mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-13 08:30:53 +00:00
645 lines
26 KiB
XML
645 lines
26 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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<!-- 底部 -->
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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/cobotx_b450/base.dae" />
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</geometry>
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<origin xyz="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/cobotx_b450/base.dae" />
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</geometry>
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<origin xyz="0 0 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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<!-- 腰部 -->
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<link name="link_body">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/cobotx_b450/body.dae" />
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</geometry>
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<origin xyz="0 0 -0.11 " 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/cobotx_b450/body.dae" />
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</geometry>
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<origin xyz="0 0 -0.11 " 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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<!-- 屏幕头部 -->
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<link name="link_head">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/cobotx_b450/head.dae" />
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</geometry>
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<origin xyz="0 0 -0.1 " 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/cobotx_b450/head.dae" />
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</geometry>
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<origin xyz="0 0 -0.1 " 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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<!-- 摄像头 -->
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<link name="link_eye">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/cobotx_b450/head_eye.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/cobotx_b450/head_eye.dae" />
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</geometry>
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<origin xyz="0 0 -0.1 " 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_L">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint1_L.dae" />
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</geometry>
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<origin xyz="0 0 -0.084 " 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/cobotx_b450/joint1_L.dae" />
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</geometry>
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<origin xyz="0 0 -0.084 " 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="link2_L">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint2_L.dae" />
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</geometry>
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<origin xyz="0 0 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/cobotx_b450/joint2_L.dae" />
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</geometry>
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<origin xyz="0 0 0.0 " rpy=" 3.14159 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_L">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint3_L.dae" />
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</geometry>
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<origin xyz="0 0 0.038 " 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/cobotx_b450/joint3_L.dae" />
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</geometry>
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<origin xyz="0 0 0.038 " 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="link4_L">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint4_L.dae" />
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</geometry>
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<origin xyz="0 0 0 " 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/cobotx_b450/joint4_L.dae" />
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</geometry>
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<origin xyz="0 0 0 " 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="link5_L">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint5_L.dae" />
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</geometry>
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<origin xyz="0 0 -0.069 " 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/cobotx_b450/joint5_L.dae" />
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</geometry>
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<origin xyz="0 0 -0.069 " 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_L">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint6_L.dae" />
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</geometry>
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<origin xyz="0 0 -0.025 " 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/cobotx_b450/joint6_L.dae" />
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</geometry>
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<origin xyz="0 0 -0.025 " 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="link7_L">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint7_L.dae" />
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</geometry>
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<origin xyz="0 0 -0.002 " 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/cobotx_b450/joint7_L.dae" />
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</geometry>
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<origin xyz="0 0 -0.002 " 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="link1_R">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint1_R.dae" />
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</geometry>
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<origin xyz="0 0 -0.084 " 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/cobotx_b450/joint1_R.dae" />
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</geometry>
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<origin xyz="0 0 -0.084 " 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="link2_R">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint2_R.dae" />
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</geometry>
