kenaug74/mycobot_ros
1
0
Fork 0
mirror of https://github.com/elephantrobotics/mycobot_ros.git synced 2026-07-14 09:00:53 +00:00
Code Issues Projects Releases Packages Wiki Activity Actions
mycobot_ros/mycobot_280/280m5_gazebo_gripper/config/gazebo_firefighter.urdf
wangWking 31b1630d2b add 280 M5 gazebo code
2025-07-28 10:30:35 +08:00

548 lines
24 KiB
XML
Raw Blame History

<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
<xacro:property name="width" value=".2" />
<link name="world" />
<joint name="base_joint" type="fixed">
<parent link="world" />
<child link="joint1" />
</joint>
<link name="joint1">
<visual>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint1.dae" />
</geometry>
<origin xyz="0.0 0 0 " rpy=" 0 0 -1.5708" />
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint1.dae" />
</geometry>
<origin xyz="0.0 0 0 " rpy=" 0 0 -1.5708" />
</collision>
<inertial>
<mass value="0.0001" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="joint2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint2.dae" />
</geometry>
<origin xyz="0.0 0 -0.06096 " rpy=" 0 0 -1.5708" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint2.dae" />
</geometry>
<origin xyz="0.0 0 -0.06096 " rpy=" 0 0 -1.5708" />
</collision>
<inertial>
<mass value="0.0001" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="joint3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint3.dae" />
</geometry>
<origin xyz="0.0 0 0.03256 " rpy=" 0 -1.5708 0" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint3.dae" />
</geometry>
<origin xyz="0.0 0 0.03256 " rpy=" 0 -1.5708 0" />
</collision>
<inertial>
<mass value="0.0001" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="joint4">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint4.dae" />
</geometry>
<origin xyz="0.0 0 0.03056 " rpy=" 0 -1.5708 0" />
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint4.dae" />
</geometry>
<origin xyz="0.0 0 0.03056 " rpy=" 0 -1.5708 0" />
</collision>
<inertial>
<mass value="0.0001" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="joint5">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint5.dae" />
</geometry>
<origin xyz="0.0 0 -0.03356 " rpy=" -1.5708 0 0" />
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint5.dae" />
</geometry>
<origin xyz="0.0 0 -0.03356 " rpy=" -1.5708 0 0" />
</collision>
<inertial>
<mass value="0.0001" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="joint6">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint6.dae" />
</geometry>
<origin xyz="0 0.00 -0.038 " rpy=" 0 0 0" />
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint6.dae" />
</geometry>
<origin xyz="0 0.00 -0.038 " rpy=" 0 0 0" />
</collision>
<inertial>
<mass value="0.0001" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="joint6_flange">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint7.dae" />
</geometry>
<origin xyz="0.0 0 -0.012 " rpy=" 0 0 0" />
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint7.dae" />
</geometry>
<origin xyz="0.0 0 -0.012 " rpy=" 0 0 0" />
</collision>
<inertial>
<mass value="0.0001" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="gripper_base">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_base.dae" />
</geometry>
<origin xyz="0.0 0 -0.012 " rpy=" 0 0 0" />
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<!-- <mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_base.dae"/> -->
<cylinder radius="0.02" length="0.01" />
</geometry>
<origin xyz="0.0 0 0.01 " rpy=" 0 0 0" />
</collision>
<inertial>
<mass value="0.0001" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="gripper_left1">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left1.dae" />
</geometry>
<origin xyz="0.039 -0.0133 -0.012 " rpy=" 0 0 0" />
<!-- <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/> -->
</visual>
<collision>
<geometry>
<!-- <mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left1.dae"/> -->
<cylinder radius="0.0034" length="0.005" />
</geometry>
<origin xyz="0.0 0.0 -0.008 " rpy=" 0 0 0" />
</collision>
<inertial>
<mass value="0.0001" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="gripper_left2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left2.dae" />
</geometry>
<origin xyz="0.005 -0.0195 -0.012 " rpy=" 0 0 0" />
</visual>
<collision>
<geometry>
<!-- <mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left2.dae"/> -->
<cylinder radius="0.0034" length="0.005" />
</geometry>
<origin xyz="0.00 -0.0 -0.001 " rpy=" 0 0 0" />
</collision>
<inertial>
<mass value="0.0001" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="gripper_left3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left3.dae" />
