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update new_320_M5 urdf

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This commit is contained in:
wangWking 2022-05-19 15:28:10 +08:00
parent 35383670db
commit d0d9f10e97
9 changed files with 1250 additions and 2565 deletions
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108
mycobot_description/urdf/new_320_urdf/link1.dae Normal file → Executable file
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mycobot_description/urdf/new_320_urdf/link2.dae Normal file → Executable file
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mycobot_description/urdf/new_320_urdf/link3.dae Normal file → Executable file
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mycobot_description/urdf/new_320_urdf/link4.dae Normal file → Executable file
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mycobot_description/urdf/new_320_urdf/link5.dae Normal file → Executable file
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mycobot_description/urdf/new_320_urdf/link6.dae Normal file → Executable file
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44
mycobot_description/urdf/new_320_urdf/new_mycobot_pro_320.urdf
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@ -27,13 +27,13 @@
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link1.dae"/>
</geometry>
<origin xyz = "-0.29 -0.2165 -0.099 " rpy = " 0 0 1.5708"/>
<origin xyz = "0.115 -0.172 -0.086 " rpy = " 0 0 3.1415926"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link1.dae"/>
</geometry>
<origin xyz = "-0.29 -0.2165 -0.099 " rpy = " 0 0 1.5708"/>
<origin xyz = "0.115 -0.172 -0.086 " rpy = " 0 0 3.1415926"/>
</collision>
</link>
@ -44,13 +44,13 @@
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link2.dae"/>
</geometry>
<origin xyz = "-0.092 0.0 -0.146 " rpy = " 0 1.5708 0"/>
<origin xyz = "-0.075 -0.115 -0.022 " rpy = " 1.5708 0 1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link2.dae"/>
</geometry>
<origin xyz = "-0.092 0.0 -0.146 " rpy = " 0 1.5708 0"/>
<origin xyz = "-0.075 -0.115 -0.022 " rpy = " 1.5708 0 1.5708"/>
</collision>
</link>
@ -61,14 +61,14 @@
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link3.dae"/>
</geometry>
<origin xyz = "-0.221 0 0.093 " rpy = " 0 1.5708 0"/>
<origin xyz = "-0.22 -0.115 0.142 " rpy = " 1.5708 0 1.5708"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link3.dae"/>
</geometry>
<origin xyz = "-0.221 0 0.093 " rpy = " 0 1.5708 0"/>
<origin xyz = "-0.22 -0.115 0.142 " rpy = " 1.5708 0 1.5708"/>
</collision>
</link>
@ -79,14 +79,14 @@
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link4.dae"/>
</geometry>
<origin xyz = "0 0.275 -0.096 " rpy = " 1.5708 1.5708 0"/>
<origin xyz = "-0.115 0.338 -0.1435" rpy = " 1.5708 0 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link4.dae"/>
</geometry>
<origin xyz = "0 0.275 -0.096 " rpy = " 1.5708 1.5708 0"/>
<origin xyz = "-0.115 0.338 -0.1435" rpy = " 1.5708 0 0"/>
</collision>
</link>
@ -97,14 +97,14 @@
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link5.dae"/>
</geometry>
<origin xyz = "0.001 -0.044 -0.456 " rpy = " 0 0 -1.5708"/>
<origin xyz = "-0.1149 -0.0322 -0.482 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link5.dae"/>
</geometry>
<origin xyz = "0.0012 -0.044 -0.456 " rpy = " 0 0 -1.5708"/>
<origin xyz = "-0.1149 -0.0322 -0.482 " rpy = " 0 0 0"/>
</collision>
</link>
@ -115,39 +115,39 @@
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link6.dae"/>
</geometry>
<origin xyz = "-0.431 0.0009 -0.16 " rpy = " 0 1.5708 0"/>
<origin xyz = "-0.11478 0.433 -0.15 " rpy = " 1.5708 0 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link6.dae"/>
</geometry>
<origin xyz = "-0.431 0.0009 -0.16536 " rpy = " 0 1.5708 0"/>
<origin xyz = "-0.11478 0.433 -0.15 " rpy = " 1.5708 0 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"/>
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
<parent link="base"/>
<child link="link1"/>
<origin xyz= "0 0 0.17846" rpy = "0 0 0"/>
<origin xyz= "0 0 0.162" 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"/>
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link1"/>
<child link="link2"/>
<origin xyz= "0 0 -0.014" rpy = "0 -1.5708 1.5708"/>
<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"/>
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link2"/>
<child link="link3"/>
<origin xyz= "0.13635 0 0 " rpy = "0 0 0"/>
@ -156,26 +156,26 @@
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link3"/>
<child link="link4"/>
<origin xyz = "0.12 0 0.09 " rpy = " 0 0 1.57080"/>
<origin xyz = "0.1205 0 0.082 " rpy = " 0 0 1.57080"/>
</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"/>
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
<parent link="link4"/>
<child link="link5"/>
<origin xyz= "0 -0.090 0.0" rpy = "1.5708 0 0"/>
<origin xyz= "0 -0.084 0.0" rpy = "1.5708 0 0"/>
<!-- <origin xyz= "0 -0.07813 -0.0" rpy = "1.5708 0 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"/>
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
<parent link="link5"/>
<child link="link6"/>
<origin xyz= "0 0.06635 0.0" rpy = "-1.5708 0 0"/>

