/>
|
||||
<child link="gripper_right1"/>
|
||||
<origin xyz= "0.027 0.016 0" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
<!-- <joint name="gripper_right2_to_gripper_right1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
|
||||
<parent link="gripper_right2"/>
|
||||
<child link="gripper_right1"/>
|
||||
<origin xyz= "0.020 0.030 0" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
||||
</joint> -->
|
||||
|
||||
=======
|
||||
<?xml version="1.0" ?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
|
||||
<xacro:property name="width" value=".2" />
|
||||
|
|
@ -535,5 +939,6 @@
|
|||
<robotNamespace>/</robotNamespace>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
>>>>>>> 24a25596ca0e4bedd317e5ade3bb39d908910b0a
|
||||
</robot>
|
||||
|
||||
|
|
|
|||
249
mycobot_description/urdf/mycobot_pro_600/J1-W.dae
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mycobot_description/urdf/mycobot_pro_600/J2-W.dae
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mycobot_description/urdf/mycobot_pro_600/J3-W.dae
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mycobot_description/urdf/mycobot_pro_600/J4-W.dae
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mycobot_description/urdf/mycobot_pro_600/J4-mm.dae
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mycobot_description/urdf/mycobot_pro_600/J4-mm.dae
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mycobot_description/urdf/mycobot_pro_600/J5-W.dae
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mycobot_description/urdf/mycobot_pro_600/J5-mm.dae
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mycobot_description/urdf/mycobot_pro_600/J5-mm.dae
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mycobot_description/urdf/mycobot_pro_600/J6-W.dae
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mycobot_description/urdf/mycobot_pro_600/J6-W.dae
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mycobot_description/urdf/mycobot_pro_600/J6-mm.dae
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mycobot_description/urdf/mycobot_pro_600/J6-mm.dae
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mycobot_description/urdf/mycobot_pro_600/J6-tool-mm.dae
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mycobot_description/urdf/mycobot_pro_600/J6-tool-mm.dae
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mycobot_description/urdf/mycobot_pro_600/J7-W.dae
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Executable file
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BIN
mycobot_description/urdf/mycobot_pro_600/dummy.png.001.png
Executable file
BIN
mycobot_description/urdf/mycobot_pro_600/dummy.png.001.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 5.7 KiB |
BIN
mycobot_description/urdf/mycobot_pro_600/dummy.png.002.png
Executable file
BIN
mycobot_description/urdf/mycobot_pro_600/dummy.png.002.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 5.7 KiB |
|
|
@ -0,0 +1,405 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
|
||||
|
||||
<xacro:property name="width" value=".2" />
|
||||
|
||||
|
||||
<link name="base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J1-W.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0 0 " rpy = " 1.5706 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz = "0 0 0.04 " rpy = " 0 0 1.5708"/>
|
||||
<geometry>
|
||||
<cylinder length="0.06" radius="0.038"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J2-W.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.05 -0.08 " rpy = "0 0 3.14159"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz = "0.0 0.0 0.04 " rpy = " 0 0 1.5708"/>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.03"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="link2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J3-W.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 -0.092 0.044 " rpy = " 0 -1.5706 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz = "0 0.128 -0.04 " rpy = " 1.5708 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.28" radius="0.024"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="link3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J4-W.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 -0.09 -0.01 " rpy = " 0 1.5706 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz = "0.0 0.128 0.076 " rpy = "1.5708 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.24" radius="0.024"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
|
||||
<link name="link4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J5-W.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 -0.6987 0 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz = "0.0 0.02 -0.05" rpy = " 1.5708 1.5708 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.024"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="link5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-W.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0 0.048 " rpy = " 1.5706 0 3.14159"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz = "0.0 0.0 0.038 " rpy = " 0 0 -1.5708"/>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.028"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J7-W.dae"/>
|
||||
</geometry>
|
||||
<material name = "grey">
|
||||
<color rgba = "0.5 0.5 0.5 1"/>
|
||||
</material>
|
||||
<origin xyz = "0.06 0 0" rpy = " 3.14159 3.14159 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz = "0.003 0.0 -0.0 " rpy = " 0 1.5708 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.006" radius="0.026"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<!-- <link name="tool1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/tool1-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0" rpy=" -1.5706 0 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/tool1-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0" rpy=" -1.5706 0 0" />
|
||||
</collision>
|
||||
</link> -->
|
||||
|
||||
<link name="tool2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/tool2-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0" rpy=" 0 0 -1.5706" />
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz = "0.003 0.0 0.005 " rpy = " 0 0 -1.5708"/>
|
||||
<geometry>
|
||||
<cylinder length="0.006" radius="0.026"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.02 0.012 -0.018 " rpy = " 0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder radius="0.026" length="0.03" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0.01 " rpy=" 0 0 1.5708" />
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_left1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.036 -0.052 0.0 " rpy = " 0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder radius="0.004" length="0.005" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0.0 0.002 " rpy=" 0 0 1.5708" />
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_left2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.03 0.024 -0.018 " rpy = " 0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder radius="0.003" length="0.003" />
|
||||
</geometry>
|
||||
<origin xyz="0.00 -0.0 -0.003 " rpy=" 0 0 1.5708" />
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_left3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.034 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
|
||||
<!-- <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> -->
|
||||
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder radius="0.018" length="0.003" />
|
||||
</geometry>
|
||||
<origin xyz="-0.002 0 -0.016 " rpy=" 0 3.14159 -1.5708" />
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_right1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.072 -0.05 0.0 " rpy = " 0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder radius="0.004" length="0.005" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0.0 0.002 " rpy=" 0 0 1.5708" />
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_right2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.066 0.023 -0.018 " rpy = " 0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder radius="0.003" length="0.003" />
|
||||
</geometry>
|
||||
<origin xyz="0.00 -0.0 -0.003 " rpy=" 0 0 1.5708" />
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_right3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
|
||||
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder radius="0.018" length="0.003" />
|
||||
</geometry>
|
||||
<origin xyz="-0.002 0 -0.016 " rpy=" 0 3.14159 -1.5708" />
|
||||
</collision>
|
||||
</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"/>
|
||||
<parent link="base"/>
|
||||
<child link="link1"/>
|
||||
<origin xyz= "0 0 0.1655" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint3_to_joint2" type="revolute">
|
||||
<axis xyz="0 0 -1"/>
|
||||
<!-- <limit effort = "1000.0" lower = "-4.71" upper = "1.5708" velocity = "0"/> -->
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
|
||||
<parent link="link1"/>
|
||||
<child link="link2"/>
|
||||
<!-- <origin xyz= "0 0 0" rpy = "1.5708 -1.5708 0"/> -->
|
||||
<origin xyz= "0 0.042 0.072" rpy = "1.5708 1.5706 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint4_to_joint3" type="revolute">
|
||||
<axis xyz=" 0 0 -1"/>
|
||||
<limit effort = "1000.0" lower = "-2.61" upper = "2.618" velocity = "0"/>
|
||||
<parent link="link2"/>
|
||||
<child link="link3"/>
|
||||
<origin xyz= "0.0 0.25 0.005 " rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint5_to_joint4" type="revolute">
|
||||
<axis xyz=" 0 0 -1"/>
|
||||
<!-- <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/> -->
|
||||
<limit effort = "1000.0" lower = "-2.97" upper = "2.97" velocity = "0"/>
|
||||
<parent link="link3"/>
|
||||
<child link="link4"/>
|
||||
<!-- <origin xyz= "0.25 0 -0.1091" rpy = "0 0 1.5708"/> -->
|
||||
<origin xyz= "0 0.25 0.025" rpy = "0 0 -1.5706"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6_to_joint5" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.93" upper = "2.9321" velocity = "0"/>
|
||||
<parent link="link4"/>
|
||||
<child link="link5"/>
|
||||
<origin xyz= "0 0.058 -0.052" rpy = "1.57080 -1.57080 3.14159"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6output_to_joint6" type="revolute">
|
||||
<axis xyz="-1 0 0"/>
|
||||
<limit effort = "1000.0" lower = "-3.03" upper = "3.0368" velocity = "0"/>
|
||||
<parent link="link5"/>
|
||||
<child link="link6"/>
|
||||
<origin xyz= "-0.06 0 0.048" rpy = "-1.57080 0 0 "/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6output_to_tool2" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
|
||||
<parent link="link6" />
|
||||
<child link="tool2" />
|
||||
<origin xyz="-0.016 0.0 0.0" rpy="-1.5706 0 1.5706" />
|
||||
</joint>
|
||||
|
||||
<!-- <joint name="tool1_to_tool2" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
|
||||
<parent link="tool1" />
|
||||
<child link="tool2" />
|
||||
<origin xyz="0.0 0.008 0.00" rpy="1.5708 -1.5706 3.14159" />
|
||||
</joint> -->
|
||||
|
||||
<joint name="tool2_to_gripper_base" type="fixed">
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
|
||||
<parent link="tool2" />
|
||||
<child link="gripper_base" />
|
||||
<origin xyz="0.005 0.0 0.047" rpy="1.5706 0 1.5706" />
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_controller" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.7" upper = "0.3" velocity = "0"/>
|
||||
<parent link="gripper_base"/>
|
||||
<child link="gripper_left3"/>
|
||||
<origin xyz= "-0.018 0.016 0" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_base_to_gripper_left2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.8" upper = "0.5" velocity = "0"/>
|
||||
<parent link="gripper_base"/>
|
||||
<child link="gripper_left2"/>
|
||||
<origin xyz= "-0.05 -0.01 0" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_left3_to_gripper_left1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
|
||||
<parent link="gripper_left3"/>
|
||||
<child link="gripper_left1"/>
|
||||
<origin xyz= "-0.0356 0.051 -0.018" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_base_to_gripper_right3" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.3" upper = "0.7" velocity = "0"/>
|
||||
<parent link="gripper_base"/>
|
||||
<child link="gripper_right3"/>
|
||||
<origin xyz= "0.018 0.016 0" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_base_to_gripper_right2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.5" upper = "0.8" velocity = "0"/>
|
||||
<parent link="gripper_base"/>
|
||||
<child link="gripper_right2"/>
|
||||
<origin xyz= "0.046 -0.01 0" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_right3_to_gripper_right1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
|
||||
<parent link="gripper_right3"/>
|
||||
<child link="gripper_right1"/>
|
||||
<origin xyz= "0.033 0.051 -0.018" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
</robot>
|
||||
|
||||
134
mycobot_description/urdf/mycobot_pro_600/mycobot_pro_600_moveit.urdf
Executable file → Normal file
134
mycobot_description/urdf/mycobot_pro_600/mycobot_pro_600_moveit.urdf
Executable file → Normal file
|
|
@ -8,21 +8,44 @@
|
|||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||
<<<<<<< HEAD
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J1-mm.dae"/>
|
||||
=======
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/base.dae"/>
|
||||
>>>>>>> 24a25596ca0e4bedd317e5ade3bb39d908910b0a
|
||||
</geometry>
|
||||
<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<<<<<<< HEAD
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J1-mm.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
|
||||
=======
|
||||
<origin xyz = "0 0 0.04 " rpy = " 0 0 1.5708"/>
|
||||
<geometry>
|
||||
<cylinder length="0.06" radius="0.038"/>
|
||||
</geometry>
|
||||
>>>>>>> 24a25596ca0e4bedd317e5ade3bb39d908910b0a
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<<<<<<< HEAD
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J2-mm.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0 0 " rpy = "0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J2-mm.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
|
||||
=======
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0 0 " rpy = "0 0 3.1415926"/>
|
||||
|
|
@ -32,6 +55,7 @@
|
|||
<geometry>
|
||||
<cylinder length="0.05" radius="0.03"/>
|
||||
</geometry>
|
||||
>>>>>>> 24a25596ca0e4bedd317e5ade3bb39d908910b0a
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
|
@ -39,6 +63,17 @@
|
|||
<link name="link2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<<<<<<< HEAD
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J3-mm.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.0 0.0 " rpy = " 3.1415926 0 3.1415926"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J3-mm.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.0 0.0 " rpy = " 3.1415926 0 3.1415926"/>
|
||||
=======
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0 -0.080 " rpy = " 3.1415926 0 3.1415926"/>
|
||||
|
|
@ -48,6 +83,7 @@
|
|||
<geometry>
|
||||
<cylinder length="0.28" radius="0.024"/>
|
||||
</geometry>
|
||||
