mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
263 lines
7.3 KiB
XML
263 lines
7.3 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="mycobot_ai_with" >
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<xacro:property name="width" value=".2" />
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<link name="env">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="10"/>
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<inertia
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ixx="1.0" ixy="0.0" ixz="0.0"
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iyy="1.0" iyz="0.0"
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izz="1.0"/>
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</inertial>
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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/suit_env.dae"/>
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</geometry>
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<origin xyz = "0 0 0.0" rpy = "1.5708 0 -1.5708"/>
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</visual>
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</link>
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<link name="joint1">
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<inertial>
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<origin xyz="0 0 0.1" rpy="0 0 0"/>
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<mass value="0.2"/>
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<inertia
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ixx="1.0" ixy="0.0" ixz="0.0"
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iyy="1.0" iyz="0.0"
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izz="1.0"/>
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</inertial>
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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 0.02 " 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 0.02 " 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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<inertial>
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<origin xyz="0 0 0.1" rpy="0 0 0"/>
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<mass value="0.2"/>
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<inertia
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ixx="1.0" ixy="0.0" ixz="0.0"
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iyy="1.0" iyz="0.0"
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izz="1.0"/>
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</inertial>
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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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<inertial>
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<origin xyz="0 0 0.1" rpy="0 0 0"/>
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<mass value="0.2"/>
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<inertia
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ixx="1.0" ixy="0.0" ixz="0.0"
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iyy="1.0" iyz="0.0"
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izz="1.0"/>
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</inertial>
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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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<inertial>
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<origin xyz="0 0 0.1" rpy="0 0 0"/>
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<mass value="0.2"/>
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<inertia
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ixx="1.0" ixy="0.0" ixz="0.0"
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iyy="1.0" iyz="0.0"
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izz="1.0"/>
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</inertial>
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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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<inertial>
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<origin xyz="0 0 0.1" rpy="0 0 0"/>
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<mass value="0.2"/>
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<inertia
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ixx="1.0" ixy="0.0" ixz="0.0"
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iyy="1.0" iyz="0.0"
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izz="1.0"/>
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</inertial>
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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.stl"/>
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</geometry>
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<origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.57080 "/>
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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.stl"/>
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</geometry>
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<origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.57080"/>
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</collision>
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</link>
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<link name="joint6">
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<inertial>
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<origin xyz="0 0 0.1" rpy="0 0 0"/>
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<mass value="0.2"/>
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<inertia
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ixx="1.0" ixy="0.0" ixz="0.0"
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iyy="1.0" iyz="0.0"
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izz="1.0"/>
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</inertial>
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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 = "0.00 0.00 -0.048 " 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 = "0.00 0.00 -0.048 " 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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<inertial>
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<origin xyz="0 0 0.1" rpy="0 0 0"/>
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<mass value="0.1"/>
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<inertia
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ixx="1.0" ixy="0.0" ixz="0.0"
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iyy="1.0" iyz="0.0"
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izz="1.0"/>
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</inertial>
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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 = "-0.00 -0.00 -0.026 " 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 = "-0.00 -0.00 -0.026 " rpy = " 0 0 0"/>
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</collision>
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</link>
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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 = "-3.14" upper = "3.14159" velocity = "0"/>
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<parent link="joint1"/>
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<child link="joint2"/>
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<origin xyz= "0 0 0.15156" 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 = "-3.14" upper = "3.14159" 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 = "-3.14" upper = "3.14159" 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 0.02 " 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 = "-3.14" upper = "3.14159" 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 = "-3.14" upper = "3.14159" velocity = "0"/>
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<parent link="joint5"/>
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<child link="joint6"/>
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<origin xyz= "0.00 -0.07718 -0.004" 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 = "-3.14" upper = "3.14159" 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 0.06 -0.01" rpy = "-1.5708 0 0"/>
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</joint>
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<joint name="vision_joint" 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="env"/>
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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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<link name="world"/>
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<joint name="fixed" type="fixed">
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<parent link="world"/>
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<child link="env"/>
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</joint>
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</robot>
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