mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
add 280arduino_urdf
This commit is contained in:
wangWking
parent
58815a485d
commit
dccc0757b2
21 changed files with 709175 additions and 0 deletions
1810
mycobot_description/urdf/280_arduino/joint1.dae
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mycobot_description/urdf/280_arduino/joint1.dae
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mycobot_description/urdf/280_arduino/joint1.png
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mycobot_description/urdf/280_arduino/joint1.png
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mycobot_description/urdf/280_arduino/joint2.dae
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mycobot_description/urdf/280_arduino/joint2.dae
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mycobot_description/urdf/280_arduino/joint2.png
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mycobot_description/urdf/280_arduino/joint2.png
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mycobot_description/urdf/280_arduino/joint3.dae
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mycobot_description/urdf/280_arduino/joint3.dae
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mycobot_description/urdf/280_arduino/joint3.png
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mycobot_description/urdf/280_arduino/joint3.png
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mycobot_description/urdf/280_arduino/joint4.dae
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mycobot_description/urdf/280_arduino/joint4.dae
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mycobot_description/urdf/280_arduino/joint4.png
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mycobot_description/urdf/280_arduino/joint5.dae
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mycobot_description/urdf/280_arduino/joint5.dae
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mycobot_description/urdf/280_arduino/joint5.png
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mycobot_description/urdf/280_arduino/joint6.dae
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mycobot_description/urdf/280_arduino/joint6.dae
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mycobot_description/urdf/280_arduino/joint6.png
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mycobot_description/urdf/280_arduino/joint6.png
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mycobot_description/urdf/280_arduino/joint7.dae
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mycobot_description/urdf/280_arduino/joint7.dae
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mycobot_description/urdf/280_arduino/joint7.png
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705708
mycobot_description/urdf/280_arduino/mycobot_step.STEP
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mycobot_description/urdf/280_arduino/mycobot_step.STEP
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186
mycobot_description/urdf/280_arduino/mycobot_urdf.urdf
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186
mycobot_description/urdf/280_arduino/mycobot_urdf.urdf
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@ -0,0 +1,186 @@
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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="joint1">
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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/280_arduino/joint1.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0 " 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 1.5708 3.14159-->
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<mesh filename="package://mycobot_description/urdf/280_arduino/joint1.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
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</collision>
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</link>
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<link name="joint2">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/280_arduino/joint2.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.06096 " 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/280_arduino/joint2.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
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</collision>
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</link>
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<link name="joint3">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/280_arduino/joint3.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0.03256 " 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/280_arduino/joint3.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
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</collision>
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</link>
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<link name="joint4">
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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/280_arduino/joint4.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0.03056 " 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/280_arduino/joint4.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
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</collision>
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</link>
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<link name="joint5">
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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/280_arduino/joint5.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 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/280_arduino/joint5.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
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</collision>
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</link>
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<link name="joint6">
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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/280_arduino/joint6.dae"/>
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</geometry>
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<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 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/280_arduino/joint6.dae"/>
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</geometry>
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<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
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</collision>
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</link>
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<link name="joint6_flange">
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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/280_arduino/joint7.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 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/280_arduino/joint7.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 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="joint1"/>
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<child link="joint2"/>
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<origin xyz= "0 0 0.13156" 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="joint2"/>
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<child link="joint3"/>
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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="joint3"/>
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<child link="joint4"/>
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<origin xyz= " -0.1104 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="joint4"/>
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<child link="joint5"/>
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<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