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<origin xyz="0 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/cobotx_b450/joint2_R.dae" />
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</geometry>
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<origin xyz="0 0 0 " rpy=" 3.14159 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_R">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint3_R.dae" />
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</geometry>
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<origin xyz="0 0 0.038 " 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/cobotx_b450/joint3_R.dae" />
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</geometry>
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<origin xyz="0 0 0.038 " 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="link4_R">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint4_R.dae" />
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</geometry>
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<origin xyz="0 0 0 " 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/cobotx_b450/joint4_R.dae" />
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</geometry>
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<origin xyz="0 0 0 " 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="link5_R">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint5_R.dae" />
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</geometry>
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<origin xyz="0 0 -0.069 " 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/cobotx_b450/joint5_R.dae" />
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</geometry>
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<origin xyz="0 0 -0.069 " 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_R">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint6_R.dae" />
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</geometry>
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<origin xyz="0 0 -0.025 " 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/cobotx_b450/joint6_R.dae" />
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</geometry>
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<origin xyz="0 0 -0.025 " 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="link7_R">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/cobotx_b450/joint7_R.dae" />
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</geometry>
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<origin xyz="0 0 -0.002 " 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/cobotx_b450/joint7_R.dae" />
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</geometry>
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<origin xyz="0 0 -0.002 " 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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<joint name="joint1_L" type="revolute">
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<axis xyz=" 0 0 1" />
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<limit effort="1000.0" lower="-3.1066" upper="3.1066" velocity="0" />
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<parent link="link_body" />
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<child link="link1_L" />
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<origin xyz=" 0.075 0.186 0.085 " rpy="-1.5708 0 -0.5235" />
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</joint>
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<joint name="joint2_L" type="revolute">
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<axis xyz=" 0 0 1" />
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<limit effort="1000.0" lower="-1.4311" upper="2.2689" velocity="0" />
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<parent link="link1_L" />
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<child link="link2_L" />
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<origin xyz=" 0 0 0 " rpy="-1.5708 0 0" />
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</joint>
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<joint name="joint3_L" type="revolute">
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<axis xyz=" 0 0 1" />
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<limit effort="1000.0" lower="-3.1066" upper="3.1066" velocity="0" />
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<parent link="link2_L" />
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<child link="link3_L" />
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<origin xyz=" 0 -0.11 0 " rpy="1.5708 0 0" />
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</joint>
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<joint name="joint4_L" type="revolute">
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<axis xyz=" 0 0 1" />
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<limit effort="1000.0" lower="-3.0543" upper="0.2617" velocity="0" />
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<parent link="link3_L" />
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<child link="link4_L" />
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<origin xyz=" 0.03 0 0.095" rpy="-1.5708 0 3.14159" />
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</joint>
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<joint name="joint5_L" type="revolute">
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<axis xyz=" 0 0 1" />
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<limit effort="1000.0" lower="-3.1066" upper="3.1066" velocity="0" />
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<parent link="link4_L" />
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<child link="link5_L" />
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<origin xyz=" 0.03 -0.126 0" rpy="1.5708 3.14159 0" />
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</joint>
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<joint name="joint6_L" type="revolute">
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<axis xyz=" 0 0 1" />
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<limit effort="1000.0" lower="-0.0174" upper="2.9321" velocity="0" />
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<parent link="link5_L" />
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<child link="link6_L" />
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<origin xyz=" 0 0 0.08" rpy="1.5708 0 0" />
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</joint>
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<joint name="joint7_L" type="revolute">