>>>>>>> 24a25596ca0e4bedd317e5ade3bb39d908910b0a
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
|
@ -56,6 +92,18 @@
|
|||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<<<<<<< HEAD
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J4-mm.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0 0.0 " rpy = " 3.1415926 3.14159 3.1415926"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J4-mm.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0 0.0 " rpy = "3.1415926 03.14159 3.1415926"/>
|
||||
=======
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0 -0.0855 " rpy = " 3.1415926 0 3.1415926"/>
|
||||
|
|
@ -65,24 +113,41 @@
|
|||
<geometry>
|
||||
<cylinder length="0.24" radius="0.024"/>
|
||||
</geometry>
|
||||
>>>>>>> 24a25596ca0e4bedd317e5ade3bb39d908910b0a
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
|
||||
<<<<<<< HEAD
|
||||
<link name="link4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J5-mm.dae"/>
|
||||
=======
|
||||
<link name="link4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link4.dae"/>
|
||||
>>>>>>> 24a25596ca0e4bedd317e5ade3bb39d908910b0a
|
||||
</geometry>
|
||||
<origin xyz = "0 0 0 " rpy = " 0 3.1415926 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<<<<<<< HEAD
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J5-mm.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0 0 " rpy = " 0 3.1415926 0"/>
|
||||
=======
|
||||
<origin xyz = "0.0 -0.01 0.007" rpy = " 1.5708 1.5708 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.024"/>
|
||||
</geometry>
|
||||
>>>>>>> 24a25596ca0e4bedd317e5ade3bb39d908910b0a
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
|
@ -91,6 +156,19 @@
|
|||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<<<<<<< HEAD
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-mm.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0 0 " rpy = " 0 0 -1.5706"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-mm.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0 0 " rpy = " 0 0 -1.5706"/>
|
||||
</collision>
|
||||
=======
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link5.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0 0 " rpy = " 0 0 1.5707"/>
|
||||
|
|
@ -101,17 +179,35 @@
|
|||
<cylinder length="0.05" radius="0.028"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
>>>>>>> 24a25596ca0e4bedd317e5ade3bb39d908910b0a
|
||||
</link>
|
||||
|
||||
<link name="link6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<<<<<<< HEAD
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-tool-mm.dae"/>
|
||||
=======
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link6.dae"/>
|
||||
>>>>>>> 24a25596ca0e4bedd317e5ade3bb39d908910b0a
|
||||
</geometry>
|
||||
<material name = "grey">
|
||||
<color rgba = "0.5 0.5 0.5 1"/>
|
||||
</material>
|
||||
<<<<<<< HEAD
|
||||
<origin xyz = "0.02 0 0" rpy = " 0 -1.5707 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-tool-mm.dae"/>
|
||||
</geometry>
|
||||
<material name = "grey">
|
||||
<color rgba = "0.5 0.5 0.5 1"/>
|
||||
</material>
|
||||
<origin xyz = "0.02 0 0" rpy = " 0 -1.5707 0"/>
|
||||
=======
|
||||
<origin xyz = "0.03 0 0" rpy = " 0 -1.5707 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
|
|
@ -119,27 +215,45 @@
|
|||
<geometry>
|
||||
<cylinder length="0.006" radius="0.026"/>
|
||||
</geometry>
|
||||
>>>>>>> 24a25596ca0e4bedd317e5ade3bb39d908910b0a
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<<<<<<< HEAD
|
||||
|
||||
=======
|
||||
>>>>>>> 24a25596ca0e4bedd317e5ade3bb39d908910b0a
|
||||
<joint name="joint2_to_joint1" 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"/>
|
||||
<<<<<<< HEAD
|
||||
<origin xyz= "0 0 0.1655" rpy = "0 0 0"/>
|
||||
=======
|
||||
<origin xyz= "0 0 0.19934" rpy = "0 0 0"/>
|
||||
>>>>>>> 24a25596ca0e4bedd317e5ade3bb39d908910b0a
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint3_to_joint2" type="revolute">
|
||||
<axis xyz="0 0 -1"/>
|
||||
<<<<<<< HEAD
|
||||
<!-- <limit effort = "1000.0" lower = "-4.71" upper = "1.5708" velocity = "0"/> -->
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
|
||||
<parent link="link1"/>
|
||||
<child link="link2"/>
|
||||
<!-- <origin xyz= "0 0 0" rpy = "1.5708 -1.5708 0"/> -->
|
||||
<origin xyz= "0 0.04 0.085" rpy = "1.5708 0 0"/>
|
||||
=======
|
||||
<!-- <limit effort = "1000.0" lower = "-4.71" upper = "1.5708" velocity = "0"/> -->
|
||||
<limit effort = "1000.0" lower = "-3.14159" upper = "3.14159" velocity = "0"/>
|
||||
<parent link="link1"/>
|
||||
<child link="link2"/>
|
||||
<origin xyz= "0 0 0" rpy = "1.5708 -1.5708 0"/>
|
||||
<!-- <origin xyz= "0 0 0" rpy = "1.5708 0 0"/> -->
|
||||
>>>>>>> 24a25596ca0e4bedd317e5ade3bb39d908910b0a
|
||||
</joint>
|
||||
|
||||
|
||||
|
|
@ -148,17 +262,29 @@
|
|||
<limit effort = "1000.0" lower = "-2.61" upper = "2.618" velocity = "0"/>
|
||||
<parent link="link2"/>
|
||||
<child link="link3"/>
|
||||
<<<<<<< HEAD
|
||||
<origin xyz= "0.0 0.25 0 " rpy = "0 0 0"/>
|
||||
=======
|
||||
<origin xyz= "0.25 0 0 " rpy = "0 0 0"/>
|
||||
>>>>>>> 24a25596ca0e4bedd317e5ade3bb39d908910b0a
|
||||
</joint>
|
||||
|
||||
<joint name="joint5_to_joint4" type="revolute">
|
||||
<axis xyz=" 0 0 -1"/>
|
||||
<!-- <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/> -->
|
||||
<<<<<<< HEAD
|
||||
<limit effort = "1000.0" lower = "-2.97" upper = "2.97" velocity = "0"/>
|
||||
<parent link="link3"/>
|
||||
<child link="link4"/>
|
||||
<!-- <origin xyz= "0.25 0 -0.1091" rpy = "0 0 1.5708"/> -->
|
||||
<origin xyz= "0 0.25 0.025" rpy = "0 0 0"/>
|
||||
=======
|
||||
<limit effort = "1000.0" lower = "-2.9670" upper = "2.9670" velocity = "0"/>
|
||||
<parent link="link3"/>
|
||||
<child link="link4"/>
|
||||
<origin xyz= "0.25 0 -0.1091" rpy = "0 0 1.5708"/>
|
||||
<!-- <origin xyz= "0.25 0 -0.1091" rpy = "0 0 0"/> -->
|
||||
>>>>>>> 24a25596ca0e4bedd317e5ade3bb39d908910b0a
|
||||
</joint>
|
||||
|
||||
<joint name="joint6_to_joint5" type="revolute">
|
||||
|
|
@ -166,7 +292,11 @@
|
|||
<limit effort = "1000.0" lower = "-2.93" upper = "2.9321" velocity = "0"/>
|
||||
<parent link="link4"/>
|
||||
<child link="link5"/>
|
||||
<<<<<<< HEAD
|
||||
<origin xyz= "0 0.058 -0.05" rpy = "1.57080 -1.57080 3.14159"/>
|
||||
=======
|
||||
<origin xyz= "0 -0.108 0" rpy = "1.57080 -1.57080 0"/>
|
||||
>>>>>>> 24a25596ca0e4bedd317e5ade3bb39d908910b0a
|
||||
</joint>
|
||||
|
||||
<joint name="joint6output_to_joint6" type="revolute">
|
||||
|
|
@ -174,7 +304,11 @@
|
|||
<limit effort = "1000.0" lower = "-3.03" upper = "3.0368" velocity = "0"/>
|
||||
<parent link="link5"/>
|
||||
<child link="link6"/>
|
||||
<<<<<<< HEAD
|
||||
<origin xyz= "-0.076 0 0.05" rpy = "-1.57080 0 0 "/>
|
||||
=======
|
||||
<origin xyz= "-0.07586 0 0" rpy = "-1.57080 0 0 "/>
|
||||
>>>>>>> 24a25596ca0e4bedd317e5ade3bb39d908910b0a
|
||||
</joint>
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,192 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
|
||||
|
||||
<xacro:property name="width" value=".2" />
|
||||
|
||||
|
||||
<link name="base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J1-W.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0 0 " rpy = " 1.5706 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J1-W.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0 0 " rpy = " 1.5706 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J2-W.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.05 -0.08 " rpy = "0 0 3.14159"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J2-W.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.05 -0.08 " rpy = " 0 0 3.14159"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="link2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J3-W.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 -0.092 0.044 " rpy = " 0 -1.5706 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J3-W.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 -0.092 0.044 " rpy = " 0 -1.5706 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="link3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J4-W.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 -0.09 -0.01 " rpy = " 0 1.5706 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J4-W.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 -0.09 -0.01 " rpy = "0 1.5706 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
|
||||
<link name="link4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J5-W.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 -0.6987 0 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J5-W.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 -0.6987 0 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="link5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-W.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0 0.048 " rpy = " 1.5706 0 3.14159"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-W.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0 0.048 " rpy = " 1.5706 0 3.14159"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J7-W.dae"/>
|
||||
</geometry>
|
||||
<material name = "grey">
|
||||
<color rgba = "0.5 0.5 0.5 1"/>
|
||||
</material>
|
||||
<origin xyz = "0.06 0 0" rpy = " 3.14159 3.14159 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J7-W.dae"/>
|
||||
</geometry>
|
||||
<material name = "grey">
|
||||
<color rgba = "0.5 0.5 0.5 1"/>
|
||||
</material>
|
||||
<origin xyz = "0.06 0 0" rpy = " 3.14159 3.14159 0"/>
|
||||
</collision>
|
||||
</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"/>
|
||||
<parent link="base"/>
|
||||
<child link="link1"/>
|
||||
<origin xyz= "0 0 0.1655" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint3_to_joint2" type="revolute">
|
||||
<axis xyz="0 0 -1"/>
|
||||
<!-- <limit effort = "1000.0" lower = "-4.71" upper = "1.5708" velocity = "0"/> -->
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
|
||||
<parent link="link1"/>
|
||||
<child link="link2"/>
|
||||
<!-- <origin xyz= "0 0 0" rpy = "1.5708 -1.5708 0"/> -->
|
||||
<origin xyz= "0 0.042 0.072" rpy = "1.5708 1.5706 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint4_to_joint3" type="revolute">
|
||||
<axis xyz=" 0 0 -1"/>
|
||||
<limit effort = "1000.0" lower = "-2.61" upper = "2.618" velocity = "0"/>
|
||||
<parent link="link2"/>
|
||||
<child link="link3"/>
|
||||
<origin xyz= "0.0 0.25 0.005 " rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint5_to_joint4" type="revolute">
|
||||
<axis xyz=" 0 0 -1"/>
|
||||
<!-- <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/> -->
|
||||
<limit effort = "1000.0" lower = "-2.97" upper = "2.97" velocity = "0"/>
|
||||
<parent link="link3"/>
|
||||
<child link="link4"/>
|
||||
<!-- <origin xyz= "0.25 0 -0.1091" rpy = "0 0 1.5708"/> -->
|
||||
<origin xyz= "0 0.25 0.025" rpy = "0 0 -1.5706"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6_to_joint5" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.93" upper = "2.9321" velocity = "0"/>
|
||||
<parent link="link4"/>
|
||||
<child link="link5"/>
|
||||
<origin xyz= "0 0.058 -0.052" rpy = "1.57080 -1.57080 3.14159"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6output_to_joint6" type="revolute">
|
||||
<axis xyz="-1 0 0"/>
|
||||
<limit effort = "1000.0" lower = "-3.03" upper = "3.0368" velocity = "0"/>
|
||||
<parent link="link5"/>
|
||||
<child link="link6"/>
|
||||
<origin xyz= "-0.06 0 0.048" rpy = "-1.57080 0 0 "/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
</robot>
|
||||
|
||||
115
mycobot_description/urdf/mycobot_pro_600/tool1-mm.dae
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mycobot_description/urdf/mycobot_pro_600/tool1-mm.dae
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mycobot_description/urdf/mycobot_pro_630/ base-J1-mm.dae
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mycobot_description/urdf/mycobot_pro_630/ base-J1-mm.dae
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mycobot_description/urdf/mycobot_pro_630/J1-J2-mm.dae
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mycobot_description/urdf/mycobot_pro_630/J1-W.dae
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mycobot_description/urdf/mycobot_pro_630/J1-W.dae
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mycobot_description/urdf/mycobot_pro_630/J1-mm.dae
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mycobot_description/urdf/mycobot_pro_630/J1-mm.dae
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mycobot_description/urdf/mycobot_pro_630/J2-J3-mm.dae
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mycobot_description/urdf/mycobot_pro_630/J2-J3-mm.dae
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mycobot_description/urdf/mycobot_pro_630/J2-W.dae
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mycobot_description/urdf/mycobot_pro_630/J2-W.dae
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mycobot_description/urdf/mycobot_pro_630/J2-mm.dae
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mycobot_description/urdf/mycobot_pro_630/J2-mm.dae
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mycobot_description/urdf/mycobot_pro_630/J2.png
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mycobot_description/urdf/mycobot_pro_630/J2.png
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|
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mycobot_description/urdf/mycobot_pro_630/J3-J4-mm.dae
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mycobot_description/urdf/mycobot_pro_630/J3-J4-mm.dae
Executable file
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mycobot_description/urdf/mycobot_pro_630/J3-W.dae
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mycobot_description/urdf/mycobot_pro_630/J3-W.dae
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mycobot_description/urdf/mycobot_pro_630/J3-mm.dae
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mycobot_description/urdf/mycobot_pro_630/J3-mm.dae
Executable file
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mycobot_description/urdf/mycobot_pro_630/J3.png
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mycobot_description/urdf/mycobot_pro_630/J3.png
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|
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mycobot_description/urdf/mycobot_pro_630/J4-J5-mm.dae
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mycobot_description/urdf/mycobot_pro_630/J4-J5-mm.dae
Executable file
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mycobot_description/urdf/mycobot_pro_630/J4-W.dae
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mycobot_description/urdf/mycobot_pro_630/J4-W.dae
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mycobot_description/urdf/mycobot_pro_630/J4-mm.dae
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mycobot_description/urdf/mycobot_pro_630/J4-mm.dae
Executable file
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mycobot_description/urdf/mycobot_pro_630/J5-J6-mm.dae
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mycobot_description/urdf/mycobot_pro_630/J5-J6-mm.dae