</geometry>
<origin xyz="0.012 0.0025 -0.012 " rpy=" 0 0 0" />
</visual>
<collision>
<geometry>
<!-- <mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left3.dae"/> -->
<cylinder radius="0.0034" length="0.003" />
</geometry>
<origin xyz="0.0 0 0.0 " rpy=" 0 0 0" />
</collision>
<inertial>
<mass value="0.0001" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="gripper_right1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_right1.dae" />
</geometry>
<origin xyz="-0.039 -0.0133 -0.012 " rpy=" 0 0 0" />
</visual>
<collision>
<geometry>
<!-- <mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_right1.dae"/> -->
<cylinder radius="0.0034" length="0.005" />
</geometry>
<origin xyz="0.0 0.0 -0.008 " rpy=" 0 0 0" />
</collision>
<inertial>
<mass value="0.0001" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="gripper_right2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_right2.dae" />
</geometry>
<origin xyz="-0.005 -0.0195 -0.012 " rpy=" 0 0 0" />
</visual>
<collision>
<geometry>
<!-- <mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_right2.dae"/> -->
<cylinder radius="0.0034" length="0.005" />
</geometry>
<origin xyz="0.0 0.0 -0.001 " rpy=" 0 0 0" />
</collision>
<inertial>
<mass value="0.0001" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="gripper_right3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_right3.dae" />
</geometry>
<origin xyz="-0.012 0.0025 -0.012 " rpy=" 0 0 0" />
</visual>
<collision>
<geometry>
<!-- <mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_right3.dae"/> -->
<cylinder radius="0.0034" length="0.003" />
</geometry>
<origin xyz="0.0 0 0.0" rpy=" 0 0 0" />
</collision>
<inertial>
<mass value="0.0001" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-2.9321" upper="2.9321" velocity="3" />
<parent link="joint1" />
<child link="joint2" />
<origin xyz="0 0 0.13156" rpy="0 0 0" />
</joint>
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-2.3561" upper="2.3561" velocity="3" />
<parent link="joint2" />
<child link="joint3" />
<origin xyz="0 0 0" rpy="0 1.5708 -1.5708" />
</joint>
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1" />
<limit effort="1000.0" lower="-2.6179" upper="2.6179" velocity="3" />
<parent link="joint3" />
<child link="joint4" />
<origin xyz=" -0.1104 0 0 " rpy="0 0 0" />
</joint>
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1" />
<limit effort="1000.0" lower="-2.5307" upper="2.5307" velocity="3" />
<parent link="joint4" />
<child link="joint5" />
<origin xyz="-0.096 0 0.06462" rpy="0 0 -1.5708" />
</joint>
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-2.879793" upper="2.879793" velocity="3" />
<parent link="joint5" />
<child link="joint6" />
<origin xyz="0 -0.07318 0" rpy="1.5708 -1.5708 0" />
</joint>
<joint name="joint6output_to_joint6" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-3.14" upper="3.14" velocity="3" />
<parent link="joint6" />
<child link="joint6_flange" />
<origin xyz="0 0.0456 0" rpy="-1.5708 0 0" />
</joint>
<joint name="joint6output_to_gripper_base" type="fixed">
<!-- <axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> -->
<parent link="joint6_flange" />
<child link="gripper_base" />
<origin xyz="0 0 0.034" rpy="1.579 0 0" />
</joint>
<joint name="gripper_controller" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-0.78" upper="0.15" velocity="2" />
<parent link="gripper_base" />
<child link="gripper_left3" />
<origin xyz="-0.012 0.005 0" rpy="0 0 0" />
</joint>
<joint name="gripper_base_to_gripper_left2" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-0.8" upper="0.5" velocity="2" />
<parent link="gripper_base" />
<child link="gripper_left2" />
<origin xyz="-0.005 0.027 0" rpy="0 0 0" />
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
</joint>
<joint name="gripper_left3_to_gripper_left1" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-0.5" upper="0.5" velocity="2" />
<parent link="gripper_left3" />
<child link="gripper_left1" />
<origin xyz="-0.027 0.016 0" rpy="0 0 0" />
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
</joint>
<joint name="gripper_base_to_gripper_right3" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-0.15" upper="0.7" velocity="2" />
<parent link="gripper_base" />
<child link="gripper_right3" />
<origin xyz="0.012 0.005 0" rpy="0 0 0" />
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
</joint>
<joint name="gripper_base_to_gripper_right2" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-0.5" upper="0.8" velocity="2" />
<parent link="gripper_base" />
<child link="gripper_right2" />
<origin xyz="0.005 0.027 0" rpy="0 0 0" />
