mycobot_ros/mycobot_description/urdf/myarm_m/myarm_m.urdf.xacro

<?xml version="1.0"?>
<robot  xmlns:xacro="http://www.ros.org/wiki/xacro" name="myarm_m" >
	
<xacro:property name="ns" value="$(arg ns)/" />
  
<link name="base">
  <visual>
    <geometry>
     <mesh filename="package://mycobot_description/urdf/myarm_m/myarm_m_base.dae"/>
    </geometry>
    <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
  </visual>
  <collision>
    <geometry>
     <mesh filename="package://mycobot_description/urdf/myarm_m/myarm_m_base.dae"/>
      </geometry>
      <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
  </collision>
</link>

<link name="link1">
  <visual>
    <geometry>
     <mesh filename="package://mycobot_description/urdf/myarm_m/link1.dae"/>
    </geometry>
    <origin xyz = "0.0 0 -0.1 " rpy = " 0 3.14 0"/>
  </visual>
  <collision>
   <geometry>
     <mesh filename="package://mycobot_description/urdf/myarm_m/link1.dae"/>
    </geometry>
    <origin xyz = "0.0 0 -0.1 " rpy = "0 3.14 0"/>
  </collision>
</link>

<link name="link2">
  <visual>
    <geometry>
     <mesh filename="package://mycobot_description/urdf/myarm_m/link2.dae"/>
    </geometry>
  <origin xyz = "0.0 0 0 " rpy = "0 3.14159 0"/>
  </visual>
  <collision>
    <geometry>
     <mesh filename="package://mycobot_description/urdf/myarm_m/link2.dae"/>
    </geometry>
    <origin xyz = "0.0 0 0 " rpy = "0 3.14159 0"/>
  </collision>
</link>


<link name="link3">
  <visual>
    <geometry>
     <mesh filename="package://mycobot_description/urdf/myarm_m/link3.dae"/>
    </geometry>
    <origin xyz = "0.0 0 0" rpy = "0 3.14159 0"/>
  </visual>
  <collision>
    <geometry>
     <mesh filename="package://mycobot_description/urdf/myarm_m/link3.dae"/>
    </geometry>
    <origin xyz = "0.0 0 0.0" rpy = "0 3.14159 0"/>
  </collision>
</link>


<link name="link4">
  <visual>
    <geometry>
     <mesh filename="package://mycobot_description/urdf/myarm_m/link4.dae"/>
    </geometry>
  <origin xyz = "0.0 0 0 " rpy = " 0 3.14159 -1.5708"/>
  </visual>
  <collision>
     <geometry>
     <mesh filename="package://mycobot_description/urdf/myarm_m/link4.dae"/>
    </geometry>
    <origin xyz = "0.0 0 0 " rpy = " 0 3.14159  -1.5708"/>
  </collision>
</link>


<link name="link5">
  <visual>
    <geometry>
     <mesh filename="package://mycobot_description/urdf/myarm_m/link5.dae"/>
    </geometry>
  <origin xyz = "0 0.00 0" rpy = " 0 0 0"/>
  </visual>
  <collision>
    <geometry>
     <mesh filename="package://mycobot_description/urdf/myarm_m/link5.dae"/>
    </geometry>
  <origin xyz = "0 0.00 0 " rpy = " 0 0 0"/>
  </collision>
</link>


<link name="gripper">
  <visual>
    <geometry>
     <mesh filename="package://mycobot_description/urdf/myarm_m/finger_holder.dae"/>
    </geometry>
  <origin xyz = "0 0.00 0" rpy = " 0 3.14159 -1.57079"/>
  </visual>
  <collision>
    <geometry>
     <mesh filename="package://mycobot_description/urdf/myarm_m/finger_holder.dae"/>
    </geometry>
  <origin xyz = "0 0.00 0" rpy = " 0 3.14159 -1.57079"/>
  </collision>
</link>