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mycobot_description/urdf/mycobot_pro_630/J5-W.dae
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mycobot_description/urdf/mycobot_pro_630/J5-mm.dae
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mycobot_description/urdf/mycobot_pro_630/J5-mm.dae
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mycobot_description/urdf/mycobot_pro_630/J5.png
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mycobot_description/urdf/mycobot_pro_630/J5.png
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mycobot_description/urdf/mycobot_pro_630/J6-Tool-mm.dae
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mycobot_description/urdf/mycobot_pro_630/J6-Tool-mm.dae
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mycobot_description/urdf/mycobot_pro_630/J6-W.dae
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mycobot_description/urdf/mycobot_pro_630/J6-W.dae
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mycobot_description/urdf/mycobot_pro_630/J6-mm.dae
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mycobot_description/urdf/mycobot_pro_630/J6-mm.dae
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mycobot_description/urdf/mycobot_pro_630/J6.dae
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mycobot_description/urdf/mycobot_pro_630/J6.dae
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mycobot_description/urdf/mycobot_pro_630/J6W.dae
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mycobot_description/urdf/mycobot_pro_630/J6W.dae
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mycobot_description/urdf/mycobot_pro_630/L1-mm.dae
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mycobot_description/urdf/mycobot_pro_630/L1-mm.dae
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mycobot_description/urdf/mycobot_pro_630/L2-mm.dae
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mycobot_description/urdf/mycobot_pro_630/L2-mm.dae
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mycobot_description/urdf/mycobot_pro_630/L3-mm.dae
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mycobot_description/urdf/mycobot_pro_630/L3-mm.dae
Executable file
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mycobot_description/urdf/mycobot_pro_630/R1-mm.dae
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mycobot_description/urdf/mycobot_pro_630/R1-mm.dae
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mycobot_description/urdf/mycobot_pro_630/R2-mm.dae
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mycobot_description/urdf/mycobot_pro_630/R2-mm.dae
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mycobot_description/urdf/mycobot_pro_630/R3-mm.dae
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mycobot_description/urdf/mycobot_pro_630/R3-mm.dae
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mycobot_description/urdf/mycobot_pro_630/base-mm.dae
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mycobot_description/urdf/mycobot_pro_630/base-mm.dae
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mycobot_description/urdf/mycobot_pro_630/base.png
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mycobot_description/urdf/mycobot_pro_630/base.png
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|
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mycobot_description/urdf/mycobot_pro_630/dummy.png.001.png
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mycobot_description/urdf/mycobot_pro_630/dummy.png.001.png
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|
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mycobot_description/urdf/mycobot_pro_630/dummy.png.003.png
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mycobot_description/urdf/mycobot_pro_630/dummy.png.003.png
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|
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115
mycobot_description/urdf/mycobot_pro_630/gp-base-mm.dae
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115
mycobot_description/urdf/mycobot_pro_630/gp-base-mm.dae
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101
mycobot_description/urdf/mycobot_pro_630/gripper.dae
Normal file
101
mycobot_description/urdf/mycobot_pro_630/gripper.dae
Normal file
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155
mycobot_description/urdf/mycobot_pro_630/my630.urdf
Normal file
155
mycobot_description/urdf/mycobot_pro_630/my630.urdf
Normal file
|
|
@ -0,0 +1,155 @@
|
|||
<?xml version="1.0" ?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
|
||||
<xacro:property name="width" value=".2" />
|
||||
<link name="base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J1-W.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0 " rpy=" 1.5706 0 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J1-W.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0 " rpy=" 1.5706 0 0" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="joint1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J2-W.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0.05 -0.07 " rpy="0 0 3.14159" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J2-W.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0.05 -0.07 " rpy=" 0 0 3.14159" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="joint2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J3-W.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 -0.0925 -0.053 " rpy=" 0 1.5706 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J3-W.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 -0.0925 -0.053 " rpy=" 0 1.5706 0" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="joint3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J4-W.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 -0.091 0.0 " rpy=" 0 -1.5706 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J4-W.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 -0.091 0.0 " rpy=" 0 -1.5706 0" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="joint4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J5-W.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 -0.7 0.003 " rpy=" 0 3.14159 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J5-W.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 -0.7 0.003 " rpy=" 0 3.14159 0" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="joint5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J6W.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.05 0 -0.04 " rpy=" 3.14159 1.5706 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J6W.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.05 0 -0.04 " rpy=" 3.14159 1.5706 0" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="joint6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J6-W.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0" rpy=" 0 3.14159 -1.5706" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J6-W.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0" rpy=" 0 3.14159 -1.5706" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
|
||||
<joint name="joint1_to_base" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
|
||||
<parent link="base" />
|
||||
<child link="joint1" />
|
||||
<origin xyz="0 0 0.156" rpy="0 0 0" />
|
||||
</joint>
|
||||
<joint name="joint2_to_joint1" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
|
||||
<parent link="joint1" />
|
||||
<child link="joint2" />
|
||||
<origin xyz="0 0.05 0.083 " rpy="1.5707 0 3.14159" />
|
||||
</joint>
|
||||
<joint name="joint3_to_joint2" type="revolute">
|
||||
<axis xyz=" 0 0 1" />
|
||||
<limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
|
||||
<parent link="joint2" />
|
||||
<child link="joint3" />
|
||||
<origin xyz="0 0.25 0 " rpy="0 0 0" />
|
||||
</joint>
|
||||
<joint name="joint4_to_joint3" type="revolute">
|
||||
<axis xyz=" 0 0 1" />
|
||||
<limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
|
||||
<parent link="joint3" />
|
||||
<child link="joint4" />
|
||||
<origin xyz="0 0.25 -0.03 " rpy="0 0 0" />
|
||||
</joint>
|
||||
<joint name="joint5_to_joint4" type="revolute">
|
||||
<axis xyz="0 0 -1" />
|
||||
<limit effort="1000.0" lower="-2.99" upper="2.99" velocity="0" />
|
||||
<parent link="joint4" />
|
||||
<child link="joint5" />
|
||||
<origin xyz="0 0.055 0.055" rpy="1.5707 -1.5707 0" />
|
||||
</joint>
|
||||
<joint name="joint6_to_joint5" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-3.03" upper="3.0368" velocity="0" />
|
||||
<parent link="joint5" />
|
||||
<child link="joint6" />
|
||||
<origin xyz="0.0495 0 -0.0405" rpy="-1.5707 0 -1.5706 " />
|
||||
</joint>
|
||||
|
||||
|
||||
</robot>
|
||||
728
mycobot_description/urdf/mycobot_pro_630/my630_gripper.urdf
Normal file
728
mycobot_description/urdf/mycobot_pro_630/my630_gripper.urdf
Normal file
|
|
@ -0,0 +1,728 @@
|
|||
<?xml version="1.0" ?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
|
||||
<xacro:property name="width" value=".2" />
|
||||
<link name="base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/base-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0 " rpy=" 0 0 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/base-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0 " rpy=" 0 0 0" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="joint1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J1-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 -0.0035 " rpy="0 0 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J1-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 -0.0035 " rpy=" 0 0 0" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="joint2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J2-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0.00 " rpy=" 0 0 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J2-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0.00 " rpy=" 0 0 0" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="joint3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J3-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0.009 " rpy=" 0 3.14159 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J3-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0.009 " rpy=" 0 3.14159 0" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="joint4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J4-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0.003 " rpy=" 0 0 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J4-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0.003 " rpy=" 0 0 0" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="joint5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J5-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0 " rpy=" 0 3.14159 3.14159" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J5-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0 " rpy=" 0 3.14159 3.14159" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="joint6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J6-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0" rpy=" 0 1.5707 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J6-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0" rpy=" 0 1.5707 0" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="tool1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/tool1-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0" rpy=" -1.5706 0 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/tool1-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0" rpy=" -1.5706 0 0" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="tool2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/tool2-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0" rpy=" 0 0 -1.5706" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/tool2-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0" rpy=" 0 0 -1.5706" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<!-- <link name="gripper_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/gp-base-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="-0.02 0.0 0.05 " rpy=" 0 -1.5706 3.14159" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/gp-base-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="-0.02 0.0 0.05 " rpy=" 0 -1.5706 3.14159" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="gripper_left1">
|
||||
<visual>
|
||||
<geometry>
|
||||
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/L1-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0.0 0.0 " rpy=" 0 0 -0.5708" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/L1-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0.0 0.0 " rpy=" 0 0 -0.5708" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="gripper_left2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/L2-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0.0 0.0 " rpy=" 0 -1.5706 3.14159" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/L2-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0.0 0.0 " rpy=" 0 -1.5706 3.14159" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="gripper_left3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/L3-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 -0.0025 -0.0045 " rpy=" 0 3.14159 -1.9408" />
|
||||
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/L3-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 -0.0025 -0.0045 " rpy=" 0 3.14159 -1.9408" />
|
||||
</collision>
|
||||
|
||||
</link> -->
|
||||
<!-- <link name="gripper_right1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/R1-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="-0.072 -0.05 0.0 " rpy=" 0 0 1.5708" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/R1-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="-0.036 -0.052 0.0 " rpy=" 0 0 1.5708" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="gripper_right2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/R2-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="-0.066 0.023 -0.018 " rpy=" 0 0 1.5708" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/R2-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="-0.03 0.024 -0.018 " rpy=" 0 0 1.5708" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="gripper_right3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/R3-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/R3-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="-0.034 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link> -->
|
||||
<link name="gripper_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_base.dae" />
|
||||
</geometry>
|
||||
<origin xyz="-0.02 0.012 -0.018 " rpy=" 0 0 1.5708" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_base.dae" />
|
||||
</geometry>
|
||||
