mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-03 02:27:04 +00:00
100 lines
No EOL
2.9 KiB
XML
100 lines
No EOL
2.9 KiB
XML
<?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="base">
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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/ultraArm_p340/ultraArm-base.dae"/>
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</geometry>
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<origin xyz = " 0 0 0.0 " 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 1.5708 3.14159-->
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<mesh filename="package://mycobot_description/urdf/ultraArm_p340/ultraArm-base.dae"/>
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</geometry>
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<origin xyz = " 0 0 0.0 " rpy = " 0 0 0"/>
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</collision>
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</link>
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<link name="link1">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/ultraArm_p340/ultraArm-1.dae"/>
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</geometry>
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<origin xyz = "0 0 0.122 " rpy = " 3.1415926 0 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/ultraArm_p340/ultraArm-1.dae"/>
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</geometry>
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<origin xyz = "0 0 0.122 " rpy = " 3.1415926 0 0"/>
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</collision>
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</link>
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<link name="link2">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/ultraArm_p340/ultraArm-2.dae"/>
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</geometry>
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<origin xyz = "-0.03 0.112 0.0 " rpy = " 1.5708 0 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/ultraArm_p340/ultraArm-2.dae"/>
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</geometry>
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<origin xyz = "-0.03 0.112 0.0 " rpy = " 1.5708 0 0"/>
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</collision>
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</link>
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<link name="link3">
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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/ultraArm_p340/ultraArm-3.dae"/>
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</geometry>
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<origin xyz = "-0.03 0.23 0.0 " 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/ultraArm_p340/ultraArm-3.dae"/>
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</geometry>
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<origin xyz = "-0.03 0.23 0.0 " rpy = "1.5708 0 0"/>
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</collision>
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</link>
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<joint name="joint1_to_base" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-2.6179" upper = "2.967" velocity = "0"/>
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<parent link="base"/>
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<child link="link1"/>
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<origin xyz= "0 0 0.12" rpy = "3.1415926 0 0"/>
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</joint>
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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 = "-0.3490" upper = "1.5708" velocity = "0"/>
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<parent link="link1"/>
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<child link="link2"/>
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<origin xyz= "0.03 0 0.01" rpy = " -1.5707963 3.1415926 3.1415926 "/>
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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 = "-0.0872" upper = "1.9198" velocity = "0"/>
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<parent link="link2"/>
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<child link="link3"/>
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<origin xyz= "0.00 -0.12 0 " rpy = "0 0 0 "/>
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</joint>
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</robot> |