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add mybuddy urdf

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wangWking 2022-05-26 09:58:20 +08:00
parent db502412db
commit ef09d39b00
22 changed files with 44351 additions and 0 deletions
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@ -0,0 +1,212 @@
<?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/mybuddy/mybuddy-down.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/mybuddy/mybuddy-down.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="link1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/mybuddy-up.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.24 " rpy = " 0 0 3.1415926"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/mybuddy-up.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.24 " rpy = " 0 0 3.1415926"/>
</collision>
</link>
<link name="link1_R">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/joint1_R.dae"/>
</geometry>
<origin xyz="0 0.00 -0.059" rpy="0 0 -1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/joint1_R.dae"/>
</geometry>
<origin xyz="0 0 -0.059" rpy="0 0 -1.5708"/>
</collision>
</link>
<link name="link2_R">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/joint2_R.dae"/>
</geometry>
<origin xyz="0 0 -0.03" rpy="0 -1.5708 3.1415926"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/joint2_R.dae"/>
</geometry>
<origin xyz="0 0 -0.03" rpy="0 -1.5708 3.1415926"/>
</collision>
</link>
<link name="link3_R">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/joint3_R.dae"/>
</geometry>
<origin xyz="-0.00 0 -0.028" rpy="0 -1.5708 3.1415926"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/joint3_R.dae"/>
</geometry>
<origin xyz="-0.00 0 -0.028" rpy="0 -1.5708 3.1415926"/>
</collision>
</link>
<link name="link4_R">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/joint4_R.dae"/>
</geometry>
<origin xyz="0.00 0 -0.033" rpy="0 -1.5708 3.1415926 "/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/joint4_R.dae"/>
</geometry>
<origin xyz="0 0 0" rpy="0 -1.5708 3.1415926"/>
</collision>
</link>
<link name="link5_R">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/joint5_R.dae"/>
</geometry>
<origin xyz="-0.00 0 -0.0" rpy="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/joint5_R.dae"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
</collision>
</link>
<link name="link6_R">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/joint6_R.dae"/>
</geometry>
<origin xyz="-0.00 0 -0.0" rpy="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/joint6_R.dae"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
</collision>
</link>
<!-- left mycobot -->
<link name="link1_L">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/joint1_L.dae"/>
</geometry>
<origin xyz="0 0.00 0.059" rpy="0 3.1415926 -1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mybuddy/joint1_L.dae"/>
</geometry>
<origin xyz="0 0 -0.059" rpy="0 0 -1.5708"/>
</collision>
</link>
<joint name="base_link1" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="base"/>
<child link="link1"/>
<origin xyz= " 0 0 0.22 " rpy = "0 0 0"/>
</joint>
<joint name="joint1_R" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link1"/>
<child link="link1_R"/>
<origin xyz= " 0 -0.129 0.001 " rpy = "1.5708 0 0"/>
</joint>
<joint name="joint2_R" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link1_R"/>
<child link="link2_R"/>
<origin xyz= " 0 -0.05 0.00 " rpy = "1.5708 0 0"/>
</joint>
<joint name="joint3_R" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link2_R"/>
<child link="link3_R"/>
<origin xyz= " 0.11 0.0 0.00 " rpy = "0 0 0"/>
</joint>
<joint name="joint4_R" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link3_R"/>
<child link="link4_R"/>
<origin xyz= " 0.097 0.0 -0.0 " rpy = "0 0 0"/>
</joint>
<joint name="joint5_R" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link4_R"/>
<child link="link5_R"/>
<origin xyz= " 0.1 0 0.00 " rpy = "0 0 0"/>
</joint>
<joint name="joint6_R" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link5_R"/>
<child link="link6_R"/>
<origin xyz= " 0.1 0.0 0.00 " rpy = "0 0 0"/>
</joint>
<!-- left joint -->
<joint name="joint1_L" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link1"/>
<child link="link1_L"/>
<origin xyz= " 0 0.129 0.001 " rpy = "1.5708 0 0"/>
</joint>
</robot>