<origin xyz="-0.02 0.012 -0.018 " rpy=" 0 0 1.5708" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="gripper_left1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left1.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.036 -0.052 0.0 " rpy=" 0 0 1.5708" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left1.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.036 -0.052 0.0 " rpy=" 0 0 1.5708" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="gripper_left2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left2.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.03 0.024 -0.018 " rpy=" 0 0 1.5708" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left2.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.03 0.024 -0.018 " rpy=" 0 0 1.5708" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="gripper_left3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left3.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.034 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
|
||||
<!-- <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> -->
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left3.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.034 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="gripper_right1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right1.dae" />
|
||||
</geometry>
|
||||
<origin xyz="-0.072 -0.05 0.0 " rpy=" 0 0 1.5708" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right1.dae" />
|
||||
</geometry>
|
||||
<origin xyz="-0.072 -0.05 0.0 " rpy=" 0 0 1.5708" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="gripper_right2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right2.dae" />
|
||||
</geometry>
|
||||
<origin xyz="-0.066 0.023 -0.018 " rpy=" 0 0 1.5708" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right2.dae" />
|
||||
</geometry>
|
||||
<origin xyz="-0.066 0.023 -0.018 " rpy=" 0 0 1.5708" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="gripper_right3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right3.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right3.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="joint1_to_base" type="revolute">
|
||||
<axis xyz="0 0 -1" />
|
||||
<limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
|
||||
<parent link="base" />
|
||||
<child link="joint1" />
|
||||
<origin xyz="0 0 0.16034" rpy="0 0 0" />
|
||||
</joint>
|
||||
<joint name="joint2_to_joint1" type="revolute">
|
||||
<axis xyz="0 0 -1" />
|
||||
<limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
|
||||
<parent link="joint1" />
|
||||
<child link="joint2" />
|
||||
<origin xyz="0 0.06 0.038" rpy="1.5707 0 3.14159" />
|
||||
</joint>
|
||||
<joint name="joint3_to_joint2" type="revolute">
|
||||
<axis xyz=" 0 0 -1" />
|
||||
<limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
|
||||
<parent link="joint2" />
|
||||
<child link="joint3" />
|
||||
<origin xyz="0 0.2685 0 " rpy="0 0 0" />
|
||||
</joint>
|
||||
<joint name="joint4_to_joint3" type="revolute">
|
||||
<axis xyz=" 0 0 -1" />
|
||||
<limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
|
||||
<parent link="joint3" />
|
||||
<child link="joint4" />
|
||||
<origin xyz="0 0.2663 0 " rpy="0 0 0" />
|
||||
</joint>
|
||||
<joint name="joint5_to_joint4" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-2.99" upper="2.99" velocity="0" />
|
||||
<parent link="joint4" />
|
||||
<child link="joint5" />
|
||||
<origin xyz="0 0.055 0.039" rpy="1.5707 -1.5707 0" />
|
||||
</joint>
|
||||
<joint name="joint6_to_joint5" type="revolute">
|
||||
<axis xyz="1 0 0" />
|
||||
<limit effort="1000.0" lower="-3.03" upper="3.0368" velocity="0" />
|
||||
<parent link="joint5" />
|
||||
<child link="joint6" />
|
||||
<origin xyz="0 0.04 -0.0385" rpy="-1.5707 0 1.5706 " />
|
||||
</joint>
|
||||
<joint name="joint6output_to_tool1" type="revolute">
|
||||
<axis xyz="0 1 0" />
|
||||
<limit effort="1000.0" lower="-3.05" upper="3.05" velocity="0" />
|
||||
<parent link="joint6" />
|
||||
<child link="tool1" />
|
||||
<origin xyz="0.0079 0.0 0.0" rpy="1.5708 -1.5706 3.14159" />
|
||||
</joint>
|
||||
<joint name="tool1_to_tool2" type="fixed">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-3.05" upper="3.05" velocity="0" />
|
||||
<parent link="tool1" />
|
||||
<child link="tool2" />
|
||||
<origin xyz="0.0 0.008 0.00" rpy="1.5708 -1.5706 3.14159" />
|
||||
</joint>
|
||||
<joint name="tool2_to_gripper_base" type="fixed">
|
||||
<axis xyz="0 0 -1" />
|
||||
<limit effort="1000.0" lower="-3.05" upper="3.05" velocity="0" />
|
||||
<parent link="tool2" />
|
||||
<child link="gripper_base" />
|
||||
<origin xyz="0.0 0.0 0.04" rpy="1.5706 0 1.5706" />
|
||||
</joint>
|
||||
<!-- <joint name="gripper_controller" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-0.7" upper="0.3" velocity="0" />
|
||||
<parent link="gripper_base" />
|
||||
<child link="gripper_left3" />
|
||||
<origin xyz="-0.014 -0.016 0.06" rpy="0 -1.5706 0" />
|
||||
</joint>
|
||||
<joint name="gripper_base_to_gripper_left2" type="revolute">
|
||||
<axis xyz="-1 0 0" />
|
||||
<limit effort="1000.0" lower="-0.8" upper="0.5" velocity="0" />
|
||||
<parent link="gripper_base" />
|
||||
<child link="gripper_left2" />
|
||||
<origin xyz="-0.01 -0.03 0.118" rpy="0 0 0" />
|
||||
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
||||
</joint>
|
||||
<joint name="gripper_left3_to_gripper_left1" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-0.5" upper="0.5" velocity="0" />
|
||||
<parent link="gripper_left3" />
|
||||
<child link="gripper_left1" />
|
||||
<origin xyz="0.033 -0.051 -0.009" rpy="0 0 0" />
|
||||
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
||||
</joint> -->
|
||||
<!-- <joint name="gripper_base_to_gripper_right3" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-0.3" upper="0.7" velocity="0" />
|
||||
<parent link="gripper_base" />
|
||||
<child link="gripper_right3" />
|
||||
<origin xyz="0.018 0.016 0" rpy="0 0 0" />
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
<joint name="gripper_base_to_gripper_right2" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-0.5" upper="0.8" velocity="0" />
|
||||
<parent link="gripper_base" />
|
||||
<child link="gripper_right2" />
|
||||
<origin xyz="0.046 -0.01 0" rpy="0 0 0" />
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
<joint name="gripper_right3_to_gripper_right1" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-0.5" upper="0.5" velocity="0" />
|
||||
<parent link="gripper_right3" />
|
||||
<child link="gripper_right1" />
|
||||
<origin xyz="0.033 0.051 -0.018" rpy="0 0 0" />
|
||||
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
||||
</joint> -->
|
||||
<joint name="gripper_controller" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-0.7" upper="0.3" velocity="0" />
|
||||
<parent link="gripper_base" />
|
||||
<child link="gripper_left3" />
|
||||
<origin xyz="-0.018 0.016 0" rpy="0 0 0" />
|
||||
</joint>
|
||||
<joint name="gripper_base_to_gripper_left2" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-0.8" upper="0.5" velocity="0" />
|
||||
<parent link="gripper_base" />
|
||||
<child link="gripper_left2" />
|
||||
<origin xyz="-0.05 -0.01 0" rpy="0 0 0" />
|
||||
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
||||
</joint>
|
||||
<joint name="gripper_left3_to_gripper_left1" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-0.5" upper="0.5" velocity="0" />
|
||||
<parent link="gripper_left3" />
|
||||
<child link="gripper_left1" />
|
||||
<origin xyz="-0.0356 0.051 -0.018" rpy="0 0 0" />
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
<joint name="gripper_base_to_gripper_right3" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-0.3" upper="0.7" velocity="0" />
|
||||
<parent link="gripper_base" />
|
||||
<child link="gripper_right3" />
|
||||
<origin xyz="0.018 0.016 0" rpy="0 0 0" />
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
<joint name="gripper_base_to_gripper_right2" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-0.5" upper="0.8" velocity="0" />
|
||||
<parent link="gripper_base" />
|
||||
<child link="gripper_right2" />
|
||||
<origin xyz="0.046 -0.01 0" rpy="0 0 0" />
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
<joint name="gripper_right3_to_gripper_right1" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-0.5" upper="0.5" velocity="0" />
|
||||
<parent link="gripper_right3" />
|
||||
<child link="gripper_right1" />
|
||||
<origin xyz="0.033 0.051 -0.018" rpy="0 0 0" />
|
||||
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
||||
</joint>
|
||||
<transmission name="trans_joint1_to_base">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint1_to_base">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="joint1_to_base_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_joint2_to_joint1">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint2_to_joint1">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="joint2_to_joint1_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_joint3_to_joint2">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint3_to_joint2">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="joint3_to_joint2_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_joint4_to_joint3">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint4_to_joint3">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="joint4_to_joint3_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_joint5_to_joint4">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint5_to_joint4">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="joint5_to_joint4_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_joint6_to_joint5">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint6_to_joint5">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="joint6_to_joint5_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_joint6output_to_tool1">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint6output_to_tool1">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="joint6output_to_tool1_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_gripper_controller">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="gripper_controller">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="gripper_controller_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_gripper_base_to_gripper_left2">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="gripper_base_to_gripper_left2">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="gripper_base_to_gripper_left2_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_gripper_left3_to_gripper_left1">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="gripper_left3_to_gripper_left1">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="gripper_left3_to_gripper_left1_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_gripper_base_to_gripper_right3">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="gripper_base_to_gripper_right3">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="gripper_base_to_gripper_right3_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_gripper_base_to_gripper_right2">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="gripper_base_to_gripper_right2">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="gripper_base_to_gripper_right2_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_gripper_right3_to_gripper_right1">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="gripper_right3_to_gripper_right1">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="gripper_right3_to_gripper_right1_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<gazebo>
|
||||
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
|
||||
<robotNamespace>/</robotNamespace>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
</robot>
|
||||
155
mycobot_description/urdf/mycobot_pro_630/mycobot_630.urdf
Normal file
155
mycobot_description/urdf/mycobot_pro_630/mycobot_630.urdf
Normal file
|
|
@ -0,0 +1,155 @@
|
|||
<?xml version="1.0" ?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
|
||||
<xacro:property name="width" value=".2" />
|
||||
<link name="base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/base-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0 " rpy=" 0 0 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/base-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0 " rpy=" 0 0 0" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="joint1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J1-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 -0.0035 " rpy="0 0 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J1-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 -0.0035 " rpy=" 0 0 0" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="joint2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J2-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0.00 " rpy=" 0 0 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J2-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0.00 " rpy=" 0 0 0" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="joint3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J3-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0.009 " rpy=" 0 3.14159 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J3-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0.009 " rpy=" 0 3.14159 0" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="joint4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J4-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0.003 " rpy=" 0 0 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J4-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0.003 " rpy=" 0 0 0" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="joint5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J5-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0 " rpy=" 0 3.14159 3.14159" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J5-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0 " rpy=" 0 3.14159 3.14159" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="joint6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J6-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0" rpy=" 0 1.5707 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J6-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0" rpy=" 0 1.5707 0" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
|
||||
<joint name="joint1_to_base" type="revolute">
|
||||
<axis xyz="0 0 -1" />
|
||||
<limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
|
||||
<parent link="base" />
|
||||
<child link="joint1" />
|
||||
<origin xyz="0 0 0.16034" rpy="0 0 0" />
|
||||
</joint>
|
||||
<joint name="joint2_to_joint1" type="revolute">
|
||||
<axis xyz="0 0 -1" />
|
||||
<limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
|
||||
<parent link="joint1" />
|
||||
<child link="joint2" />
|
||||
<origin xyz="0 0.06 0.038" rpy="1.5707 0 3.14159" />
|
||||
</joint>
|
||||
<joint name="joint3_to_joint2" type="revolute">
|
||||
<axis xyz=" 0 0 -1" />
|
||||
<limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
|
||||
<parent link="joint2" />
|
||||
<child link="joint3" />
|
||||
<origin xyz="0 0.2685 0 " rpy="0 0 0" />
|
||||
</joint>
|
||||
<joint name="joint4_to_joint3" type="revolute">
|
||||
<axis xyz=" 0 0 -1" />
|
||||
<limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
|
||||
<parent link="joint3" />
|
||||
<child link="joint4" />
|
||||
<origin xyz="0 0.2663 0 " rpy="0 0 0" />
|
||||
</joint>
|
||||
<joint name="joint5_to_joint4" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-2.99" upper="2.99" velocity="0" />
|
||||
<parent link="joint4" />
|
||||
<child link="joint5" />
|
||||
<origin xyz="0 0.055 0.039" rpy="1.5707 -1.5707 0" />
|
||||
</joint>
|
||||
<joint name="joint6_to_joint5" type="revolute">
|
||||
<axis xyz="1 0 0" />
|
||||
<limit effort="1000.0" lower="-3.03" upper="3.0368" velocity="0" />
|
||||
<parent link="joint5" />
|
||||
<child link="joint6" />
|
||||
<origin xyz="0 0.04 -0.0385" rpy="-1.5707 0 1.5706 " />
|
||||
</joint>
|
||||
|
||||
|
||||
</robot>
|
||||
|
|
@ -0,0 +1,423 @@
|
|||
<?xml version="1.0" ?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
|
||||
<xacro:property name="width" value=".2" />
|
||||
<link name="base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/base-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0 " rpy=" 0 0 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/base-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0 " rpy=" 0 0 0" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="joint1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J1-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 -0.0035 " rpy="0 0 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J1-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 -0.0035 " rpy=" 0 0 0" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="joint2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J2-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0.00 " rpy=" 0 0 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J2-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0.00 " rpy=" 0 0 0" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="joint3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J3-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0.009 " rpy=" 0 3.14159 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J3-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0.009 " rpy=" 0 3.14159 0" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="joint4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J4-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0.003 " rpy=" 0 0 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J4-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0.003 " rpy=" 0 0 0" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="joint5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J5-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0 " rpy=" 0 3.14159 3.14159" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J5-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0 " rpy=" 0 3.14159 3.14159" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="joint6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J6-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0" rpy=" 0 1.5707 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J6-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0" rpy=" 0 1.5707 0" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="tool1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/tool1-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0" rpy=" -1.5706 0 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/tool1-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0" rpy=" -1.5706 0 0" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<link name="tool2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/tool2-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0" rpy=" 0 0 -1.5706" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/tool2-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0" rpy=" 0 0 -1.5706" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<link name="gripper_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.02 0.012 -0.018 " rpy = " 0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.02 0.012 -0.018 " rpy = " 0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_left1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.036 -0.052 0.0 " rpy = " 0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.036 -0.052 0.0 " rpy = " 0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_left2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.03 0.024 -0.018 " rpy = " 0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.03 0.024 -0.018 " rpy = " 0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_left3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.034 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
|
||||
<!-- <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> -->
|
||||
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.034 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_right1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.072 -0.05 0.0 " rpy = " 0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.072 -0.05 0.0 " rpy = " 0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_right2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.066 0.023 -0.018 " rpy = " 0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.066 0.023 -0.018 " rpy = " 0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_right3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
|
||||
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<joint name="joint1_to_base" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
|
||||
<parent link="base" />
|
||||
<child link="joint1" />
|
||||
<origin xyz="0 0 0.16034" rpy="0 0 0" />
|
||||
</joint>
|
||||
<joint name="joint2_to_joint1" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
|
||||
<parent link="joint1" />
|
||||
<child link="joint2" />
|
||||
<origin xyz="0 0.06 0.038" rpy="1.5707 -1.5706 3.14159" />
|
||||
</joint>
|
||||
<joint name="joint3_to_joint2" type="revolute">
|
||||
<axis xyz=" 0 0 1" />
|
||||
<limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
|
||||
<parent link="joint2" />
|
||||
<child link="joint3" />
|
||||
<origin xyz="0 0.2685 0 " rpy="0 0 0" />
|
||||
</joint>
|
||||
<joint name="joint4_to_joint3" type="revolute">
|
||||
<axis xyz=" 0 0 1" />
|
||||
<limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
|
||||
<parent link="joint3" />
|
||||
<child link="joint4" />
|
||||
<origin xyz="0 0.2663 0 " rpy="0 0 1.5706" />
|
||||
</joint>
|
||||
<joint name="joint5_to_joint4" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-2.99" upper="2.99" velocity="0" />
|
||||
<parent link="joint4" />
|
||||
<child link="joint5" />
|
||||
<origin xyz="0 0.055 0.039" rpy="1.5707 0 0" />
|
||||
</joint>
|
||||
<joint name="joint6_to_joint5" type="revolute">
|
||||
<axis xyz="1 0 0" />
|
||||
<limit effort="1000.0" lower="-3.03" upper="3.0368" velocity="0" />
|
||||
<parent link="joint5" />
|
||||
<child link="joint6" />
|
||||
<origin xyz="0 0.04 -0.0385" rpy="-1.5707 0 1.5706 " />
|
||||
</joint>
|
||||
|
||||
<joint name="joint6output_to_tool1" type="fixed">
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
|
||||
<parent link="joint6" />
|
||||
<child link="tool1" />
|
||||
<origin xyz="0.0079 0.0 0.0" rpy="1.5708 -1.5706 3.14159" />
|
||||
</joint>
|
||||
|
||||
<joint name="tool1_to_tool2" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
|
||||
<parent link="tool1" />
|
||||
<child link="tool2" />
|
||||
<origin xyz="0.0 0.008 0.00" rpy="1.5708 -1.5706 3.14159" />
|
||||
</joint>
|
||||
|
||||
<joint name="tool2_to_gripper_base" type="fixed">
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
|
||||
<parent link="tool2" />
|
||||
<child link="gripper_base" />
|
||||
<origin xyz="0.0 0.0 0.04" rpy="1.5706 0 1.5706" />
|
||||
</joint>
|
||||
<!-- <joint name="gripper_controller" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-0.7" upper="0.3" velocity="0" />
|
||||
<parent link="gripper_base" />
|
||||
<child link="gripper_left3" />
|
||||
<origin xyz="-0.014 -0.016 0.06" rpy="0 -1.5706 0" />
|
||||
</joint>
|
||||
<joint name="gripper_base_to_gripper_left2" type="revolute">
|
||||
<axis xyz="-1 0 0" />
|
||||
<limit effort="1000.0" lower="-0.8" upper="0.5" velocity="0" />
|
||||
<parent link="gripper_base" />
|
||||
<child link="gripper_left2" />
|
||||
<origin xyz="-0.01 -0.03 0.118" rpy="0 0 0" />
|
||||
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
||||
</joint>
|
||||
<joint name="gripper_left3_to_gripper_left1" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-0.5" upper="0.5" velocity="0" />
|
||||
<parent link="gripper_left3" />
|
||||
<child link="gripper_left1" />
|
||||
<origin xyz="0.033 -0.051 -0.009" rpy="0 0 0" />
|
||||
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
||||
</joint> -->
|
||||
<!-- <joint name="gripper_base_to_gripper_right3" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-0.3" upper="0.7" velocity="0" />
|
||||
<parent link="gripper_base" />
|
||||
<child link="gripper_right3" />
|
||||
<origin xyz="0.018 0.016 0" rpy="0 0 0" />
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
<joint name="gripper_base_to_gripper_right2" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-0.5" upper="0.8" velocity="0" />
|
||||
<parent link="gripper_base" />
|
||||
<child link="gripper_right2" />
|
||||
<origin xyz="0.046 -0.01 0" rpy="0 0 0" />
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
<joint name="gripper_right3_to_gripper_right1" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-0.5" upper="0.5" velocity="0" />
|
||||
<parent link="gripper_right3" />
|
||||
<child link="gripper_right1" />
|
||||
<origin xyz="0.033 0.051 -0.018" rpy="0 0 0" />
|
||||
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
||||
</joint> -->
|
||||
<joint name="gripper_controller" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.7" upper = "0.3" velocity = "0"/>
|
||||
<parent link="gripper_base"/>
|
||||
<child link="gripper_left3"/>
|
||||
<origin xyz= "-0.018 0.016 0" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_base_to_gripper_left2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.8" upper = "0.5" velocity = "0"/>
|
||||
<parent link="gripper_base"/>
|
||||
<child link="gripper_left2"/>
|
||||
<origin xyz= "-0.05 -0.01 0" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_left3_to_gripper_left1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
|
||||
<parent link="gripper_left3"/>
|
||||
<child link="gripper_left1"/>
|
||||
<origin xyz= "-0.0356 0.051 -0.018" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_base_to_gripper_right3" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.3" upper = "0.7" velocity = "0"/>
|
||||
<parent link="gripper_base"/>
|
||||
<child link="gripper_right3"/>
|
||||
<origin xyz= "0.018 0.016 0" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_base_to_gripper_right2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.5" upper = "0.8" velocity = "0"/>
|
||||
<parent link="gripper_base"/>
|
||||
<child link="gripper_right2"/>
|
||||
<origin xyz= "0.046 -0.01 0" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_right3_to_gripper_right1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
|
||||
<parent link="gripper_right3"/>
|
||||
<child link="gripper_right1"/>
|
||||
<origin xyz= "0.033 0.051 -0.018" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
|
@ -1,3 +1,156 @@
|
|||
<<<<<<< HEAD
|
||||
<?xml version="1.0" ?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
|
||||
<xacro:property name="width" value=".2" />
|
||||
<link name="base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/base.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0 " rpy=" 1.5706 0 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/base.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0 " rpy=" 1.5706 0 0" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="joint1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link1.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 -0.06 " rpy="0 0 3.1415926" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link1.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 -0.06 " rpy=" 0 0 3.1415926" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="joint2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link2.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 -0.0446 " rpy=" 1.5707 -1.5707 -1.5707" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link2.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 -0.0446 " rpy=" 1.5707 -1.5707 -1.5707" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="joint3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link3.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 -0.0444 " rpy=" 0 1.5707 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link3.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 -0.0444 " rpy="0 1.5707 0" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="joint4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link4.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 -0.002 0.041 " rpy=" -1.5707 0 -1.5707" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link4.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 -0.002 0.041 " rpy=" -1.5707 0 -1.5707" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="joint5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link5.dae" />
|
||||
</geometry>
|
||||
<origin xyz="-0.043 0 -0.08 " rpy=" 3.14159 1.5707 3.14159" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link5.dae" />
|
||||
</geometry>
|
||||
<origin xyz="-0.043 0 -0.08 " rpy=" 3.14159 1.5707 3.14159" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<link name="joint6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link6.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.01 0 0" rpy=" 0 1.5707 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link6.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.01 0 0" rpy=" 0 1.5707 0" />
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
<joint name="joint1_to_base" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
|
||||
<parent link="base" />
|
||||
<child link="joint1" />
|
||||
<origin xyz="0 0 0.22934" rpy="0 0 0" />
|
||||
</joint>
|
||||
|
||||
<joint name="joint2_to_joint1" type="revolute">
|
||||
<axis xyz="0 0 -1" />
|
||||
<limit effort="1000.0" lower="-2.26" upper="2.26" velocity="0" />
|
||||
<parent link="joint1" />
|
||||
<child link="joint2" />
|
||||
<origin xyz="0 0 0" rpy="1.5707 0 0" />
|
||||
</joint>
|
||||
<joint name="joint3_to_joint2" type="revolute">
|
||||
<axis xyz=" 0 0 -1" />
|
||||
<limit effort="1000.0" lower="-2.61" upper="2.618" velocity="0" />
|
||||
<parent link="joint2" />
|
||||
<child link="joint3" />
|
||||
<origin xyz="0 0.27 0 " rpy="0 0 0" />
|
||||
</joint>
|
||||
<joint name="joint4_to_joint3" type="revolute">
|
||||
<axis xyz=" 0 0 -1" />
|
||||
<limit effort="1000.0" lower="-3.17" upper="3.17" velocity="0" />
|
||||
<parent link="joint3" />
|
||||
<child link="joint4" />
|
||||
<origin xyz="0 0.267 -0.0745" rpy="0 0 0" />
