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add new_mycobot_320 urdf
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wangWking
parent
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commit
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9 changed files with 189303 additions and 0 deletions
184098
mycobot_description/urdf/new_320_urdf/base.dae
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184098
mycobot_description/urdf/new_320_urdf/base.dae
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mycobot_description/urdf/new_320_urdf/link1.dae
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mycobot_description/urdf/new_320_urdf/link1.dae
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mycobot_description/urdf/new_320_urdf/link2.dae
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mycobot_description/urdf/new_320_urdf/link2.dae
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mycobot_description/urdf/new_320_urdf/link3.dae
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mycobot_description/urdf/new_320_urdf/link3.dae
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mycobot_description/urdf/new_320_urdf/link4.dae
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mycobot_description/urdf/new_320_urdf/link4.dae
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mycobot_description/urdf/new_320_urdf/link5.dae
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mycobot_description/urdf/new_320_urdf/link5.dae
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mycobot_description/urdf/new_320_urdf/link6.dae
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mycobot_description/urdf/new_320_urdf/link6.dae
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mycobot_description/urdf/new_320_urdf/new_mycobot_pro_320.urdf
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mycobot_description/urdf/new_320_urdf/new_mycobot_pro_320.urdf
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
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<xacro:property name="width" value=".2" />
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<link name="base">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 1.5708 3.14159-->
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<mesh filename="package://mycobot_description/urdf/new_320_urdf/base.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0 " rpy = " 0 0 3.1415926"/>
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</visual>
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<collision>
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<geometry>
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<!--- 0.0 0 -0.04 1.5708 3.14159-->
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<mesh filename="package://mycobot_description/urdf/new_320_urdf/base.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0 " rpy = " 0 0 3.1415926"/>
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</collision>
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</link>
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<link name="link1">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/new_320_urdf/link1.dae"/>
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</geometry>
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<origin xyz = "-0.29156 -0.220 -0.085 " rpy = " 0 0 1.5708"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/new_320_urdf/link1.dae"/>
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</geometry>
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<origin xyz = "-0.29156 -0.220 -0.085 " rpy = " 0 0 1.5708"/>
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</collision>
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</link>
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<link name="link2">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/new_320_urdf/link2.dae"/>
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</geometry>
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<origin xyz = "-0.090 0.0 -0.138 " rpy = " 0 1.5708 0"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/new_320_urdf/link2.dae"/>
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</geometry>
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<origin xyz = "-0.090 0.0 -0.138 " rpy = " 0 1.5708 0"/>
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</collision>
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</link>
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<link name="link3">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/new_320_urdf/link3.dae"/>
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</geometry>
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<origin xyz = "-0.22 0 0.093 " rpy = " 0 1.5708 0"/>
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</visual>
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<collision>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/new_320_urdf/link3.dae"/>
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</geometry>
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<origin xyz = "-0.22 0 0.093 " rpy = " 0 1.5708 0"/>
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</collision>
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</link>
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<link name="link4">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/new_320_urdf/link4.dae"/>
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</geometry>
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<origin xyz = "0 0.275 -0.096 " rpy = " 1.5708 1.5708 0"/>
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</visual>
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<collision>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/new_320_urdf/link4.dae"/>
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</geometry>
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<origin xyz = "0 0.275 -0.096 " rpy = " 1.5708 1.5708 0"/>
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</collision>
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</link>
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<link name="link5">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/new_320_urdf/link5.dae"/>
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</geometry>
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<origin xyz = "0.0012 -0.044 -0.456 " rpy = " 0 0 -1.5708"/>
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</visual>
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<collision>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/new_320_urdf/link5.dae"/>
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</geometry>
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<origin xyz = "0.0012 -0.044 -0.456 " rpy = " 0 0 -1.5708"/>
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</collision>
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</link>
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<link name="link6">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/new_320_urdf/link6.dae"/>
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</geometry>
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<origin xyz = "-0.431 0.0009 -0.16536 " rpy = " 0 1.5708 0"/>
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</visual>
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<collision>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/new_320_urdf/link6.dae"/>
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</geometry>
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<origin xyz = "-0.431 0.0009 -0.16536 " rpy = " 0 1.5708 0"/>
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</collision>
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</link>
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<joint name="joint2_to_joint1" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
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<parent link="base"/>
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<child link="link1"/>
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<origin xyz= "0 0 0.16846" rpy = "0 0 0"/>
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</joint>
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<joint name="joint3_to_joint2" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
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<parent link="link1"/>
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<child link="link2"/>
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<origin xyz= "0 0 0" rpy = "0 -1.5708 1.5708"/>
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</joint>
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<joint name="joint4_to_joint3" type="revolute">
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<axis xyz=" 0 0 1"/>
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<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
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<parent link="link2"/>
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<child link="link3"/>
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<origin xyz= "0.13635 0 0 " rpy = "0 0 0"/>
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</joint>
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<joint name="joint5_to_joint4" type="revolute">
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<axis xyz=" 0 0 1"/>
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<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
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<parent link="link3"/>
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<child link="link4"/>
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<origin xyz = "0.12 0 0.09 " rpy = " 0 0 1.57080"/>
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</joint>
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<joint name="joint6_to_joint5" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
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<parent link="link4"/>
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<child link="link5"/>
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<origin xyz= "0 -0.080 0" rpy = "1.5708 0 0"/>
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</joint>
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<joint name="joint6output_to_joint6" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
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<parent link="link5"/>
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<child link="link6"/>
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<origin xyz= "0 0.0760 0" rpy = "-1.5708 0 0"/>
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</joint>
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</robot>
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1315
mycobot_description/urdf/new_320_urdf/底座-Pi.dae
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1315
mycobot_description/urdf/new_320_urdf/底座-Pi.dae
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