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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="joint5"/>
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<child link="joint6"/>
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<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 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="joint6"/>
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<child link="joint6_flange"/>
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<origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>
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</joint>
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</robot>
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199
mycobot_description/urdf/280_arduino/mycobot_with_vision.urdf
Normal file
199
mycobot_description/urdf/280_arduino/mycobot_with_vision.urdf
Normal file
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@ -0,0 +1,199 @@
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="mycobot_ai">
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<link name="env">
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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/mycobot/suit_env.dae"/>
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</geometry>
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<origin xyz = "0 0 -0.02 " rpy = "1.5708 0 -1.5708"/>
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</visual>
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</link>
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<link name="joint1">
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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/mycobot/joint1.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0 " 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 1.5708 3.14159-->
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<mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
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</collision>
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</link>
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<link name="joint2">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.06096 " 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/mycobot/joint2.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
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</collision>
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</link>
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<link name="joint3">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0.03256 " 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/mycobot/joint3.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
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</collision>
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</link>
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<link name="joint4">
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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/mycobot/joint4.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0.03056 " 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/mycobot/joint4.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
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</collision>
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</link>
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<link name="joint5">
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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/mycobot/joint5.dae"/>
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</geometry>
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||||
<origin xyz = "0.0 0 -0.03356 " rpy = "-1.5708 0 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/mycobot/joint5.dae"/>
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||||
</geometry>
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<origin xyz = "0.0 0 -0.03356 " rpy = "-1.5708 0 0"/>
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</collision>
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</link>
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<link name="joint6">
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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/mycobot/joint6.dae"/>
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</geometry>
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<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 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/mycobot/joint6.dae"/>
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</geometry>
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<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
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</collision>
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</link>
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<link name="joint6_flange">
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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/mycobot/joint7.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
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||||
</visual>
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||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
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</geometry>
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||||
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 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"/>
|
||||
<parent link="joint1"/>
|
||||
<child link="joint2"/>
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<origin xyz= "0 0 0.13156" 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"/>
|
||||
<parent link="joint2"/>
|
||||
<child link="joint3"/>
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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"/>
|
||||
<parent link="joint3"/>
|
||||
<child link="joint4"/>
|
||||
<origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
|
||||
</joint>
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||||
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||||
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||||
|
||||
<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>
|
||||
|
||||
<joint name="vision_joint" type="fixed">
|
||||
<axis xyz="0 0 0"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||
<parent link="joint1"/>
|
||||
<child link="env"/>
|
||||
<origin xyz= "0 0 0" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
||||
|
|
@ -0,0 +1,29 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="mycobot_ai" >
|
||||
|
||||
<xacro:property name="width" value=".2" />
|
||||
<xacro:include filename="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf" />
|
||||
|
||||
|
||||
<link name="env">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/suit_env.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0 -0.02 " rpy = "1.5708 0 -1.5708"/>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
|
||||
|
||||
<joint name="vision_joint" type="fixed">
|
||||
<axis xyz="0 0 0"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||
<parent link="joint1"/>
|
||||
<child link="env"/>
|
||||
<origin xyz= "0 0 0" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
||||
249
mycobot_description/urdf/280_arduino/noenv.urdf
Normal file
249
mycobot_description/urdf/280_arduino/noenv.urdf
Normal file
|
|
@ -0,0 +1,249 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="mycobot_ai_no" >
|
||||
|
||||
<xacro:property name="width" value=".2" />
|
||||
|
||||
|
||||
<link name="joint1">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0.1" rpy="0 0 0"/>
|
||||
<mass value="10"/>
|
||||
<inertia
|
||||
ixx="0.0" ixy="0.0" ixz="0.0"
