mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
262 lines
7.3 KiB
XML
262 lines
7.3 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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<mesh filename="package://mycobot_description/urdf/myarm_c650/myarm_basic_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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<mesh filename="package://mycobot_description/urdf/myarm_c650/myarm_basic_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/myarm_c650/joint1.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0.0065 " rpy = " 3.14159 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/myarm_c650/joint1.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0.0065 " rpy = " 3.14159 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/myarm_c650/joint2.dae"/>
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</geometry>
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<origin xyz = "0.0 0.003 0.0 " rpy = " 3.14159 0 -1.5708 "/>
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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/myarm_c650/joint2.dae"/>
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</geometry>
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<origin xyz = "0.0 0.003 0.0 " rpy = " 3.14159 0 -1.5708"/>
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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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<mesh filename="package://mycobot_description/urdf/myarm_c650/joint3.dae"/>
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</geometry>
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<origin xyz = "0.0 -0.001 0.004 " rpy = " 0 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/myarm_c650/joint3.dae"/>
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</geometry>
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<origin xyz = "0.0 -0.001 0.004" rpy = " 0 0 0"/>
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</collision>
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</link>
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<link name="link4">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/myarm_c650/joint4.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0.004 " rpy = " 0 3.14159 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/myarm_c650/joint4.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0.004 " rpy = " 0 3.14159 0"/>
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</collision>
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</link>
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<link name="link5">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/myarm_c650/joint5.dae"/>
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</geometry>
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<origin xyz = "0 0.0 0.001 " rpy = " 3.14159 0 -1.5708"/>
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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/myarm_c650/joint5.dae"/>
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</geometry>
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<origin xyz = "0 0.0 0.001 " rpy = " 3.14159 0 -1.5708"/>
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</collision>
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</link>
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<link name="gripper">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/myarm_c650/myarm_c_grip_Base.dae"/>
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</geometry>
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<origin xyz = "0 0 0.003 " rpy = " 3.14159 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/myarm_c650/myarm_c_grip_Base.dae"/>
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</geometry>
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<origin xyz = "0 0 0.003 " rpy = " 3.14159 0 0"/>
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</collision>
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</link>
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<link name="gripper_left">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/myarm_c650/myarm_c_grip_R.dae"/>
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</geometry>
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<origin xyz = "0.010 0 0 " rpy = " 1.5708 3.14159 -1.5708"/>
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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/myarm_c650/myarm_c_grip_R.dae"/>
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</geometry>
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<origin xyz = "0.010 0 0 " rpy = " 1.5708 3.14159 -1.5708"/>
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</collision>
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</link>
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<link name="gripper_right">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/myarm_c650/myarm_c_grip_L.dae"/>
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</geometry>
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<origin xyz = "0.010 0 0 " rpy = " 1.5708 3.14159 -1.5708"/>
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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/myarm_c650/myarm_c_grip_L.dae"/>
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</geometry>
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<origin xyz = "0.010 0 0 " rpy = " 1.5708 3.14159 -1.5708"/>
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</collision>
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</link>
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<!-- <link name="endeffector">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/myarm_c650/endeffector.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.009 " rpy = " 0 0 -1.5708"/>
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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/myarm_c650/endeffector.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.009 " rpy = " 0 0 -1.5708"/>
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</collision>
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</link> -->
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<joint name="joint1" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-2.7925" upper = "2.7925" velocity = "0"/>
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<parent link="base"/>
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<child link="link1"/>
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<origin xyz= "0 0 0.070" rpy = "3.14159 0 0"/>
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</joint>
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<joint name="joint2" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-1.3962" upper = "1.3962" velocity = "0"/>
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<parent link="link1"/>
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<child link="link2"/>
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<!-- <origin xyz= "0 0 0" rpy = "1.5708 3.14159 0"/> -->
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<origin xyz= "0 0 -0.080" rpy = "1.5708 0 0"/>
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</joint>
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<joint name="joint3" type="revolute">
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<axis xyz=" 0 0 1"/>
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<limit effort = "1000.0" lower = "-1.3962" upper = "1.32" velocity = "0"/>
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<parent link="link2"/>
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<child link="link3"/>
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<origin xyz= "0.0565 -0.296 0 " rpy = "0 0 0"/>
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</joint>
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<joint name="joint4" type="revolute">
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<axis xyz=" 0 0 1"/>
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<limit effort = "1000.0" lower = "-1.7453" upper = "1.7453" velocity = "0"/>
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<parent link="link3"/>
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<child link="link4"/>
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<origin xyz= "0.081 0 0.004" rpy = "0 -1.5708 0"/>
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</joint>
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<joint name="joint5" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-1.3962" upper = "1.3962" velocity = "0"/>
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<parent link="link4"/>
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<child link="link5"/>
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<origin xyz= "0.0 0.0003 -0.250" rpy = "-1.5708 3.14159 -1.5708"/>
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</joint>
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<joint name="joint6" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-1.9198" upper = "1.9198" velocity = "0"/>
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<parent link="link5"/>
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<child link="gripper"/>
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<origin xyz= "0 -0.055 0" rpy = "-1.5708 0 0"/>
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</joint>
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<joint name="gripper" type="prismatic">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "0" upper = "0.022" velocity = "0"/>
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<parent link="gripper"/>
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<child link="gripper_left"/>
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<origin xyz= "-0.030 0 -0.066" rpy = "3.14 -1.57 1.57"/>
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</joint>
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<joint name="gripper_r" type="prismatic">
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<axis xyz="0 0 -1"/>
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<limit effort = "1000.0" lower = "0" upper = "0.022" velocity = "0"/>
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<parent link="gripper"/>
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<child link="gripper_right"/>
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<origin xyz= "-0.030 0 -0.066" rpy = "3.14 -1.57 1.57"/>
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<!-- 跟随左手指运动 -->
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<mimic joint="gripper" multiplier="1.0" offset="0" />
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</joint>
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<!-- <joint name="endeffector_to_endeffector" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
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<parent link="endeffector"/>
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<child link="endeffector"/>
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<origin xyz= "0 -0.056 0" rpy = "1.5708 0 0"/>
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</joint> -->
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</robot>
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