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<axis xyz=" 0 0 1" />
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<limit effort="1000.0" lower="-3.1066" upper="3.1066" velocity="0" />
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<parent link="link6_L" />
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<child link="link7_L" />
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<origin xyz=" 0.038 -0.046 0" rpy="1.5708 0 0" />
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</joint>
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<joint name="joint1_R" type="revolute">
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<axis xyz=" 0 0 1" />
|
|
<limit effort="1000.0" lower="-3.1066" upper="3.1066" velocity="0" />
|
|
<parent link="link_body" />
|
|
<child link="link1_R" />
|
|
<origin xyz=" 0.075 -0.186 0.085 " rpy="1.5708 0 0.5235" />
|
|
</joint>
|
|
<joint name="joint2_R" type="revolute">
|
|
<axis xyz=" 0 0 1" />
|
|
<limit effort="1000.0" lower="-1.4311" upper="2.2689" velocity="0" />
|
|
<parent link="link1_R" />
|
|
<child link="link2_R" />
|
|
<origin xyz=" 0 0 0 " rpy="-1.5708 0 0" />
|
|
</joint>
|
|
<joint name="joint3_R" type="revolute">
|
|
<axis xyz=" 0 0 1" />
|
|
<limit effort="1000.0" lower="-3.1066" upper="3.1066" velocity="0" />
|
|
<parent link="link2_R" />
|
|
<child link="link3_R" />
|
|
<origin xyz=" 0 -0.11 0 " rpy="1.5708 0 0" />
|
|
</joint>
|
|
<joint name="joint4_R" type="revolute">
|
|
<axis xyz=" 0 0 1" />
|
|
<limit effort="1000.0" lower="-3.0543" upper="0.2617" velocity="0" />
|
|
<parent link="link3_R" />
|
|
<child link="link4_R" />
|
|
<origin xyz=" 0.03 0 0.095" rpy="-1.5708 0 3.14159" />
|
|
</joint>
|
|
<joint name="joint5_R" type="revolute">
|
|
<axis xyz=" 0 0 1" />
|
|
<limit effort="1000.0" lower="-3.1066" upper="3.1066" velocity="0" />
|
|
<parent link="link4_R" />
|
|
<child link="link5_R" />
|
|
<origin xyz=" 0.03 -0.126 0" rpy="1.5708 3.14159 0" />
|
|
</joint>
|
|
<joint name="joint6_R" type="revolute">
|
|
<axis xyz=" 0 0 1" />
|
|
<limit effort="1000.0" lower="-0.0174" upper="2.9321" velocity="0" />
|
|
<parent link="link5_R" />
|
|
<child link="link6_R" />
|
|
<origin xyz=" 0 0 0.08" rpy="1.5708 0 0" />
|
|
</joint>
|
|
<joint name="joint7_R" type="revolute">
|
|
<axis xyz=" 0 0 1" />
|
|
<limit effort="1000.0" lower="-3.1066" upper="3.1066" velocity="0" />
|
|
<parent link="link6_R" />
|
|
<child link="link7_R" />
|
|
<origin xyz=" 0.038 -0.046 0" rpy="1.5708 0 0" />
|
|
</joint>
|
|
<joint name="eye" type="revolute">
|
|
<axis xyz=" 0 0 1" />
|
|
<limit effort="1000.0" lower="0" upper="0.8377" velocity="0" />
|
|
<parent link="link_head" />
|
|
<child link="link_eye" />
|
|
<origin xyz=" 0.03 0 -0.08 " rpy="1.5708 0 0" />
|
|
</joint>
|
|
<joint name="head" type="revolute">
|
|
<axis xyz=" 0 0 1" />
|
|
<limit effort="1000.0" lower="-2.4085" upper="3.2812" velocity="0" />
|
|
<parent link="link_body" />
|
|
<child link="link_head" />
|
|
<origin xyz=" 0 0 0.22 " rpy="0 0 0" />
|
|
</joint>
|
|
<joint name="body" type="revolute">
|
|
<axis xyz=" 0 0 1" />
|
|
<limit effort="1000.0" lower="-2.0594" upper="2.0594" velocity="0" />
|
|
<parent link="base" />
|
|
<child link="link_body" />
|
|
<origin xyz=" 0 0 0.22 " rpy="0 0 0" />
|
|
</joint>
|
|
<transmission name="trans_joint1_L">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="joint1_L">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="joint1_L_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_joint2_L">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="joint2_L">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="joint2_L_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_joint3_L">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="joint3_L">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="joint3_L_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_joint4_L">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="joint4_L">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="joint4_L_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_joint5_L">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="joint5_L">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="joint5_L_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_joint6_L">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="joint6_L">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="joint6_L_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_joint7_L">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="joint7_L">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="joint7_L_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_joint1_R">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="joint1_R">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="joint1_R_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_joint2_R">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="joint2_R">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="joint2_R_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_joint3_R">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="joint3_R">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="joint3_R_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_joint4_R">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="joint4_R">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="joint4_R_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_joint5_R">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="joint5_R">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="joint5_R_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_joint6_R">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="joint6_R">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="joint6_R_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_joint7_R">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="joint7_R">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="joint7_R_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_eye">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="eye">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="eye_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_head">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="head">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="head_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_body">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="body">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="body_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<gazebo>
|
|
<plugin name="gazebo_ros_control">
|
|
<robotNamespace>/</robotNamespace>
|
|
</plugin>
|
|
</gazebo>
|
|
</robot>
|
|
|