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weijian 2022-09-09 16:23:49 +08:00
parent 94308606e3
commit eb564e01e3
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mycobot_description/urdf/new_320_pi/mycobot_pro_320_pi.urdf
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@ -1,185 +0,0 @@
<?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/new_320_pi/base.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 3.1415926"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/new_320_pi/base.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 3.1415926"/>
</collision>
</link>
<link name="link1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/new_320_pi/link1.dae"/>
</geometry>
<origin xyz = "0.115 -0.172 -0.086 " rpy = " 0 0 3.1415926"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/new_320_pi/link1.dae"/>
</geometry>
<origin xyz = "0.115 -0.172 -0.09 " rpy = " 0 0 3.1415926"/>
</collision>
</link>
<link name="link2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/new_320_pi/link2.dae"/>
</geometry>
<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_pi/link2.dae"/>
</geometry>
<origin xyz = "-0.075 -0.115 -0.022 " rpy = " 1.5708 0 1.5708"/>
</collision>
</link>
<link name="link3">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_pi/link3.dae"/>
</geometry>
<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_pi/link3.dae"/>
</geometry>
<origin xyz = "-0.22 -0.115 0.142 " rpy = " 1.5708 0 1.5708"/>
</collision>
</link>
<link name="link4">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_pi/link4.dae"/>
</geometry>
<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_pi/link4.dae"/>
</geometry>
<origin xyz = "-0.115 0.338 -0.1435 " rpy = " 1.5708 0 0"/>
</collision>
</link>
<link name="link5">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_pi/link5.dae"/>
</geometry>
<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_pi/link5.dae"/>
</geometry>
<origin xyz = "-0.1149 -0.0322 -0.482 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="link6">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_pi/link6.dae"/>
</geometry>
<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_pi/link6.dae"/>
</geometry>
<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 = "-2.96" upper = "2.96" velocity = "0"/>
<parent link="base"/>
<child link="link1"/>
<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 = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link1"/>
<child link="link2"/>
<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 = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link2"/>
<child link="link3"/>
<origin xyz= "0.13635 0 0 " rpy = "0 0 0"/>
</joint>
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.79" 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 = "-2.96" upper = "2.96" velocity = "0"/>
<parent link="link4"/>
<child link="link5"/>
<origin xyz= "0 -0.084 0" rpy = "1.5708 0 0"/>
</joint>
<joint name="joint6output_to_joint6" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
<parent link="link5"/>
<child link="link6"/>
<origin xyz= "0 0.06635 0" rpy = "-1.5708 0 0"/>
</joint>
</robot>