|
||||
</joint>
|
||||
<joint name="joint5_to_joint4" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-2.99" upper="2.99" velocity="0" />
|
||||
<parent link="joint4" />
|
||||
<child link="joint5" />
|
||||
<origin xyz="0 0 0.002" rpy="1.5707 -1.5707 0" />
|
||||
</joint>
|
||||
<joint name="joint6_to_joint5" type="revolute">
|
||||
<axis xyz="-1 0 0" />
|
||||
<limit effort="1000.0" lower="-3.03" upper="3.0368" velocity="0" />
|
||||
<parent link="joint5" />
|
||||
<child link="joint6" />
|
||||
<origin xyz="-0.054 0 -0.08" rpy="-1.5707 0 0 " />
|
||||
</joint>
|
||||
=======
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
|
||||
|
||||
|
|
@ -172,6 +325,7 @@
|
|||
<origin xyz= "-0.054 0 0" rpy = "-1.5707 0 0 "/>
|
||||
</joint>
|
||||
|
||||
>>>>>>> 24a25596ca0e4bedd317e5ade3bb39d908910b0a
|
||||
|
||||
|
||||
</robot>
|
||||
|
|
|
|||
115
mycobot_description/urdf/mycobot_pro_630/tool1-mm.dae
Executable file
115
mycobot_description/urdf/mycobot_pro_630/tool1-mm.dae
Executable file
File diff suppressed because one or more lines are too long
115
mycobot_description/urdf/mycobot_pro_630/tool2-mm.dae
Executable file
115
mycobot_description/urdf/mycobot_pro_630/tool2-mm.dae
Executable file
File diff suppressed because one or more lines are too long
|
|
@ -8,6 +8,7 @@ Panels:
|
|||
- /Status1
|
||||
- /RobotModel1
|
||||
- /TF1
|
||||
- /TF1/Frames1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 609
|
||||
- Class: rviz/Selection
|
||||
|
|
@ -68,6 +69,41 @@ Visualization Manager:
|
|||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
gripper_base:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
gripper_left1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
gripper_left2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
gripper_left3:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
gripper_right1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
gripper_right2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
gripper_right3:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
link1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
|
|
@ -98,6 +134,11 @@ Visualization Manager:
|
|||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
tool2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Name: RobotModel
|
||||
Robot Description: robot_description
|
||||
TF Prefix: ""
|
||||
|
|
@ -110,23 +151,43 @@ Visualization Manager:
|
|||
Filter (whitelist): ""
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: true
|
||||
All Enabled: false
|
||||
base:
|
||||
Value: false
|
||||
gripper_base:
|
||||
Value: true
|
||||
gripper_left1:
|
||||
Value: false
|
||||
gripper_left2:
|
||||
Value: false
|
||||
gripper_left3:
|
||||
Value: false
|
||||
gripper_right1:
|
||||
Value: false
|
||||
gripper_right2:
|
||||
Value: false
|
||||
gripper_right3:
|
||||
Value: false
|
||||
link1:
|
||||
Value: true
|
||||
Value: false
|
||||
link2:
|
||||
Value: true
|
||||
Value: false
|
||||
link3:
|
||||
Value: true
|
||||
Value: false
|
||||
link4:
|
||||
Value: true
|
||||
Value: false
|
||||
link5:
|
||||
Value: true
|
||||
Value: false
|
||||
link6:
|
||||
Value: false
|
||||
tool2:
|
||||
Value: true
|
||||
Marker Alpha: 1
|
||||
<<<<<<< HEAD
|
||||
Marker Scale: 0.30000001192092896
|
||||
=======
|
||||
Marker Scale: 0.20000000298023224
|
||||
>>>>>>> 24a25596ca0e4bedd317e5ade3bb39d908910b0a
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
|
|
@ -139,6 +200,17 @@ Visualization Manager:
|
|||
link4:
|
||||
link5:
|
||||
link6:
|
||||
tool2:
|
||||
gripper_base:
|
||||
gripper_left2:
|
||||
{}
|
||||
gripper_left3:
|
||||
gripper_left1:
|
||||
{}
|
||||
gripper_right2:
|
||||
{}
|
||||
gripper_right3:
|
||||
gripper_right1:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
|
|
@ -170,7 +242,11 @@ Visualization Manager:
|
|||
Views:
|
||||
Current:
|
||||
Class: rviz/Orbit
|
||||
<<<<<<< HEAD
|
||||
Distance: 1.0985256433486938
|
||||
=======
|
||||
Distance: 2.0004639625549316
|
||||
>>>>>>> 24a25596ca0e4bedd317e5ade3bb39d908910b0a
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
|
|
@ -178,17 +254,29 @@ Visualization Manager:
|
|||
Value: false
|
||||
Field of View: 0.7853981852531433
|
||||
Focal Point:
|
||||
<<<<<<< HEAD
|
||||
X: 0.3120266795158386
|
||||
Y: 0.00957618746906519
|
||||
Z: 0.04648329317569733
|
||||
=======
|
||||
X: -0.07064759731292725
|
||||
Y: -0.0814988762140274
|
||||
Z: 0.10758385062217712
|
||||
>>>>>>> 24a25596ca0e4bedd317e5ade3bb39d908910b0a
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
<<<<<<< HEAD
|
||||
Pitch: 0.6053987145423889
|
||||
Target Frame: <Fixed Frame>
|
||||
Yaw: 2.4103732109069824
|
||||
=======
|
||||
Pitch: 0.45539799332618713
|
||||
Target Frame: <Fixed Frame>
|
||||
Yaw: 2.6153931617736816
|
||||
>>>>>>> 24a25596ca0e4bedd317e5ade3bb39d908910b0a
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
|
|
@ -196,7 +284,11 @@ Window Geometry:
|
|||
Height: 906
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
<<<<<<< HEAD
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002ecfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ec000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000304fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000304000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000005c8000002ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
=======
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002ecfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ec000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f000002ecfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ec000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000393000002ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
>>>>>>> 24a25596ca0e4bedd317e5ade3bb39d908910b0a
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
|
|
|
|||
|
|
@ -0,0 +1,11 @@
|
|||
<launch>
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/mycobot_pro_600/mycobot_pro_600_moveit.urdf"/>
|
||||
<arg name="rvizconfig" default="$(find mycobot_600)/config/mycobot_600.rviz" />
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
||||
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
|
||||
<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
|
||||
</node>
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
</launch>
|
||||
|
|
@ -1,6 +1,8 @@
|
|||
<launch>
|
||||
<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/mycobot_pro_600/mycobot_pro_600.urdf"/>
|
||||
<!-- <arg name="model" default="$(find mycobot_description)/urdf/mycobot_pro_600/mycobot_pro_600.urdf"/> -->
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/mycobot_pro_600/mycobot_pro_600_moveit.urdf"/>
|
||||
<!-- <arg name="model" default="$(find mycobot_description)/urdf/mycobot_pro_600/new_mycobot_pro_600_moveit.urdf"/> -->
|
||||
<arg name="rvizconfig" default="$(find mycobot_600)/config/mycobot_600.rviz" />
|
||||
<arg name="gui" default="true" />
|
||||
|
||||
|
|
|
|||
16
mycobot_pro/mycobot_600/launch/test_gripper.launch
Normal file
16
mycobot_pro/mycobot_600/launch/test_gripper.launch
Normal file
|
|
@ -0,0 +1,16 @@
|
|||
<launch>
|
||||
<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/mycobot_pro_600/mycobot_pro_600_gripper.urdf"/>
|
||||
<arg name="rvizconfig" default="$(find mycobot_600)/config/mycobot_600.rviz" />
|
||||
<arg name="gui" default="true" />
|
||||
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
||||
|
||||
<!-- Combinejoin values to TF -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
|
||||
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
|
||||
|
||||
<!-- Show in Rviz -->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
</launch>
|
||||
105
mycobot_pro/mycobot_600/scripts/mycobot_600_follow_display.py
Normal file
105
mycobot_pro/mycobot_600/scripts/mycobot_600_follow_display.py
Normal file
|
|
@ -0,0 +1,105 @@
|
|||
#!/usr/bin/env python2
|
||||
# -*- coding:utf-8 -*-
|
||||
from cgi import print_environ
|
||||
import time
|
||||
|
||||
import rospy
|
||||
from sensor_msgs.msg import JointState
|
||||
from std_msgs.msg import Header
|
||||
from visualization_msgs.msg import Marker
|
||||
|
||||
from pymycobot.mycobot import MyCobot
|
||||
|
||||
|
||||
def talker():
|
||||
rospy.init_node("display", anonymous=True)
|
||||
|
||||
print("Try connect real mycobot...")
|
||||
port = rospy.get_param("~port", "/dev/ttyUSB0")
|
||||
baud = rospy.get_param("~baud", 115200)
|
||||
print("port: {}, baud: {}\n".format(port, baud))
|
||||
try:
|
||||
mycobot = MyCobot(port, baud)
|
||||
except Exception as e:
|
||||
print(e)
|
||||
print(
|
||||
"""\
|
||||
\rTry connect mycobot failed!
|
||||
\rPlease check wether connected with mycobot.
|
||||
\rPlease chckt wether the port or baud is right.
|
||||
"""
|
||||
)
|
||||
exit(1)
|
||||
mycobot.release_all_servos()
|
||||
time.sleep(0.1)
|
||||
print("Rlease all servos over.\n")
|
||||
|
||||
pub = rospy.Publisher("joint_states", JointState, queue_size=10)
|
||||
pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=10)
|
||||
rate = rospy.Rate(30) # 30hz
|
||||
|
||||
# pub joint state
|
||||
joint_state_send = JointState()
|
||||
joint_state_send.header = Header()
|
||||
|
||||
joint_state_send.name = [
|
||||
"joint2_to_joint1",
|
||||
"joint3_to_joint2",
|
||||
"joint4_to_joint3",
|
||||
"joint5_to_joint4",
|
||||
"joint6_to_joint5",
|
||||
"joint6output_to_joint6",
|
||||
]
|
||||
joint_state_send.velocity = [0]
|
||||
joint_state_send.effort = []
|
||||
|
||||
marker_ = Marker()
|
||||
marker_.header.frame_id = "/joint1"
|
||||
marker_.ns = "my_namespace"
|
||||
|
||||
print("publishing ...")
|
||||
while not rospy.is_shutdown():
|
||||
joint_state_send.header.stamp = rospy.Time.now()
|
||||
|
||||
angles = mycobot.get_radians()
|
||||
data_list = []
|
||||
for index, value in enumerate(angles):
|
||||
data_list.append(value)
|
||||
|
||||
# rospy.loginfo('{}'.format(data_list))
|
||||
joint_state_send.position = data_list
|
||||
|
||||
pub.publish(joint_state_send)
|
||||
|
||||
coords = mycobot.get_coords()
|
||||
|
||||
# marker
|
||||
marker_.header.stamp = rospy.Time.now()
|
||||
marker_.type = marker_.SPHERE
|
||||
marker_.action = marker_.ADD
|
||||
marker_.scale.x = 0.04
|
||||
marker_.scale.y = 0.04
|
||||
marker_.scale.z = 0.04
|
||||
|
||||
# marker position initial
|
||||
if not coords:
|
||||
coords = [0, 0, 0, 0, 0, 0]
|
||||
|
||||
rospy.loginfo("error [101]: can not get coord values")
|
||||
|
||||
marker_.pose.position.x = coords[1] / 1000 * -1
|
||||
marker_.pose.position.y = coords[0] / 1000
|
||||
marker_.pose.position.z = coords[2] / 1000
|
||||
|
||||
marker_.color.a = 1.0
|
||||
marker_.color.g = 1.0
|
||||
pub_marker.publish(marker_)
|
||||
|
||||
rate.sleep()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
try:
|
||||
talker()
|
||||
except rospy.ROSInterruptException:
|
||||
pass
|
||||
23
mycobot_pro/mycobot_600/scripts/test.py
Normal file
23
mycobot_pro/mycobot_600/scripts/test.py
Normal file
|
|
@ -0,0 +1,23 @@
|
|||
from pymycobot import ElephantRobot
|
||||
import time
|
||||
if __name__=='__main__':
|
||||
# "Connect to robot server"
|
||||
elephant_client = ElephantRobot("192.168.1.6", 5001)
|
||||
|
||||
# "Enable TCP communication"
|
||||
elephant_client.start_client()
|
||||
|
||||
# "Setting"
|
||||
# elephant_client.set_speed(20) # set speed(20%)
|
||||
# elephant_client.set_payload(2.0) # set payload(2.0Kg)
|
||||
|
||||
# "Power on the robot"
|
||||
# elephant_client.power_on()
|
||||
|
||||
# "Start the system"
|
||||
# elephant_client.state_on()
|
||||
|
||||
# "test move"
|
||||
elephant_client.write_coords([-108, -140, 620, 88, -2, -37], 3000)
|
||||
elephant_client.wait(3)
|
||||
elephant_client.command_wait_done()
|
||||
11
mycobot_pro/mycobot_600_gripper_moveit/.setup_assistant
Normal file
11
mycobot_pro/mycobot_600_gripper_moveit/.setup_assistant
Normal file
|
|
@ -0,0 +1,11 @@
|
|||
moveit_setup_assistant_config:
|
||||
URDF:
|
||||
package: mycobot_description
|
||||
relative_path: urdf/mycobot_pro_600/mycobot_pro_600_gripper.urdf
|
||||
xacro_args: ""
|
||||
SRDF:
|
||||
relative_path: config/firefighter.srdf
|
||||
CONFIG:
|
||||
author_name: aa
|
||||
author_email: aa@123.com
|
||||
generated_timestamp: 1748499850
|
||||
10
mycobot_pro/mycobot_600_gripper_moveit/CMakeLists.txt
Executable file
10
mycobot_pro/mycobot_600_gripper_moveit/CMakeLists.txt
Executable file
|
|
@ -0,0 +1,10 @@
|
|||
cmake_minimum_required(VERSION 3.1.3)
|
||||
project(mycobot_600_gripper_moveit)
|
||||
|
||||
find_package(catkin REQUIRED)
|
||||
|
||||
catkin_package()
|
||||
|
||||
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
||||
PATTERN "setup_assistant.launch" EXCLUDE)
|
||||
install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
|
||||
5
mycobot_pro/mycobot_600_gripper_moveit/config/cartesian_limits.yaml
Executable file
5
mycobot_pro/mycobot_600_gripper_moveit/config/cartesian_limits.yaml
Executable file
|
|
@ -0,0 +1,5 @@
|
|||
cartesian_limits:
|
||||
max_trans_vel: 1
|
||||
max_trans_acc: 2.25
|
||||
max_trans_dec: -5
|
||||
max_rot_vel: 1.57
|
||||
18
mycobot_pro/mycobot_600_gripper_moveit/config/chomp_planning.yaml
Executable file
18
mycobot_pro/mycobot_600_gripper_moveit/config/chomp_planning.yaml
Executable file
|
|
@ -0,0 +1,18 @@
|
|||
planning_time_limit: 10.0
|
||||
max_iterations: 200
|
||||
max_iterations_after_collision_free: 5
|
||||
smoothness_cost_weight: 0.1
|
||||
obstacle_cost_weight: 1.0
|
||||
learning_rate: 0.01
|
||||
smoothness_cost_velocity: 0.0
|
||||
smoothness_cost_acceleration: 1.0
|
||||
smoothness_cost_jerk: 0.0
|
||||
ridge_factor: 0.0
|
||||
use_pseudo_inverse: false
|
||||
pseudo_inverse_ridge_factor: 1e-4
|
||||
joint_update_limit: 0.1
|
||||
collision_clearance: 0.2
|
||||
collision_threshold: 0.07
|
||||
use_stochastic_descent: true
|
||||
enable_failure_recovery: false
|
||||
max_recovery_attempts: 5
|
||||
19
mycobot_pro/mycobot_600_gripper_moveit/config/fake_controllers.yaml
Executable file
19
mycobot_pro/mycobot_600_gripper_moveit/config/fake_controllers.yaml
Executable file
|
|
@ -0,0 +1,19 @@
|
|||
controller_list:
|
||||
- name: fake_arm_group_controller
|
||||
type: $(arg fake_execution_type)
|
||||
joints:
|
||||
- joint2_to_joint1
|
||||
- joint3_to_joint2
|
||||
- joint4_to_joint3
|
||||
- joint5_to_joint4
|
||||
- joint6_to_joint5
|
||||
- joint6output_to_joint6
|
||||
- name: fake_gripper_group_controller
|
||||
type: $(arg fake_execution_type)
|
||||
joints:
|
||||
- gripper_controller
|
||||
initial: # Define initial robot poses per group
|
||||
- group: arm_group
|
||||
pose: init_pose
|
||||
- group: gripper_group
|
||||
pose: init_gripper
|
||||
207
mycobot_pro/mycobot_600_gripper_moveit/config/firefighter.srdf
Executable file
207
mycobot_pro/mycobot_600_gripper_moveit/config/firefighter.srdf
Executable file
|
|
@ -0,0 +1,207 @@
|
|||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<!--This does not replace URDF, and is not an extension of URDF.