|
||||
iyy="0.5" iyz="0.0"
|
||||
izz="0.0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/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/joint1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.0 " rpy = " 0 0 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint2">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0.1" rpy="0 0 0"/>
|
||||
<mass value="0.2"/>
|
||||
<inertia
|
||||
ixx="0.0" ixy="0.0" ixz="0.0"
|
||||
iyy="0.5" iyz="0.0"
|
||||
izz="0.0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.061 " rpy = " 0 0 -1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.061 " rpy = " 0 0 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint3">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0.1" rpy="0 0 0"/>
|
||||
<mass value="0.2"/>
|
||||
<inertia
|
||||
ixx="0.0" ixy="0.0" ixz="0.0"
|
||||
iyy="0.5" iyz="0.0"
|
||||
izz="0.0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/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/joint3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.00 0 0.03256 " rpy = " 0 -1.5708 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint4">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0.1" rpy="0 0 0"/>
|
||||
<mass value="0.2"/>
|
||||
<inertia
|
||||
ixx="0.0" ixy="0.0" ixz="0.0"
|
||||
iyy="0.5" iyz="0.0"
|
||||
izz="0.0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/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/joint4.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="joint5">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0.1" rpy="0 0 0"/>
|
||||
<mass value="0.2"/>
|
||||
<inertia
|
||||
ixx="0.0" ixy="0.0" ixz="0.0"
|
||||
iyy="0.5" iyz="0.0"
|
||||
izz="0.0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint5.stl"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.02956 " rpy = " 0 -1.5708 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint5.stl"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.02956 " rpy = " 0 -1.5708 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="joint6">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0.1" rpy="0 0 0"/>
|
||||
<mass value="0.2"/>
|
||||
<inertia
|
||||
ixx="0.0" ixy="0.0" ixz="0.0"
|
||||
iyy="0.5" iyz="0.0"
|
||||
izz="0.0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.00 0.0 -0.044 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.00 0.0 -0.044 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint6_flange">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0.1" rpy="0 0 0"/>
|
||||
<mass value="0.1"/>
|
||||
<inertia
|
||||
ixx="0.0" ixy="0.0" ixz="0.0"
|
||||
iyy="0.0" iyz="0.0"
|
||||
izz="0.0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.00 0.00 -0.014 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.00 0.00 -0.014 " rpy = " 0 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"/>
|
||||
<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 -0.001" 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 0.06062" 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 0.0486 -0.007" rpy = "-1.5708 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="world"/>
|
||||
|
||||
<joint name="fixed" type="fixed">
|
||||
<parent link="world"/>
|
||||
<child link="joint1"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
</robot>
|
||||
|
||||
66
mycobot_description/urdf/280_arduino/suit_env.dae
Normal file
66
mycobot_description/urdf/280_arduino/suit_env.dae
Normal file
File diff suppressed because one or more lines are too long
263
mycobot_description/urdf/280_arduino/withenv.urdf
Normal file
263
mycobot_description/urdf/280_arduino/withenv.urdf
Normal file
|
|
@ -0,0 +1,263 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="mycobot_ai_with" >
|
||||
|
||||
<xacro:property name="width" value=".2" />
|
||||
|
||||
<link name="env">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<mass value="10"/>
|
||||
<inertia
|
||||
ixx="1.0" ixy="0.0" ixz="0.0"
|
||||
iyy="1.0" iyz="0.0"
|
||||
izz="1.0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/suit_env.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0 0.0" rpy = "1.5708 0 -1.5708"/>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="joint1">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0.1" rpy="0 0 0"/>
|
||||
<mass value="0.2"/>
|
||||
<inertia
|
||||
ixx="1.0" ixy="0.0" ixz="0.0"
|
||||
iyy="1.0" iyz="0.0"
|
||||
izz="1.0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.02 " rpy = " 0 0 -1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.02 " rpy = " 0 0 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint2">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0.1" rpy="0 0 0"/>
|
||||
<mass value="0.2"/>
|
||||
<inertia
|
||||
ixx="1.0" ixy="0.0" ixz="0.0"
|
||||
iyy="1.0" iyz="0.0"
|
||||
izz="1.0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/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/joint2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint3">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0.1" rpy="0 0 0"/>
|
||||
<mass value="0.2"/>
|
||||
<inertia
|
||||
ixx="1.0" ixy="0.0" ixz="0.0"
|
||||
iyy="1.0" iyz="0.0"
|
||||
izz="1.0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/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/joint3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint4">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0.1" rpy="0 0 0"/>
|
||||
<mass value="0.2"/>
|
||||
<inertia
|
||||
ixx="1.0" ixy="0.0" ixz="0.0"
|
||||
iyy="1.0" iyz="0.0"
|
||||
izz="1.0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/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/joint4.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="joint5">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0.1" rpy="0 0 0"/>
|
||||
<mass value="0.2"/>
|
||||
<inertia
|
||||
ixx="1.0" ixy="0.0" ixz="0.0"
|
||||
iyy="1.0" iyz="0.0"
|
||||
izz="1.0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint5.stl"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.57080 "/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint5.stl"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.57080"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="joint6">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0.1" rpy="0 0 0"/>
|
||||
<mass value="0.2"/>
|
||||
<inertia
|
||||
ixx="1.0" ixy="0.0" ixz="0.0"
|
||||
iyy="1.0" iyz="0.0"
|
||||
izz="1.0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.00 0.00 -0.048 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.00 0.00 -0.048 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint6_flange">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0.1" rpy="0 0 0"/>
|
||||
<mass value="0.1"/>
|
||||
<inertia
|
||||
ixx="1.0" ixy="0.0" ixz="0.0"
|
||||
iyy="1.0" iyz="0.0"
|
||||
izz="1.0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.00 -0.00 -0.026 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.00 -0.00 -0.026 " rpy = " 0 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"/>
|
||||
<parent link="joint1"/>
|
||||
<child link="joint2"/>
|
||||
<origin xyz= "0 0 0.15156" 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 0.02 " 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= "0.00 -0.07718 -0.004" 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 0.06 -0.01" rpy = "-1.5708 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="vision_joint" type="fixed">
|
||||
<axis xyz="0 0 0"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||
<parent link="env"/>
|
||||
<child link="joint1"/>
|
||||
<origin xyz= "0 0 0" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="world"/>
|
||||
<joint name="fixed" type="fixed">
|
||||
<parent link="world"/>
|
||||
<child link="env"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
||||
Loading…
Add table
Reference in a new issue