mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
378 lines
12 KiB
XML
378 lines
12 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="g_base">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot/G_base.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.03" 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/G_base.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
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</collision>
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</link>
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<link name="joint1">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 1.5708 3.14159-->
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<mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
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</geometry>
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<origin xyz = "0.0 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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<!--- 0.0 0 -0.04 1.5708 3.14159-->
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<mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
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</collision>
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</link>
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<link name="joint2">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.06096 " 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/joint2.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
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</collision>
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</link>
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<link name="joint3">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0.03256 " 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/joint3.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
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</collision>
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</link>
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<link name="joint4">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
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</visual>
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<collision>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
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</collision>
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</link>
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<link name="joint5">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
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</visual>
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<collision>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
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</collision>
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</link>
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<link name="joint6">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
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</geometry>
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<origin xyz = "0 0.00 -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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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
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</geometry>
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<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
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</collision>
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</link>
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<link name="joint6_flange">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
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</visual>
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<collision>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
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</collision>
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</link>
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<link name="gripper_base">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mycobot/gripper_base.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
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</visual>
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<collision>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mycobot/gripper_base.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
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</collision>
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</link>
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<link name="gripper_left1">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mycobot/gripper_left1.dae"/>
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</geometry>
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<origin xyz = "0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
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<!-- <origin xyz = "0.0 0 -0.012 " 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/gripper_left1.dae"/>
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</geometry>
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<origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
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</collision>
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</link>
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<link name="gripper_left2">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot/gripper_left2.dae"/>
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</geometry>
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<origin xyz = "0.005 -0.0195 -0.012 " 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/gripper_left2.dae"/>
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</geometry>
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<origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
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</collision>
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</link>
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<link name="gripper_left3">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot/gripper_left3.dae"/>
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</geometry>
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<origin xyz = "0.012 0.0025 -0.012 " rpy = " 0 0 0"/>
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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/mycobot/gripper_left3.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
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</collision>
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</link>
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<link name="gripper_right1">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot/gripper_right1.dae"/>
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</geometry>
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<origin xyz = "-0.039 -0.0133 -0.012 " 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/gripper_right1.dae"/>
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</geometry>
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<origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
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</collision>
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</link>
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<link name="gripper_right2">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot/gripper_right2.dae"/>
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</geometry>
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<origin xyz = "-0.005 -0.0195 -0.012 " 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/gripper_right2.dae"/>
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</geometry>
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<origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
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</collision>
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</link>
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<link name="gripper_right3">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot/gripper_right3.dae"/>
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</geometry>
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<origin xyz = "-0.012 0.0025 -0.012 " 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/gripper_right3.dae"/>
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</geometry>
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<origin xyz = "-0.012 0.0025 -0.012" rpy = " 0 0 0"/>
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</collision>
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</link>
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<joint name="g_base_to_joint1" type="fixed">
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<axis xyz="0 0 0"/>
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<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
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<parent link="g_base"/>
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<child link="joint1"/>
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<origin xyz= "0 0 0" rpy = "0 0 0"/>
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</joint>
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<joint name="joint2_to_joint1" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
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<parent link="joint1"/>
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<child link="joint2"/>
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<origin xyz= "0 0 0.13156" rpy = "0 0 0"/>
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</joint>
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<joint name="joint3_to_joint2" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
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<parent link="joint2"/>
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<child link="joint3"/>
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<origin xyz= "0 0 0" rpy = "0 1.5708 -1.5708"/>
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</joint>
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<joint name="joint4_to_joint3" type="revolute">
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<axis xyz=" 0 0 1"/>
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<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
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<parent link="joint3"/>
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<child link="joint4"/>
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<origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
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</joint>
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<joint name="joint5_to_joint4" type="revolute">
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<axis xyz=" 0 0 1"/>
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<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
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<parent link="joint4"/>
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<child link="joint5"/>
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<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
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</joint>
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<joint name="joint6_to_joint5" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
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<parent link="joint5"/>
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<child link="joint6"/>
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<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>
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</joint>
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<joint name="joint6output_to_joint6" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
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<parent link="joint6"/>
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<child link="joint6_flange"/>
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<origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>
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</joint>
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<joint name="joint6output_to_gripper_base" type="fixed">
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<!-- <axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> -->
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<parent link="joint6_flange"/>
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<child link="gripper_base"/>
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<!-- <origin xyz= "0 0.0 0" rpy = "-1.5708 0 0"/> -->
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<origin xyz= "0 0 0.034" rpy = "1.579 0 0"/>
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</joint>
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<joint name="gripper_controller" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-0.7" upper = "0.15" velocity = "0"/>
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<parent link="gripper_base"/>
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<child link="gripper_left3"/>
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<origin xyz= "-0.012 0.005 0" rpy = "0 0 0"/>
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</joint>
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<joint name="gripper_base_to_gripper_left2" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-0.8" upper = "0.5" velocity = "0"/>
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<parent link="gripper_base"/>
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<child link="gripper_left2"/>
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<origin xyz= "-0.005 0.027 0" rpy = "0 0 0"/>
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<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
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</joint>
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<joint name="gripper_left3_to_gripper_left1" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
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<parent link="gripper_left3"/>
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<child link="gripper_left1"/>
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<origin xyz= "-0.027 0.016 0" rpy = "0 0 0"/>
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<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
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</joint>
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<joint name="gripper_base_to_gripper_right3" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-0.15" upper = "0.7" velocity = "0"/>
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<parent link="gripper_base"/>
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<child link="gripper_right3"/>
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<origin xyz= "0.012 0.005 0" rpy = "0 0 0"/>
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<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
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</joint>
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<joint name="gripper_base_to_gripper_right2" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-0.5" upper = "0.8" velocity = "0"/>
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<parent link="gripper_base"/>
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<child link="gripper_right2"/>
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<origin xyz= "0.005 0.027 0" rpy = "0 0 0"/>
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<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
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</joint>
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<joint name="gripper_right3_to_gripper_right1" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
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<parent link="gripper_right3"/>
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<child link="gripper_right1"/>
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<origin xyz= "0.027 0.016 0" rpy = "0 0 0"/>
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<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
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</joint>
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</robot>
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