|
||||
This is a format for representing semantic information about the robot structure.
|
||||
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
|
||||
-->
|
||||
<robot name="firefighter">
|
||||
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
|
||||
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
|
||||
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
|
||||
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
|
||||
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
|
||||
<group name="arm_group">
|
||||
<chain base_link="base" tip_link="link6"/>
|
||||
</group>
|
||||
<group name="gripper_group">
|
||||
<chain base_link="gripper_base" tip_link="gripper_left3"/>
|
||||
</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">
|
||||
<joint name="joint2_to_joint1" value="0"/>
|
||||
<joint name="joint3_to_joint2" value="0"/>
|
||||
<joint name="joint4_to_joint3" value="0"/>
|
||||
<joint name="joint5_to_joint4" value="0"/>
|
||||
<joint name="joint6_to_joint5" value="0"/>
|
||||
<joint name="joint6output_to_joint6" value="0"/>
|
||||
</group_state>
|
||||
<group_state name="init_gripper" group="gripper_group">
|
||||
<joint name="gripper_controller" value="0"/>
|
||||
</group_state>
|
||||
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
|
||||
<end_effector name="gripper" parent_link="link6" group="gripper_group" parent_group="arm_group"/>
|
||||
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
|
||||
<virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="base"/>
|
||||
<!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
|
||||
<passive_joint name="gripper_base_to_gripper_left2"/>
|
||||
<passive_joint name="gripper_base_to_gripper_right2"/>
|
||||
<passive_joint name="gripper_base_to_gripper_right3"/>
|
||||
<passive_joint name="gripper_right3_to_gripper_right1"/>
|
||||
<passive_joint name="gripper_left3_to_gripper_left1"/>
|
||||
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
|
||||
<!-- <disable_collisions link1="base" link2="link1" reason="Adjacent"/>
|
||||
<disable_collisions link1="base" link2="link2" reason="Never"/>
|
||||
<disable_collisions link1="base" link2="link4" reason="Never"/>
|
||||
<disable_collisions link1="gripper_base" link2="gripper_left1" reason="Never"/>
|
||||
<disable_collisions link1="gripper_base" link2="gripper_left2" reason="Adjacent"/>
|
||||
<disable_collisions link1="gripper_base" link2="gripper_left3" reason="Adjacent"/>
|
||||
<disable_collisions link1="gripper_base" link2="gripper_right1" reason="Never"/>
|
||||
<disable_collisions link1="gripper_base" link2="gripper_right2" reason="Adjacent"/>
|
||||
<disable_collisions link1="gripper_base" link2="gripper_right3" reason="Adjacent"/>
|
||||
<disable_collisions link1="gripper_base" link2="link4" reason="Never"/>
|
||||
<disable_collisions link1="gripper_base" link2="link5" reason="Never"/>
|
||||
<disable_collisions link1="gripper_base" link2="link6" reason="Never"/>
|
||||
<disable_collisions link1="gripper_base" link2="tool2" reason="Adjacent"/>
|
||||
<disable_collisions link1="gripper_left1" link2="gripper_left2" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left1" link2="gripper_left3" reason="Adjacent"/>
|
||||
<disable_collisions link1="gripper_left1" link2="gripper_right1" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left1" link2="gripper_right2" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left1" link2="gripper_right3" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left1" link2="link4" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left1" link2="link5" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left1" link2="link6" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left1" link2="tool2" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left2" link2="gripper_left3" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left2" link2="gripper_right1" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left2" link2="gripper_right2" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left2" link2="gripper_right3" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left2" link2="link4" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left2" link2="link5" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left2" link2="link6" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left2" link2="tool2" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left3" link2="gripper_right1" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left3" link2="gripper_right2" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left3" link2="link4" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left3" link2="link5" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left3" link2="link6" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left3" link2="tool2" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right1" link2="gripper_right2" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right1" link2="gripper_right3" reason="Adjacent"/>
|
||||
<disable_collisions link1="gripper_right1" link2="link4" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right1" link2="link5" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right1" link2="link6" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right1" link2="tool2" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right2" link2="gripper_right3" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right2" link2="link4" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right2" link2="link5" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right2" link2="link6" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right2" link2="tool2" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right3" link2="link4" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right3" link2="link5" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right3" link2="link6" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right3" link2="tool2" reason="Never"/>
|
||||
<disable_collisions link1="link1" link2="link2" reason="Adjacent"/>
|
||||
<disable_collisions link1="link1" link2="link3" reason="Never"/>
|
||||
<disable_collisions link1="link1" link2="link4" reason="Never"/>
|
||||
<disable_collisions link1="link1" link2="link5" reason="Never"/>
|
||||
<disable_collisions link1="link2" link2="link3" reason="Adjacent"/>
|
||||
<disable_collisions link1="link2" link2="link4" reason="Never"/>
|
||||
<disable_collisions link1="link3" link2="link4" reason="Adjacent"/>
|
||||
<disable_collisions link1="link3" link2="link5" reason="Never"/>
|
||||
<disable_collisions link1="link3" link2="link6" reason="Never"/>
|
||||
<disable_collisions link1="link4" link2="link5" reason="Adjacent"/>
|
||||
<disable_collisions link1="link4" link2="link6" reason="Never"/>
|
||||
<disable_collisions link1="link4" link2="tool2" reason="Never"/>
|
||||
<disable_collisions link1="link5" link2="link6" reason="Adjacent"/>
|
||||
<disable_collisions link1="link5" link2="tool2" reason="Never"/>
|
||||
<disable_collisions link1="link6" link2="tool2" reason="Adjacent"/> -->
|
||||
<disable_collisions link1="base" link2="link1" reason="Adjacent"/>
|
||||
<disable_collisions link1="base" link2="link2" reason="Never"/>
|
||||
<disable_collisions link1="base" link2="link3" reason="Never"/>
|
||||
<disable_collisions link1="base" link2="link4" reason="Never"/>
|
||||
<disable_collisions link1="base" link2="link5" reason="Never"/>
|
||||
<disable_collisions link1="base" link2="link6" reason="Never"/>
|
||||
<disable_collisions link1="base" link2="tool2" reason="Never"/>
|
||||
<disable_collisions link1="base" link2="gripper_base" reason="Never"/>
|
||||
<!-- <disable_collisions link1="base" link2="gripper_left3" reason="Never"/>
|
||||
<disable_collisions link1="base" link2="gripper_right3" reason="Never"/> -->
|
||||
<disable_collisions link1="base" link2="gripper_left1" reason="Never"/>
|
||||
<disable_collisions link1="base" link2="gripper_left2" reason="Never"/>
|
||||
<disable_collisions link1="base" link2="gripper_left3" reason="Never"/>
|
||||
<disable_collisions link1="base" link2="gripper_right1" reason="Never"/>
|
||||
<disable_collisions link1="base" link2="gripper_right2" reason="Never"/>
|
||||
<disable_collisions link1="base" link2="gripper_right3" reason="Never"/>
|
||||
|
||||
|
||||
<disable_collisions link1="gripper_base" link2="gripper_left1" reason="Never"/>
|
||||
<disable_collisions link1="gripper_base" link2="gripper_left2" reason="Adjacent"/>
|
||||
<disable_collisions link1="gripper_base" link2="gripper_left3" reason="Adjacent"/>
|
||||
<disable_collisions link1="gripper_base" link2="gripper_right1" reason="Never"/>
|
||||
<disable_collisions link1="gripper_base" link2="gripper_right2" reason="Adjacent"/>
|
||||
<disable_collisions link1="gripper_base" link2="gripper_right3" reason="Adjacent"/>
|
||||
<disable_collisions link1="gripper_base" link2="link5" reason="Never"/>
|
||||
<!-- <disable_collisions link1="gripper_base" link2="link6" reason="Never"/> -->
|
||||
<disable_collisions link1="gripper_base" link2="link3" reason="Never"/>
|
||||
<disable_collisions link1="gripper_base" link2="link2" reason="Never"/>
|
||||
<!-- <disable_collisions link1="gripper_base" link2="link4" reason="Never"/> -->
|
||||
<disable_collisions link1="gripper_base" link2="tool2" reason="Adjacent"/>
|
||||
<disable_collisions link1="gripper_left1" link2="gripper_left2" reason="Adjacent"/>
|
||||
<disable_collisions link1="gripper_left1" link2="gripper_left3" reason="Adjacent"/>
|
||||
<disable_collisions link1="gripper_left1" link2="gripper_right1" reason="Default"/>
|
||||
<disable_collisions link1="gripper_left1" link2="gripper_right2" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left1" link2="gripper_right3" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left1" link2="link5" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left1" link2="link6" reason="Never"/>
|
||||
|
||||
<!-- <disable_collisions link1="gripper_left1" link2="link4" reason="Never"/> -->
|
||||
<disable_collisions link1="gripper_left1" link2="tool2" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left2" link2="gripper_left3" reason="Default"/>
|
||||
<disable_collisions link1="gripper_left2" link2="gripper_right1" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left2" link2="gripper_right2" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left2" link2="gripper_right3" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left2" link2="link5" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left2" link2="link6" reason="Never"/>
|
||||
|
||||
<!-- <disable_collisions link1="gripper_left2" link2="link4" reason="Never"/> -->
|
||||
<disable_collisions link1="gripper_left2" link2="tool2" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left3" link2="gripper_right1" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left3" link2="gripper_right2" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left3" link2="gripper_right3" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left3" link2="link5" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left3" link2="link6" reason="Never"/>
|
||||
|
||||
<!-- <disable_collisions link1="gripper_left3" link2="link4" reason="Never"/> -->
|
||||
<disable_collisions link1="gripper_left3" link2="tool2" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right1" link2="gripper_right2" reason="Adjacent"/>
|
||||
<disable_collisions link1="gripper_right1" link2="gripper_right3" reason="Adjacent"/>
|
||||
<disable_collisions link1="gripper_right1" link2="link5" reason="Never"/>
|
||||
<!-- <disable_collisions link1="gripper_right1" link2="link6" reason="Never"/> -->
|
||||
<disable_collisions link1="gripper_right1" link2="link3" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right1" link2="link2" reason="Never"/>
|
||||
|
||||
<!-- <disable_collisions link1="gripper_right1" link2="link4" reason="Never"/> -->
|
||||
<disable_collisions link1="gripper_right1" link2="tool2" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right2" link2="gripper_right3" reason="Default"/>
|
||||
<disable_collisions link1="gripper_right2" link2="link5" reason="Never"/>
|
||||
<!-- <disable_collisions link1="gripper_right2" link2="link6" reason="Never"/> -->
|
||||
<disable_collisions link1="gripper_right2" link2="link3" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right2" link2="link2" reason="Never"/>
|
||||
<!-- <disable_collisions link1="gripper_right2" link2="link4" reason="Never"/> -->
|
||||
<disable_collisions link1="gripper_right2" link2="tool2" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right3" link2="link5" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right3" link2="link6" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right3" link2="link3" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right3" link2="link2" reason="Never"/>
|
||||
<!-- <disable_collisions link1="gripper_right3" link2="link4" reason="Never"/> -->
|
||||
<disable_collisions link1="gripper_right3" link2="tool2" reason="Never"/>
|
||||
<disable_collisions link1="link1" link2="link2" reason="Adjacent"/>
|
||||
<!-- <disable_collisions link1="link1" link2="tool2" reason="Never"/> -->
|
||||
<disable_collisions link1="link1" link2="link3" reason="Never"/>
|
||||
|
||||
<disable_collisions link1="link2" link2="link3" reason="Adjacent"/>
|
||||
<!-- <disable_collisions link1="link2" link2="tool2" reason="Never"/> -->
|
||||
<disable_collisions link1="link2" link2="link4" reason="Never"/>
|
||||
|
||||
<disable_collisions link1="link3" link2="link4" reason="Adjacent"/>
|
||||
<!-- <disable_collisions link1="link3" link2="tool2" reason="Never"/> -->
|
||||
<disable_collisions link1="link3" link2="link5" reason="Never"/>
|
||||
|
||||
<disable_collisions link1="link4" link2="link5" reason="Adjacent"/>
|
||||
<!-- <disable_collisions link1="link4" link2="tool2" reason="Never"/> -->
|
||||
<disable_collisions link1="link4" link2="link6" reason="Never"/>
|
||||
|
||||
<disable_collisions link1="link5" link2="link6" reason="Adjacent"/>
|
||||
<disable_collisions link1="link5" link2="tool2" reason="Never"/>
|
||||
<!-- <disable_collisions link1="link6" link2="tool1" reason="Adjacent"/> -->
|
||||
<disable_collisions link1="link6" link2="tool2" reason="Adjacent"/>
|
||||