44
mycobot_description/urdf/new_320_urdf/new_mycobot_pro_320moveit.urdf
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@ -24,10 +24,10 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link1.dae"/>
</geometry>
<origin xyz = "-0.29 -0.2165 -0.099 " rpy = " 0 0 1.5708"/>
<origin xyz = "0.115 -0.172 -0.086 " rpy = " 0 0 3.1415926"/>
</visual>
<collision>
<origin xyz = "0 0 -0.02 " rpy = " 0 0 1.5708"/>
<origin xyz = "0 0 -0.02 " rpy = " 0 0 3.1415926"/>
<geometry>
<cylinder length="0.106" radius="0.043"/>
</geometry>
@ -40,10 +40,10 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link2.dae"/>
</geometry>
<origin xyz = "-0.090 0 -0.138 " rpy = " 0 1.5708 0"/>
<origin xyz = "-0.075 -0.115 -0.022 " rpy = " 1.5708 0 1.5708"/>
</visual>
<collision>
<origin xyz = "0.07 0 0.095 " rpy = " 0 1.5708 0"/>
<origin xyz = "0.07 0 0.095 " rpy = " 1.5708 0 1.5708"/>
<geometry>
<cylinder length="0.18" radius="0.036"/>
</geometry>
@ -56,10 +56,10 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link3.dae"/>
</geometry>
<origin xyz = "-0.22 0 0.093 " rpy = " 0 1.5708 0"/>
<origin xyz = "-0.22 -0.115 0.142 " rpy = " 1.5708 0 1.5708"/>
</visual>
<collision>
<origin xyz = "0.044 0 0 " rpy = " 0 1.5708 0"/>
<origin xyz = "0.044 0 0 " rpy = " 1.5708 0 1.5708"/>
<geometry>
<cylinder length="0.14" radius="0.0305"/>
</geometry>
@ -73,10 +73,10 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link4.dae"/>
</geometry>
<origin xyz = "0 0.275 -0.096 " rpy = " 1.5708 1.5708 0"/>
<origin xyz = "-0.115 0.338 -0.1435" rpy = " 1.5708 0 0"/>
</visual>
<collision>
<origin xyz = "0.0 -0.014 0 " rpy = " 1.5708 1.5708 0"/>
<origin xyz = "0.0 -0.014 0 " rpy = " 1.5708 0 0"/>
<geometry>
<cylinder length="0.083" radius="0.029"/>
</geometry>
@ -89,10 +89,10 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link5.dae"/>
</geometry>
<origin xyz = "0.001 -0.044 -0.456 " rpy = " 0 0 -1.5708"/>
<origin xyz = "-0.1149 -0.0322 -0.482 " rpy = " 0 0 0"/>
</visual>
<collision>
<origin xyz = "0 -0.01 0 " rpy = " 0 0 -1.5708"/>
<origin xyz = "0 -0.01 0 " rpy = " 0 0 0"/>
<geometry>
<cylinder length="0.0849" radius="0.029"/>
</geometry>
@ -107,10 +107,10 @@
<material name = "grey">
<color rgba = "0.5 0.5 0.5 1"/>
</material>
<origin xyz = "-0.431 0.0009 -0.16 " rpy = " 0 1.5708 0"/>
<origin xyz = "-0.11478 0.433 -0.15 " rpy = " 1.5708 0 0"/>
</visual>
<collision>
<origin xyz = "-0.431 0.0009 -0.16 " rpy = " 0 1.5708 0"/>
<origin xyz = "-0.431 0.0009 -0.16 " rpy = " 1.5708 0 0"/>
<geometry>
<cylinder length="0.0225" radius="0.026"/>
</geometry>
@ -119,25 +119,25 @@
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
<parent link="base"/>
<child link="link1"/>
<origin xyz= "0 0 0.17846" rpy = "0 0 0"/>
<origin xyz= "0 0 0.162" 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"/>
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link1"/>
<child link="link2"/>
<origin xyz= "0 0 -0.014" rpy = "0 -1.57080 1.57080"/>
<origin xyz= "0 0 0" rpy = "0 -1.57080 1.57080"/>
</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"/>
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link2"/>
<child link="link3"/>
<origin xyz= "0.13635 0 0 " rpy = "0 0 0"/>
@ -145,23 +145,23 @@
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link3"/>
<child link="link4"/>
<origin xyz= "0.12 0 0.09" rpy = "0 0 1.57080"/>
<origin xyz= "0.1205 0 0.082" rpy = "0 0 1.57080"/>
</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"/>
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
<parent link="link4"/>
<child link="link5"/>
<origin xyz= "0 -0.090 0" rpy = "1.57080 0 0"/>
<origin xyz= "0 -0.084 0" rpy = "1.57080 0 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"/>
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
<parent link="link5"/>
<child link="link6"/>
<origin xyz= "0 0.06635 0" rpy = "-1.57080 0 0 "/>

1315
mycobot_description/urdf/new_320_urdf/底座-Pi.dae
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