mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 11:37:05 +00:00
245 lines
9.7 KiB
XML
245 lines
9.7 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/mycobot_pro_450/PRO450_J1.dae" />
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</geometry>
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<origin xyz="0.0 -0.11 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/mycobot_pro_450/PRO450_J1.dae" />
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</geometry>
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<origin xyz="0.0 -0.11 0 " rpy=" 0 0 0" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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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/mycobot_pro_450/PRO450_J2.dae" />
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</geometry>
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<origin xyz="0.0405 0 0.0475 " rpy=" -1.5708 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/mycobot_pro_450/PRO450_J2.dae" />
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</geometry>
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<origin xyz="0.0405 0 0.0475 " rpy=" -1.5708 0 -1.5708 " />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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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/mycobot_pro_450/PRO450_J3.dae" />
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</geometry>
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<origin xyz="0.0598 0.005 -0.203 " 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/mycobot_pro_450/PRO450_J3.dae" />
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</geometry>
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<origin xyz="0.0598 0.005 -0.203 " rpy=" 0 0 1.5708" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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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/mycobot_pro_450/PRO450_J4.dae" />
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</geometry>
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<origin xyz="0.07 0.005 -0.383 " 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/mycobot_pro_450/PRO450_J4.dae" />
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</geometry>
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<origin xyz="0.07 0.005 -0.383" rpy=" 0 0 1.5708" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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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/mycobot_pro_450/PRO450_J5.dae" />
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</geometry>
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<origin xyz="-0.015 0 -0.002 " rpy=" 0 -1.5708 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/mycobot_pro_450/PRO450_J5.dae" />
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</geometry>
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<origin xyz="-0.015 0 -0.002 " rpy=" 0 -1.5708 0" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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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/mycobot_pro_450/PRO450_J6.dae" />
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</geometry>
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<origin xyz="0.003 -0.025 -0.608 " 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/mycobot_pro_450/PRO450_J6.dae" />
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</geometry>
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<origin xyz="0.003 -0.025 -0.608 " rpy=" 0 0 -0" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<link name="link6">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_450/PRO450_J6_end.dae" />
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</geometry>
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<origin xyz="0 0 0.001 " 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/mycobot_pro_450/PRO450_J6_end.dae" />
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</geometry>
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<origin xyz="0 0 0.001 " rpy=" 3.14159 0 0" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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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="-2.8797" upper="2.8797" velocity="0" />
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<parent link="base" />
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<child link="link1" />
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<origin xyz="-0.0045 0 0.155" rpy="0 0 0" />
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</joint>
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<joint name="joint2" type="revolute">
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<axis xyz="1 0 0" />
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<limit effort="1000.0" lower="-2.0943" upper="2.0943" velocity="0" />
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<parent link="link1" />
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<child link="link2" />
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<origin xyz="0.05 0 0.048" rpy="0 0 0" />
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</joint>
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<joint name="joint3" type="revolute">
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<axis xyz=" 1 0 0" />
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<limit effort="1000.0" lower="-2.7576" upper="2.7576" velocity="0" />
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<parent link="link2" />
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<child link="link3" />
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<origin xyz="-0.01 0 0.18 " rpy="0 0 0" />
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</joint>
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<joint name="joint4" type="revolute">
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<axis xyz=" 1 0 0" />
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<limit effort="1000.0" lower="-2.8797" upper="2.8797" velocity="0" />
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<parent link="link3" />
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<child link="link4" />
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<origin xyz="0.0 0 0.1735" rpy="0 0 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="-2.8797" upper="2.8797" velocity="0" />
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<parent link="link4" />
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<child link="link5" />
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<origin xyz="0.046 0.0003 0.05" rpy="0 0 0" />
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</joint>
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<joint name="joint6" type="revolute">
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<axis xyz="1 0 0" />
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<limit effort="1000.0" lower="-3.0543" upper="3.0543" velocity="0" />
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<parent link="link5" />
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<child link="link6" />
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<origin xyz="0 0.04 0.0435" rpy="0 0 1.5708" />
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</joint>
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<transmission name="trans_joint1">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint1">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="joint1_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="trans_joint2">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint2">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="joint2_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="trans_joint3">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint3">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="joint3_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="trans_joint4">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint4">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="joint4_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="trans_joint5">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint5">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="joint5_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="trans_joint6">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint6">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="joint6_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<gazebo>
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<plugin name="gazebo_ros_control">
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<robotNamespace>/</robotNamespace>
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</plugin>
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</gazebo>
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</robot>
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