<!-- <disable_collisions link1="tool1" link2="tool2" reason="Adjacent"/> -->
|
||||
</robot>
|
||||
4
mycobot_pro/mycobot_600_gripper_moveit/config/gazebo_controllers.yaml
Executable file
4
mycobot_pro/mycobot_600_gripper_moveit/config/gazebo_controllers.yaml
Executable file
|
|
@ -0,0 +1,4 @@
|
|||
# Publish joint_states
|
||||
joint_state_controller:
|
||||
type: joint_state_controller/JointStateController
|
||||
publish_rate: 50
|
||||
|
|
@ -0,0 +1,555 @@
|
|||
<?xml version="1.0" ?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
|
||||
<xacro:property name="width" value=".2" />
|
||||
<link name="base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J1-W.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0 " rpy=" 1.5706 0 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0.04 " rpy=" 0 0 1.5708" />
|
||||
<geometry>
|
||||
<cylinder length="0.06" radius="0.038" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="link1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J2-W.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0.05 -0.08 " rpy="0 0 3.14159" />
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 0.04 " rpy=" 0 0 1.5708" />
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.03" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="link2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J3-W.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 -0.092 0.044 " rpy=" 0 -1.5706 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0.128 -0.04 " rpy=" 1.5708 0 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.28" radius="0.024" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="link3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J4-W.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 -0.09 -0.01 " rpy=" 0 1.5706 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.128 0.076 " rpy="1.5708 0 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.24" radius="0.024" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="link4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J5-W.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 -0.6987 0 " rpy=" 0 0 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.02 -0.05" rpy=" 1.5708 1.5708 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.024" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="link5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-W.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0 0.048 " rpy=" 1.5706 0 3.14159" />
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 0.038 " rpy=" 0 0 -1.5708" />
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.028" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="link6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J7-W.dae" />
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.5 0.5 0.5 1" />
|
||||
</material>
|
||||
<origin xyz="0.06 0 0" rpy=" 3.14159 3.14159 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.003 0.0 -0.0 " rpy=" 0 1.5708 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.006" radius="0.026" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<!-- <link name="tool1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/tool1-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0" rpy=" -1.5706 0 0" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/tool1-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0" rpy=" -1.5706 0 0" />
|
||||
</collision>
|
||||
</link> -->
|
||||
<link name="tool2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/tool2-mm.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0" rpy=" 0 0 -1.5706" />
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.003 0.0 0.005 " rpy=" 0 0 -1.5708" />
|
||||
<geometry>
|
||||
<cylinder length="0.006" radius="0.026" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="gripper_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_base.dae" />
|
||||
</geometry>
|
||||
<origin xyz="-0.02 0.012 -0.018 " rpy=" 0 0 1.5708" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder radius="0.026" length="0.03" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0 0.01 " rpy=" 0 0 1.5708" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="gripper_left1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left1.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.036 -0.052 0.0 " rpy=" 0 0 1.5708" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder radius="0.004" length="0.005" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0.0 0.002 " rpy=" 0 0 1.5708" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="gripper_left2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left2.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.03 0.024 -0.018 " rpy=" 0 0 1.5708" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder radius="0.003" length="0.003" />
|
||||
</geometry>
|
||||
<origin xyz="0.00 -0.0 -0.003 " rpy=" 0 0 1.5708" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="gripper_left3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left3.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0.034 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
|
||||
<!-- <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> -->
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder radius="0.018" length="0.003" />
|
||||
</geometry>
|
||||
<origin xyz="-0.002 0 -0.016 " rpy=" 0 3.14159 -1.5708" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="gripper_right1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right1.dae" />
|
||||
</geometry>
|
||||
<origin xyz="-0.072 -0.05 0.0 " rpy=" 0 0 1.5708" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder radius="0.004" length="0.005" />
|
||||
</geometry>
|
||||
<origin xyz="0.0 0.0 0.002 " rpy=" 0 0 1.5708" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="gripper_right2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right2.dae" />
|
||||
</geometry>
|
||||
<origin xyz="-0.066 0.023 -0.018 " rpy=" 0 0 1.5708" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder radius="0.003" length="0.003" />
|
||||
</geometry>
|
||||
<origin xyz="0.00 -0.0 -0.003 " rpy=" 0 0 1.5708" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="gripper_right3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right3.dae" />
|
||||
</geometry>
|
||||
<origin xyz="0 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder radius="0.018" length="0.003" />
|
||||
</geometry>
|
||||
<origin xyz="-0.002 0 -0.016 " rpy=" 0 3.14159 -1.5708" />
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
||||
</inertial>
|
||||
</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" />
|
||||
<parent link="base" />
|
||||
<child link="link1" />
|
||||
<origin xyz="0 0 0.1655" rpy="0 0 0" />
|
||||
</joint>
|
||||
<joint name="joint3_to_joint2" type="revolute">
|
||||
<axis xyz="0 0 -1" />
|
||||
<!-- <limit effort = "1000.0" lower = "-4.71" upper = "1.5708" velocity = "0"/> -->
|
||||
<limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
|
||||
<parent link="link1" />
|
||||
<child link="link2" />
|
||||
<!-- <origin xyz= "0 0 0" rpy = "1.5708 -1.5708 0"/> -->
|
||||
<origin xyz="0 0.042 0.072" rpy="1.5708 1.5706 0" />
|
||||
</joint>
|
||||
<joint name="joint4_to_joint3" type="revolute">
|
||||
<axis xyz=" 0 0 -1" />
|
||||
<limit effort="1000.0" lower="-2.61" upper="2.618" velocity="0" />
|
||||
<parent link="link2" />
|
||||
<child link="link3" />
|
||||
<origin xyz="0.0 0.25 0.005 " rpy="0 0 0" />
|
||||
</joint>
|
||||
<joint name="joint5_to_joint4" type="revolute">
|
||||
<axis xyz=" 0 0 -1" />
|
||||
<!-- <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/> -->
|
||||
<limit effort="1000.0" lower="-2.97" upper="2.97" velocity="0" />
|
||||
<parent link="link3" />
|
||||
<child link="link4" />
|
||||
<!-- <origin xyz= "0.25 0 -0.1091" rpy = "0 0 1.5708"/> -->
|
||||
<origin xyz="0 0.25 0.025" rpy="0 0 -1.5706" />
|
||||
</joint>
|
||||
<joint name="joint6_to_joint5" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-2.93" upper="2.9321" velocity="0" />
|
||||
<parent link="link4" />
|
||||
<child link="link5" />
|
||||
<origin xyz="0 0.058 -0.052" rpy="1.57080 -1.57080 3.14159" />
|
||||
</joint>
|
||||
<joint name="joint6output_to_joint6" type="revolute">
|
||||
<axis xyz="-1 0 0" />
|
||||
<limit effort="1000.0" lower="-3.03" upper="3.0368" velocity="0" />
|
||||
<parent link="link5" />
|
||||
<child link="link6" />
|
||||
<origin xyz="-0.06 0 0.048" rpy="-1.57080 0 0 " />
|
||||
</joint>
|
||||
<joint name="joint6output_to_tool2" type="fixed">
|
||||
<axis xyz="0 1 0" />
|
||||
<limit effort="1000.0" lower="-3.05" upper="3.05" velocity="0" />
|
||||
<parent link="link6" />
|
||||
<child link="tool2" />
|
||||
<origin xyz="-0.016 0.0 0.0" rpy="-1.5706 0 1.5706" />
|
||||
</joint>
|
||||
<!-- <joint name="tool1_to_tool2" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
|
||||
<parent link="tool1" />
|
||||
<child link="tool2" />
|
||||
<origin xyz="0.0 0.008 0.00" rpy="1.5708 -1.5706 3.14159" />
|
||||
</joint> -->
|
||||
<joint name="tool2_to_gripper_base" type="fixed">
|
||||
<axis xyz="0 0 -1" />
|
||||
<limit effort="1000.0" lower="-3.05" upper="3.05" velocity="0" />
|
||||
<parent link="tool2" />
|
||||
<child link="gripper_base" />
|
||||
<origin xyz="0.005 0.0 0.047" rpy="1.5706 0 1.5706" />
|
||||
</joint>
|
||||
<joint name="gripper_controller" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-0.7" upper="0.3" velocity="0" />
|
||||
<parent link="gripper_base" />
|
||||
<child link="gripper_left3" />
|
||||
<origin xyz="-0.018 0.016 0" rpy="0 0 0" />
|
||||
</joint>
|
||||
<joint name="gripper_base_to_gripper_left2" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-0.8" upper="0.5" velocity="0" />
|
||||
<parent link="gripper_base" />
|
||||
<child link="gripper_left2" />
|
||||
<origin xyz="-0.05 -0.01 0" rpy="0 0 0" />
|
||||
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
||||
</joint>
|
||||
<joint name="gripper_left3_to_gripper_left1" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-0.5" upper="0.5" velocity="0" />
|
||||
<parent link="gripper_left3" />
|
||||
<child link="gripper_left1" />
|
||||
<origin xyz="-0.0356 0.051 -0.018" rpy="0 0 0" />
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
<joint name="gripper_base_to_gripper_right3" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-0.3" upper="0.7" velocity="0" />
|
||||
<parent link="gripper_base" />
|
||||
<child link="gripper_right3" />
|
||||
<origin xyz="0.018 0.016 0" rpy="0 0 0" />
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
<joint name="gripper_base_to_gripper_right2" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-0.5" upper="0.8" velocity="0" />
|
||||
<parent link="gripper_base" />
|
||||
<child link="gripper_right2" />
|
||||
<origin xyz="0.046 -0.01 0" rpy="0 0 0" />
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
<joint name="gripper_right3_to_gripper_right1" type="revolute">
|
||||
<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-0.5" upper="0.5" velocity="0" />
|
||||
<parent link="gripper_right3" />
|
||||
<child link="gripper_right1" />
|
||||
<origin xyz="0.033 0.051 -0.018" rpy="0 0 0" />
|
||||
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
||||
</joint>
|
||||
<transmission name="trans_joint2_to_joint1">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint2_to_joint1">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="joint2_to_joint1_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_joint3_to_joint2">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint3_to_joint2">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="joint3_to_joint2_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_joint4_to_joint3">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint4_to_joint3">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="joint4_to_joint3_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_joint5_to_joint4">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint5_to_joint4">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="joint5_to_joint4_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_joint6_to_joint5">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint6_to_joint5">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="joint6_to_joint5_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_joint6output_to_joint6">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint6output_to_joint6">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="joint6output_to_joint6_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_gripper_controller">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="gripper_controller">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="gripper_controller_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_gripper_base_to_gripper_left2">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="gripper_base_to_gripper_left2">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="gripper_base_to_gripper_left2_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_gripper_left3_to_gripper_left1">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="gripper_left3_to_gripper_left1">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="gripper_left3_to_gripper_left1_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_gripper_base_to_gripper_right3">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="gripper_base_to_gripper_right3">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="gripper_base_to_gripper_right3_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_gripper_base_to_gripper_right2">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="gripper_base_to_gripper_right2">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="gripper_base_to_gripper_right2_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_gripper_right3_to_gripper_right1">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="gripper_right3_to_gripper_right1">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="gripper_right3_to_gripper_right1_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<gazebo>
|
||||
<plugin name="gazebo_ros_control">
|
||||
<robotNamespace>/</robotNamespace>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
</robot>
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show more
Loading…
Add table
Reference in a new issue