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
</joint>
<joint name="gripper_right3_to_gripper_right1" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-0.5" upper="0.5" velocity="2" />
<parent link="gripper_right3" />
<child link="gripper_right1" />
<origin xyz="0.027 0.016 0" rpy="0 0 0" />
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
</joint>
<transmission name="trans_joint2_to_joint1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint2_to_joint1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="joint2_to_joint1_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint3_to_joint2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint3_to_joint2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="joint3_to_joint2_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint4_to_joint3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint4_to_joint3">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="joint4_to_joint3_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint5_to_joint4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint5_to_joint4">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="joint5_to_joint4_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint6_to_joint5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint6_to_joint5">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="joint6_to_joint5_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint6output_to_joint6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint6output_to_joint6">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="joint6output_to_joint6_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_gripper_controller">
<type>transmission_interface/SimpleTransmission</type>
<joint name="gripper_controller">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="gripper_controller_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo>
<plugin filename="libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so" name="mimic_gripper_base_to_gripper_left2">
<joint>gripper_controller</joint>
<mimicJoint>gripper_base_to_gripper_left2</mimicJoint>
<multiplier>1.0</multiplier>
<offset>0.0</offset>
</plugin>
<plugin filename="libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left3_to_gripper_left1">
<joint>gripper_controller</joint>
<mimicJoint>gripper_left3_to_gripper_left1</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
</plugin>
<plugin filename="libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so" name="mimic_gripper_base_to_gripper_right3">
<joint>gripper_controller</joint>
<mimicJoint>gripper_base_to_gripper_right3</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
</plugin>
<plugin filename="libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so" name="mimic_gripper_base_to_gripper_right2">
<joint>gripper_controller</joint>
<mimicJoint>gripper_base_to_gripper_right2</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
</plugin>
<plugin filename="libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right3_to_gripper_right1">
<joint>gripper_controller</joint>
<mimicJoint>gripper_right3_to_gripper_right1</mimicJoint>
<multiplier>1.0</multiplier>
<offset>0.0</offset>
</plugin>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/</robotNamespace>
</plugin>
</gazebo>
<transmission name="trans_gripper_base_to_gripper_left2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="gripper_base_to_gripper_left2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="gripper_base_to_gripper_left2_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_gripper_left3_to_gripper_left1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="gripper_left3_to_gripper_left1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="gripper_left3_to_gripper_left1_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_gripper_base_to_gripper_right3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="gripper_base_to_gripper_right3">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="gripper_base_to_gripper_right3_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_gripper_base_to_gripper_right2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="gripper_base_to_gripper_right2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="gripper_base_to_gripper_right2_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_gripper_right3_to_gripper_right1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="gripper_right3_to_gripper_right1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="gripper_right3_to_gripper_right1_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</robot>
Reference in a new issue View git blame Copy permalink