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Merge pull request #141 from elephantrobotics/myhand_force_gripper
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Myhand force gripper
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@wangWking
wangWking authored Jan 8, 2025
2 parents 672dd9c + eec1555 commit 26400b5
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Showing 93 changed files with 2,016 additions and 698 deletions.
Binary file modified demo_img/pro600/pro600.png
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16 changes: 8 additions & 8 deletions mycobot_description/urdf/mycobot_pro_600/mycobot_pro_600.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -143,12 +143,12 @@

<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 -1"/>
<limit effort = "1000.0" lower = "-4.71" upper = "1.5708" velocity = "0"/>
<!-- <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/> -->
<!-- <limit effort = "1000.0" lower = "-4.71" upper = "1.5708" velocity = "0"/> -->
<limit effort = "1000.0" lower = "-3.14159" upper = "3.14159" velocity = "0"/>
<parent link="link1"/>
<child link="link2"/>
<!-- <origin xyz= "0 0 0" rpy = "1.5708 -1.5708 0"/> -->
<origin xyz= "0 0 0" rpy = "1.5708 0 0"/>
<origin xyz= "0 0 0" rpy = "1.5708 -1.5708 0"/>
<!-- <origin xyz= "0 0 0" rpy = "1.5708 0 0"/> -->
</joint>


Expand All @@ -162,12 +162,12 @@

<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 -1"/>
<limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/>
<!-- <limit effort = "1000.0" lower = "-2.96" upper = "2.97" velocity = "0"/> -->
<!-- <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/> -->
<limit effort = "1000.0" lower = "-2.9670" upper = "2.9670" velocity = "0"/>
<parent link="link3"/>
<child link="link4"/>
<!-- <origin xyz= "0.25 0 -0.1091" rpy = "0 0 1.5708"/> -->
<origin xyz= "0.25 0 -0.1091" rpy = "0 0 0"/>
<origin xyz= "0.25 0 -0.1091" rpy = "0 0 1.5708"/>
<!-- <origin xyz= "0.25 0 -0.1091" rpy = "0 0 0"/> -->
</joint>

<joint name="joint6_to_joint5" type="revolute">
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183 changes: 183 additions & 0 deletions mycobot_description/urdf/mycobot_pro_600/mycobot_pro_600_moveit.urdf
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Original file line number Diff line number Diff line change
@@ -0,0 +1,183 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >

<xacro:property name="width" value=".2" />


<link name="base">
<visual>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/base.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
</visual>
<collision>
<origin xyz = "0 0 0.04 " rpy = " 0 0 1.5708"/>
<geometry>
<cylinder length="0.06" radius="0.038"/>
</geometry>
</collision>
</link>

<link name="link1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link1.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = "0 0 3.1415926"/>
</visual>
<collision>
<origin xyz = "0.0 0.0 -0.02 " rpy = " 0 0 1.5708"/>
<geometry>
<cylinder length="0.05" radius="0.03"/>
</geometry>
</collision>
</link>


<link name="link2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link2.dae"/>
</geometry>
<origin xyz = "0 0 -0.080 " rpy = " 3.1415926 0 3.1415926"/>
</visual>
<collision>
<origin xyz = "0.128 0 -0.125 " rpy = " 0 1.5708 0"/>
<geometry>
<cylinder length="0.28" radius="0.024"/>
</geometry>
</collision>
</link>


<link name="link3">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link3.dae"/>
</geometry>
<origin xyz = "0 0 -0.0855 " rpy = " 3.1415926 0 3.1415926"/>
</visual>
<collision>
<origin xyz = "0.128 0.0 -0.003 " rpy = "0 1.5708 0"/>
<geometry>
<cylinder length="0.24" radius="0.024"/>
</geometry>
</collision>
</link>



<link name="link4">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link4.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 3.1415926 0"/>
</visual>
<collision>
<origin xyz = "0.0 -0.01 0.007" rpy = " 1.5708 1.5708 0"/>
<geometry>
<cylinder length="0.05" radius="0.024"/>
</geometry>
</collision>
</link>