<link name="gripper_left">
  <visual>
    <geometry>
     <mesh filename="package://mycobot_description/urdf/myarm_m/finger_left.dae"/>
    </geometry>
  <origin xyz = "0 0.00 0" rpy = " 0 3.14159 -1.57079"/>
  </visual>
  <collision>
    <geometry>
     <mesh filename="package://mycobot_description/urdf/myarm_m/finger_left.dae"/>
    </geometry>
  <origin xyz = "0 0.00 0" rpy = " 0 0 0"/>
  </collision>
</link>


<link name="gripper_right">
  <visual>
    <geometry>
     <mesh filename="package://mycobot_description/urdf/myarm_m/finger_right.dae"/>
    </geometry>
  <origin xyz = "0 0.00 0" rpy = " 0 3.14159 -1.57079"/>
  </visual>
  <collision>
    <geometry>
     <mesh filename="package://mycobot_description/urdf/myarm_m/finger_right.dae"/>
    </geometry>
  <origin xyz = "0 0.00 0" rpy = " 0 3.14159 -1.57079"/>
  </collision>
</link>

<joint name="joint1" type="revolute">
  <axis xyz="0 0 1"/>
  <limit effort = "1000.0" lower = "-3.0368" upper = "2.9147" velocity = "0"/>
  <parent link="base"/>
  <child link="link1"/>
  <origin xyz= "0 0 0" rpy = "0 3.14 0"/>  
</joint>

<joint name="joint2" type="revolute">
  <axis xyz="0 0 1"/>
  <limit effort = "1000.0" lower = "-1.6057" upper = "1.6232" velocity = "0"/>
  <parent link="link1"/>
  <child link="link2"/>
  <origin xyz= "0 0 -0.175" rpy = "-1.57079 -1.57079 0"/>  
</joint>

 <joint name="joint3" type="revolute">
  <axis xyz=" 0 0 1"/>
  <limit effort = "1000.0" lower = "-1.5882" upper = "1.7977" velocity = "0"/>
  <parent link="link2"/>
  <child link="link3"/>
  <origin xyz= "-0.303 -0.057 0   " rpy = "0 3.14159 -1.57079"/>  
</joint>


<joint name="joint4" type="revolute">
  <axis xyz=" 0 0 1"/>
  <limit effort = "1000.0" lower = "-2.9671" upper = "2.9671" velocity = "0"/>
  <parent link="link3"/>
  <child link="link4"/>
  <origin xyz= "-0.08 0 0" rpy = "0 1.57079 0"/>  
</joint>


<joint name="joint5" type="revolute">
  <axis xyz="0 0 1"/>
  <limit effort = "1000.0" lower = "-1.6755" upper = "1.5533" velocity = "0"/>
  <parent link="link4"/>
  <child link="link5"/>
  <origin xyz= "0 0 -0.258" rpy = "0 1.57079 0"/>  
</joint>

<joint name="joint6" type="revolute">
  <axis xyz="0 0 1"/>
  <limit effort = "1000.0" lower = "-2.9671" upper = "2.9671" velocity = "0"/>
  <parent link="link5"/>
  <child link="gripper"/>
  <origin xyz= "0.07 0 0" rpy = "0 -1.57079 0"/>  
</joint>


<joint name="gripper" type="prismatic">
  <axis xyz="0 0 1"/>
  <limit effort = "1000.0" lower = "0" upper = "0.0345" velocity = "0"/>
  <parent link="gripper"/>
  <child link="gripper_left"/>
  <origin xyz= "0.008 0 -0.036" rpy = "-1.57 0 -1.57"/>  
</joint>

<joint name="gripper_r" type="prismatic">
  <axis xyz="0 0 -1"/>
  <limit effort = "1000.0" lower = "0" upper = "0.06" velocity = "0"/>
  <parent link="gripper"/>
  <child link="gripper_right"/>
  <origin xyz= "-0.008 0 -0.036" rpy = "-1.57 0 -1.57"/>
  <!-- 跟随左手指运动 -->
  <mimic joint="gripper" multiplier="1.0" offset="0" />
</joint>

</robot>