mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
276 lines
11 KiB
XML
276 lines
11 KiB
XML
<?xml version="1.0" ?>
|
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
|
|
<xacro:property name="width" value=".2" />
|
|
<link name="g_base">
|
|
<visual>
|
|
<geometry>
|
|
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/G_base.dae" />
|
|
</geometry>
|
|
<origin xyz="0.0 0 -0.032" rpy="0 0 1.5708" />
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/G_base.dae" />
|
|
</geometry>
|
|
<origin xyz="0.0 0 -0.032" rpy="0 0 1.5708" />
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.1" />
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
|
</inertial>
|
|
</link>
|
|
<link name="joint1">
|
|
<visual>
|
|
<geometry>
|
|
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
|
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint1_jet.dae" />
|
|
</geometry>
|
|
<origin xyz="0.0 0 0 " rpy=" 0 0 3.14159" />
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint1_jet.dae" />
|
|
</geometry>
|
|
<origin xyz="0.0 0 0" rpy="0 0 3.14159" />
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.1" />
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
|
</inertial>
|
|
</link>
|
|
<link name="joint2">
|
|
<visual>
|
|
<geometry>
|
|
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/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_280_jn/joint2.dae" />
|
|
</geometry>
|
|
<origin xyz="0.0 0 -0.06096" rpy="0 0 -1.5708" />
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.1" />
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
|
</inertial>
|
|
</link>
|
|
<link name="joint3">
|
|
<visual>
|
|
<geometry>
|
|
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/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_280_jn/joint3.dae" />
|
|
</geometry>
|
|
<origin xyz="0.0 0 0.03256" rpy="0 -1.5708 0" />
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.1" />
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
|
</inertial>
|
|
</link>
|
|
<link name="joint4">
|
|
<visual>
|
|
<geometry>
|
|
<!--- 0.0 0 -0.04 -->
|
|
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint4.dae" />
|
|
</geometry>
|
|
<origin xyz="0.0 0 0.03056 " rpy=" 0 -1.5708 0" />
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint4.dae" />
|
|
</geometry>
|
|
<origin xyz="0.0 0 0.03056" rpy="0 -1.5708 0" />
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.1" />
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
|
</inertial>
|
|
</link>
|
|
<link name="joint5">
|
|
<visual>
|
|
<geometry>
|
|
<!--- 0.0 0 -0.04 -->
|
|
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint5.dae" />
|
|
</geometry>
|
|
<origin xyz="0.0 0 -0.03356 " rpy=" 0 -1.5708 1.5708" />
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint5.dae" />
|
|
</geometry>
|
|
<origin xyz="0.0 0 -0.03356" rpy="0 -1.5708 1.5708" />
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.1" />
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
|
</inertial>
|
|
</link>
|
|
<link name="joint6">
|
|
<visual>
|
|
<geometry>
|
|
<!--- 0.0 0 -0.04 -->
|
|
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint6.dae" />
|
|
</geometry>
|
|
<origin xyz="0 0.00 -0.038 " rpy=" 0 0 0" />
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint6.dae" />
|
|
</geometry>
|
|
<origin xyz="0 0.00 -0.038" rpy="0 0 0" />
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.1" />
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
|
</inertial>
|
|
</link>
|
|
<link name="joint6_flange">
|
|
<visual>
|
|
<geometry>
|
|
<!--- 0.0 0 -0.04 -->
|
|
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint7.dae" />
|
|
</geometry>
|
|
<origin xyz="0.0 0 -0.012 " rpy=" 0 0 0" />
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint7.dae" />
|
|
</geometry>
|
|
<origin xyz="0.0 0 -0.012" rpy="0 0 0" />
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.1" />
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
|
|
</inertial>
|
|
</link>
|
|
<joint name="g_base_to_joint1" type="fixed">
|
|
<axis xyz="0 0 0" />
|
|
<limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
|
|
<parent link="g_base" />
|
|
<child link="joint1" />
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
</joint>
|
|
<joint name="joint2_to_joint1" type="revolute">
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="1000.0" lower="-2.9321" upper="2.9321" velocity="0" />
|
|
<parent link="joint1" />
|
|
<child link="joint2" />
|
|
<origin xyz="0 0 0.15756" rpy="0 0 0" />
|
|
</joint>
|
|
<joint name="joint3_to_joint2" type="revolute">
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="1000.0" lower="-2.0943" upper="2.0943" 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="-2.6179" upper="2.6179" 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="-2.5307" upper="2.5307" 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="-2.8797" upper="2.8797" 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>
|
|
<transmission name="trans_joint2_to_joint1">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="joint2_to_joint1">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="joint2_to_joint1_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_joint3_to_joint2">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="joint3_to_joint2">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="joint3_to_joint2_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_joint4_to_joint3">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="joint4_to_joint3">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="joint4_to_joint3_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_joint5_to_joint4">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="joint5_to_joint4">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="joint5_to_joint4_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_joint6_to_joint5">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="joint6_to_joint5">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="joint6_to_joint5_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_joint6output_to_joint6">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="joint6output_to_joint6">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="joint6output_to_joint6_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<gazebo>
|
|
<plugin name="gazebo_ros_control">
|
|
<robotNamespace>/</robotNamespace>
|
|
</plugin>
|
|
</gazebo>
|
|
</robot>
|
|
|