mycobot_ros/mycobot_description/urdf/mybuddy/mybuddy.urdf

<?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"/> -->
    <origin xyz = "0.0 0 0 " rpy = "0 0 3.14159 "/>
    </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 0"/> -->
    <origin xyz="0 0.00 -0.059" rpy="0 0 3.14159"/>

    </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 "/> -->
    <origin xyz="0.00 0 -0.033" rpy="0 -1.5708 1.5708 "/>

    </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 1.5708"/>
    </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 0 0"/> -->
    <origin xyz="0 0.00 -0.059" rpy="0 0 -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>
  <link name="link2_L">
    <visual>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/mybuddy/joint2_L.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_L.dae"/>
      </geometry>
      <origin xyz="0 0 -0.03" rpy="0 -1.5708 3.1415926"/>
    </collision>
  </link>

  <link name="link3_L">
    <visual>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/mybuddy/joint3_L.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_L.dae"/>
      </geometry>
      <origin xyz="-0.00 0 -0.028" rpy="0 -1.5708 3.1415926"/>
    </collision>
  </link>
  
  <link name="link4_L">
    <visual>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/mybuddy/joint4_L.dae"/>
      </geometry>
    <!-- <origin xyz="0.00 0 -0.033" rpy="0 -1.5708 3.1415926 "/> -->
    <origin xyz="0.00 0 -0.033" rpy="0 -1.5708 1.5708 "/>

    </visual>
    <collision>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/mybuddy/joint4_L.dae"/>
      </geometry>
      <origin xyz="0 0 0" rpy="0  -1.5708 3.1415926"/>
    </collision>
  </link>

   <link name="link5_L">
    <visual>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/mybuddy/joint5_L.dae"/>
      </geometry>
    <origin xyz="-0.00 0 -0.0" rpy="0 0 1.5708"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/mybuddy/joint5_L.dae"/>
      </geometry>
      <origin xyz="0 0 0" rpy="0 0 0"/>
    </collision>
  </link>

  <link name="link6_L">
    <visual>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/mybuddy/joint6_L.dae"/>
      </geometry>
    <origin xyz="-0.00 0 -0.0" rpy="0 0 0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/mybuddy/joint6_L.dae"/>
      </geometry>
      <origin xyz="0 0 0" rpy="0 0 0"/>
    </collision>
  </link>


<!-- left joints -->
  <joint name="joint1_L" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-2.8798" upper = "2.8798" velocity = "0"/>
    <parent link="link1"/>
    <child link="link1_L"/>
    <!-- <origin xyz= " 0 -0.129 0.001   " rpy = "0 0 0"/>   -->
    <origin xyz= " 0 -0.129 0.001   " rpy = "1.5708 -1.5708 0"/>  
  </joint>

  <joint name="joint2_L" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-2.8798" upper = "2.8798" velocity = "0"/>
    <parent link="link1_L"/>
    <child link="link2_L"/>
    <!-- <origin xyz= " 0 -0.05 0.00  " rpy = "0 0 0"/>   -->
    <origin xyz= " 0 -0.05 0.00  " rpy = "1.5708 -1.5708 0"/>  

  </joint>

  <joint name="joint3_L" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-2.8798" upper = "2.8798" velocity = "0"/>
    <parent link="link2_L"/>
    <child link="link3_L"/>
    <origin xyz= " 0.11 0.0 0.00  " rpy = "0 0 0"/>  
  </joint>

  <joint name="joint4_L" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-2.8798" upper = "2.8798" velocity = "0"/>
    <parent link="link3_L"/>
    <child link="link4_L"/>
    <origin xyz= " 0.097 0.0 -0.0  " rpy = "0 0 1.5708"/>  
  </joint>

  <joint name="joint5_L" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-2.8798" upper = "2.8798" velocity = "0"/>
    <parent link="link4_L"/>
    <child link="link5_L"/>
    <!-- <origin xyz= "0 -0.035 0.00  " rpy = "0 0 0"/>   -->
    <origin xyz= "0 -0.035  0.00  " rpy = "1.5708 3.14159 0 "/>  
  </joint>

  <joint name="joint6_L" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-3.0543" upper = "3.0543" velocity = "0"/>
    <parent link="link5_L"/>
    <child link="link6_L"/>
    <origin xyz= "-0.035 0 0.0375  " rpy = "0 -1.5708 0"/>  
  </joint>

<!-- right joints -->
  <joint name="joint1_R" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-2.8798" upper = "2.8798" velocity = "0"/>
    <parent link="link1"/>
    <child link="link1_R"/>
    <!-- <origin xyz= " 0 0.129 0.001   " rpy = "0 0 0"/>   -->
    <origin xyz= " 0 0.129 0.001   " rpy = "-1.5708 3.14159 0"/>  

  </joint>

  <joint name="joint2_R" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-2.8798" upper = "2.8798" velocity = "0"/>
    <parent link="link1_R"/>
    <child link="link2_R"/>
    <!-- <origin xyz= " 0 -0.05 0.00  " rpy = "0 0 0"/>   -->
    <origin xyz= "-0.05 0.00 0.00  " rpy = "0 -1.5708 0"/>  
  </joint>

  <joint name="joint3_R" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-2.8798" upper = "2.8798" 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 = "-2.8798" upper = "2.8798" velocity = "0"/>
    <parent link="link3_R"/>
    <child link="link4_R"/>
    <origin xyz= " 0.097 0.0 -0.0  " rpy = "0 0 1.5708"/>  
  </joint>

  <joint name="joint5_R" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-2.8798" upper = "2.8798" velocity = "0"/>
    <parent link="link4_R"/>
    <child link="link5_R"/>
    <!-- <origin xyz= "0 -0.05 0.00  " rpy = "0 0 0"/>   -->
    <origin xyz= "0 -0.035  0.00  " rpy = "1.570795 0 0"/>  
  </joint>

  <joint name="joint6_R" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-3.0543" upper = "3.0543" velocity = "0"/>
    <parent link="link5_R"/>
    <child link="link6_R"/>
    <origin xyz= "-0.035 0 0.0375  " rpy = "0 -1.5708 0"/>  
    <!-- <origin xyz= "-0.035 0 0.0375  " rpy = "0 0 0"/>   -->
  </joint>


<!-- base joints -->
  <joint name="base_link1" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-2.0943" upper = "2.0943" velocity = "0"/>
    <parent link="base"/>
    <child link="link1"/>
    <origin xyz= " 0 0 0.22   " rpy = "0 0 0"/>  
  </joint>

</robot>