mycobot_ros/mycobot_description/urdf/myarm_m/myarm_m.urdf

<?xml version="1.0"?>
<robot  xmlns:xacro="http://www.ros.org/wiki/xacro" name="myarm_m" >
	
<xacro:property name="width" value=".2" />
<!-- 扭矩未设置 -->

  <!-- base_footprint -->

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

  <link name="joint1">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_m/joint1.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/joint1.dae"/>
      </geometry>
      <origin xyz = "0.0 0 -0.1 " rpy = "0 3.14 0"/>
    </collision>
  </link>

  <link name="joint2">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_m/joint2.dae"/>
      </geometry>
    <origin xyz = "0.0 0 0 " rpy = "0 3.14159 0"/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_m/joint2.dae"/>
      </geometry>
      <origin xyz = "0.0 0 0 " rpy = "0 3.14159 0"/>
    </collision>
  </link>


  <link name="joint3">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_m/joint3.dae"/>
      </geometry>
      <origin xyz = "0.0 0 0" rpy = "0 3.14159 0"/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_m/joint3.dae"/>
      </geometry>
      <origin xyz = "0.0 0 0.0" rpy = "0 3.14159 0"/>
    </collision>
  </link>
  

  <link name="joint4">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_m/joint4.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/joint4.dae"/>
      </geometry>
      <origin xyz = "0.0 0 0 " rpy = " 0 3.14159  -1.5708"/>
    </collision>
  </link>


  <link name="joint5">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_m/joint5.dae"/>
      </geometry>
    <origin xyz = "0 0.00 0" rpy = " 0 0 0"/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_m/joint5.dae"/>
      </geometry>
    <origin xyz = "0 0.00 0 " rpy = " 0 0 0"/>
    </collision>
  </link>


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


  <joint name="joint1_to_base" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-3.0368" upper = "2.9147" velocity = "0"/>
    <parent link="base"/>
    <child link="joint1"/>
    <origin xyz= "0 0 0" rpy = "0 3.14 0"/>  
  </joint>

  <joint name="joint2_to_joint1" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-1.6057" upper = "1.6232" velocity = "0"/>
    <parent link="joint1"/>
    <child link="joint2"/>
    <origin xyz= "0 0 -0.175" rpy = "-1.57079 -1.57079 0"/>  
  </joint>

   <joint name="joint3_to_joint2" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-1.5882" upper = "1.7977" velocity = "0"/>
    <parent link="joint2"/>
    <child link="joint3"/>
    <origin xyz= "-0.303 -0.057 0   " rpy = "0 3.14159 -1.57079"/>  
  </joint>


  <joint name="joint4_to_joint3" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-2.9671" upper = "2.9671" velocity = "0"/>
    <parent link="joint3"/>
    <child link="joint4"/>
    <origin xyz= "-0.08 0 0" rpy = "0 1.57079 0"/>  
  </joint>

 
  <joint name="joint5_to_joint4" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-1.6755" upper = "1.5533" velocity = "0"/>
    <parent link="joint4"/>
    <child link="joint5"/>
    <origin xyz= "0 0 -0.258" rpy = "0 1.57079 0"/>  
  </joint>


  
  <joint name="endeffector_to_joint5" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-2.9671" upper = "2.9671" velocity = "0"/>
    <parent link="joint5"/>
    <child link="endeffector"/>
    <origin xyz= "0.07 0 0" rpy = "0 -1.57079 0"/>  
  </joint>

  
</robot>