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https://github.com/elephantrobotics/mycobot_ros.git
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change mycobot_pro_320.urdf
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wangWking
parent
2854d55475
commit
c6a481da52
1 changed files with 34 additions and 88 deletions
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@ -1,138 +1,91 @@
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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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<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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<mesh filename="package://mycobot_description/urdf/320_urdf/base.dae"/>
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<!--- 0.0 0 -0.04 1.5708 3.14159-->
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<mesh filename="package://mycobot_description/urdf/320_urdf/base.dae"/>
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</geometry>
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<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
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<origin xyz = "0 0 0 " rpy = " 0 0 3.1415926"/>
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</visual>
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<collision>
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<origin xyz = "0 0 0.05 " rpy = " 0 0 0"/>
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<geometry>
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<cylinder length="0.102" radius="0.0725"/>
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</geometry>
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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/320_urdf/link1.dae"/>
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<mesh filename="package://mycobot_description/urdf/320_urdf/link1.dae"/>
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</geometry>
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<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
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<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
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</visual>
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<collision>
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<origin xyz = "0 0 -0.02 " rpy = " 0 0 0"/>
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<geometry>
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<cylinder length="0.106" radius="0.043"/>
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</geometry>
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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/320_urdf/link2.dae"/>
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<mesh filename="package://mycobot_description/urdf/320_urdf/link2.dae"/>
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</geometry>
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<origin xyz = "0 0 0.0587 " rpy = " 0 0 3.1415926"/>
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<origin xyz = "0 0 0.0587 " rpy = " 0 0 3.1415926"/>
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</visual>
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<collision>
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<origin xyz = "0.07 0 0.095 " rpy = " 0 -1.5708 0"/>
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<geometry>
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<cylinder length="0.18" radius="0.036"/>
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</geometry>
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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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<mesh filename="package://mycobot_description/urdf/320_urdf/link3.dae"/>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/320_urdf/link3.dae"/>
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</geometry>
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<origin xyz = "0 0 0.038 " rpy = " 0 0 3.1415926"/>
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<origin xyz = "0 0 0.038 " rpy = " 0 0 3.1415926"/>
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</visual>
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<collision>
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<origin xyz = "0.044 0 0 " rpy = " 0 -1.5708 0"/>
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<geometry>
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<cylinder length="0.14" radius="0.0305"/>
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</geometry>
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</collision>
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</link>
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<link name="link4">
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<link name="link4">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/320_urdf/link4.dae"/>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/320_urdf/link4.dae"/>
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</geometry>
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<origin xyz = "0 -0.001 0 " rpy = " 0 0 0"/>
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<origin xyz = "0 -0.001 0 " rpy = " 0 0 0"/>
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</visual>
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<collision>
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<origin xyz = "0.0 -0.014 0 " rpy = " 0 -1.5708 1.5708"/>
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<geometry>
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<cylinder length="0.083" radius="0.029"/>
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</geometry>
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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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<mesh filename="package://mycobot_description/urdf/320_urdf/link5.dae"/>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/320_urdf/link5.dae"/>
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</geometry>
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<origin xyz = "0 0.002 0 " rpy = " 0 0 3.1415926"/>
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<origin xyz = "0 0.002 0 " rpy = " 0 0 3.1415926"/>
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</visual>
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<collision>
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<origin xyz = "0 -0.01 0 " rpy = " 1.5708 1.5708 0"/>
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<geometry>
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<cylinder length="0.0849" radius="0.029"/>
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</geometry>
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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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<cylinder length="0.02" radius="0.026"/>
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<mesh filename="package://mycobot_description/urdf/320_urdf/link6.dae"/>
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</geometry>
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<material name = "grey">
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<color rgba = "0.5 0.5 0.5 1"/>
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</material>
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<origin xyz = "0 0 -0.01 " rpy = " 0 0 0"/>
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</visual>
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<collision>
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<origin xyz = "0.0 0 -0.01 " rpy = " 0 0 0"/>
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<geometry>
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<cylinder length="0.0225" radius="0.026"/>
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</geometry>
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</collision>
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</link>
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<link name="gripper">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/320_urdf/gripper.dae"/>
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</geometry>
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<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
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<origin xyz = "-0.03 0.001 0.5" rpy = " -3.04159 0.0157 3.1415926"/>
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</visual>
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</link>
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<joint name="joint2_to_joint1" type="revolute">
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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 0.17846" rpy = "0 0 0"/>
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<origin xyz= "0 0 0.17846" rpy = "0 0 0"/>
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</joint>
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@ -141,7 +94,7 @@
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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 -1.57080 1.57080"/>
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<origin xyz= "0 0 0" rpy = "0 -1.57080 1.57080"/>
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</joint>
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@ -150,7 +103,7 @@
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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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<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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@ -158,7 +111,7 @@
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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= "0.1 0 0.090" rpy = "0 0 1.57080"/>
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<origin xyz= "0.1 0 0.090" 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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@ -166,25 +119,18 @@
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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 -0.08515 0" rpy = "1.57080 -1.57080 0"/>
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<origin xyz= "0 -0.08515 0" rpy = "1.57080 -1.57080 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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<axis xyz="1 0 0"/>
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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 0.06 0" rpy = "-1.57080 0 0 "/>
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<origin xyz= "0.02155 -0.01 -0.034" rpy = "1.57080 0 1.57080 "/>
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</joint>
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<joint name="gitpper_to_joint6output" type="fixed">
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<axis xyz="0 0 0"/>
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<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
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<parent link="link6"/>
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<child link="gripper"/>
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<origin xyz= "0 0 0" rpy = "0 0 0 "/>
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</joint>
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</robot>
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