<link name="link5">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link5.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 1.5707"/>
</visual>
<collision>
<origin xyz = "0.0 0.0 -0.015 " rpy = " 0 0 -1.5708"/>
<geometry>
<cylinder length="0.05" radius="0.028"/>
</geometry>
</collision>
</link>

<link name="link6">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link6.dae"/>
</geometry>
<material name = "grey">
<color rgba = "0.5 0.5 0.5 1"/>
</material>
<origin xyz = "0.03 0 0" rpy = " 0 -1.5707 0"/>
</visual>
<collision>
<origin xyz = "0.006 0.0 -0.0 " rpy = " 0 1.5708 0"/>
<geometry>
<cylinder length="0.006" radius="0.026"/>
</geometry>
</collision>
</link>


<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="base"/>
<child link="link1"/>
<origin xyz= "0 0 0.19934" rpy = "0 0 0"/>
</joint>


<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 -1"/>
<!-- <limit effort = "1000.0" lower = "-4.71" upper = "1.5708" velocity = "0"/> -->
<limit effort = "1000.0" lower = "-3.14159" upper = "3.14159" velocity = "0"/>
<parent link="link1"/>
<child link="link2"/>
<origin xyz= "0 0 0" rpy = "1.5708 -1.5708 0"/>
<!-- <origin xyz= "0 0 0" rpy = "1.5708 0 0"/> -->
</joint>


<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 -1"/>
<limit effort = "1000.0" lower = "-2.61" upper = "2.618" velocity = "0"/>
<parent link="link2"/>
<child link="link3"/>
<origin xyz= "0.25 0 0 " rpy = "0 0 0"/>
</joint>

<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 -1"/>
<!-- <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/> -->
<limit effort = "1000.0" lower = "-2.9670" upper = "2.9670" velocity = "0"/>
<parent link="link3"/>
<child link="link4"/>
<origin xyz= "0.25 0 -0.1091" rpy = "0 0 1.5708"/>
<!-- <origin xyz= "0.25 0 -0.1091" rpy = "0 0 0"/> -->
</joint>

<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.93" upper = "2.9321" velocity = "0"/>
<parent link="link4"/>
<child link="link5"/>
<origin xyz= "0 -0.108 0" rpy = "1.57080 -1.57080 0"/>
</joint>

<joint name="joint6output_to_joint6" type="revolute">
<axis xyz="-1 0 0"/>
<limit effort = "1000.0" lower = "-3.03" upper = "3.0368" velocity = "0"/>
<parent link="link5"/>
<child link="link6"/>
<origin xyz= "-0.07586 0 0" rpy = "-1.57080 0 0 "/>
</joint>



</robot>

10 changes: 6 additions & 4 deletions mycobot_description/urdf/mycobot_pro_630/mycobot_pro_630.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -131,10 +131,11 @@

<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 -1"/>
<limit effort = "1000.0" lower = "-4.71" upper = "1.5707" velocity = "0"/>
<!-- <limit effort = "1000.0" lower = "-4.71" upper = "1.5707" velocity = "0"/> -->
<limit effort = "1000.0" lower = "-3.14159" upper = "3.14159" velocity = "0"/>
<parent link="link1"/>
<child link="link2"/>
<origin xyz= "0 0 0" rpy = "1.5707 0 0"/>
<origin xyz= "0 0 0" rpy = "1.5707 -1.5708 0"/>
</joint>


Expand All @@ -148,10 +149,11 @@

<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 -1"/>
<limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/>
<!-- <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/> -->
<limit effort = "1000.0" lower = "-2.9670" upper = "2.9670" velocity = "0"/>
<parent link="link3"/>
<child link="link4"/>
<origin xyz= "0.267 0 -0.0745" rpy = "0 0 0"/>
<origin xyz= "0.267 0 -0.0745" rpy = "0 0 1.5708"/>
</joint>

<joint name="joint5_to_joint4" type="revolute">
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