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mycobot_description/urdf/mycobot_630/mycobot_630.urdf
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,175 +1,155 @@ | ||
| <?xml version="1.0"?> | ||
| <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="base"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_630/base.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0 0 0 " rpy = " 1.5707 0 0"/> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_630/base.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0 0 0 " rpy = " 1.5707 0 0"/> | ||
| </collision> | ||
| </link> | ||
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| <link name="link1"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_630/link1.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0 0 -0.06 " rpy = "0 0 3.1415926"/> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_630/link1.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0 0 -0.06 " rpy = " 0 0 3.1415926"/> | ||
| </collision> | ||
| </link> | ||
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| <link name="link2"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_630/link2.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0 0 -0.0446 " rpy = " 0 -1.5707 -1.5707"/> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_630/link2.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0 0 -0.0446 " rpy = " 0 -1.5707 -1.5707"/> | ||
| </collision> | ||
| </link> | ||
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| <link name="link3"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_630/link3.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0 0 -0.0444 " rpy = " 0 1.5707 -1.5707"/> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_630/link3.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0 0 -0.0444 " rpy = "0 1.5707 -1.5707"/> | ||
| </collision> | ||
| </link> | ||
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| <link name="link4"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_630/link4.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0 0 0.041 " rpy = " -1.5707 0 1.5707"/> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_630/link4.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0 0 0.041 " rpy = " -1.5707 0 1.5707"/> | ||
| </collision> | ||
| </link> | ||
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| <link name="link5"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_630/link5.dae"/> | ||
| </geometry> | ||
| <origin xyz = "-0.043 0 0 " rpy = " 0 -1.5707 3.1415926"/> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_630/link5.dae"/> | ||
| </geometry> | ||
| <origin xyz = "-0.043 0 0 " rpy = " 0 -1.5707 3.1415926"/> | ||
| </collision> | ||
| </link> | ||
|
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||
| <link name="link6"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_630/link6.dae"/> | ||
| </geometry> | ||
| <!-- <material name = "grey"> | ||
| <color rgba = "0.5 0.5 0.5 1"/> | ||
| </material> --> | ||
| <origin xyz = "0.01 0 0" rpy = " 0 1.5707 0"/> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_630/link6.dae"/> | ||
| </geometry> | ||
| <!-- <material name = "grey"> | ||
| <color rgba = "0.5 0.5 0.5 1"/> | ||
| </material> --> | ||
| <origin xyz = "0.01 0 0" rpy = " 0 1.5707 0"/> | ||
| </collision> | ||
| </link> | ||
|
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|
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| <joint name="joint1_to_base" 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 0.22934" rpy = "0 0 0"/> | ||
| </joint> | ||
|
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||
|
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| <joint name="joint2_to_joint1" type="revolute"> | ||
| <axis xyz="0 0 -1"/> | ||
| <limit effort = "1000.0" lower = "-3.1415" upper = "3.1415" velocity = "0"/> | ||
| <parent link="link1"/> | ||
| <child link="link2"/> | ||
| <origin xyz= "0 0 0" rpy = "1.5707 3.1415 0"/> | ||
| </joint> | ||
|
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||
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| <joint name="joint3_to_joint2" 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= "0.27 0 0 " rpy = "0 0 0"/> | ||
| </joint> | ||
|
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||
| <joint name="joint4_to_joint3" type="revolute"> | ||
| <axis xyz=" 0 0 -1"/> | ||
| <limit effort = "1000.0" lower = "-2.9594" upper = "2.9668" velocity = "0"/> | ||
| <parent link="link3"/> | ||
| <child link="link4"/> | ||
| <origin xyz= "0.267 0 -0.0745" rpy = "3.1415 3.1415 0"/> | ||
| </joint> | ||
|
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||
| <joint name="joint5_to_joint4" 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 -0.095 0.002" rpy = "1.5707 -1.5707 0"/> | ||
| </joint> | ||
|
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||
| <joint name="joint6_to_joint5" 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= "-0.054 0 0" rpy = "-1.5707 0 0 "/> | ||
| </joint> | ||
|
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||
| <?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> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/base.dae" /> | ||
| </geometry> | ||
| <origin xyz="0 0 0 " rpy=" 1.5706 0 0" /> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/base.dae" /> | ||
| </geometry> | ||
| <origin xyz="0 0 0 " rpy=" 1.5706 0 0" /> | ||
| </collision> | ||
|
|
||
| </link> | ||
| <link name="joint1"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link1.dae" /> | ||
| </geometry> | ||
| <origin xyz="0 0 -0.06 " rpy="0 0 3.1415926" /> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link1.dae" /> | ||
| </geometry> | ||
| <origin xyz="0 0 -0.06 " rpy=" 0 0 3.1415926" /> | ||
| </collision> | ||
|
|
||
| </link> | ||
| <link name="joint2"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link2.dae" /> | ||
| </geometry> | ||
| <origin xyz="0 0 -0.0446 " rpy=" 1.5707 -1.5707 -1.5707" /> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link2.dae" /> | ||
| </geometry> | ||
| <origin xyz="0 0 -0.0446 " rpy=" 1.5707 -1.5707 -1.5707" /> | ||
| </collision> | ||
|
|
||
| </link> | ||
| <link name="joint3"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link3.dae" /> | ||
| </geometry> | ||
| <origin xyz="0 0 -0.0444 " rpy=" 0 1.5707 0" /> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link3.dae" /> | ||
| </geometry> | ||
| <origin xyz="0 0 -0.0444 " rpy="0 1.5707 0" /> | ||
| </collision> | ||
|
|
||
| </link> | ||
| <link name="joint4"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link4.dae" /> | ||
| </geometry> | ||
| <origin xyz="0 -0.002 0.041 " rpy=" -1.5707 0 -1.5707" /> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link4.dae" /> | ||
| </geometry> | ||
| <origin xyz="0 -0.002 0.041 " rpy=" -1.5707 0 -1.5707" /> | ||
| </collision> | ||
|
|
||
| </link> | ||
| <link name="joint5"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link5.dae" /> | ||
| </geometry> | ||
| <origin xyz="-0.043 0 -0.08 " rpy=" 3.14159 1.5707 3.14159" /> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link5.dae" /> | ||
| </geometry> | ||
| <origin xyz="-0.043 0 -0.08 " rpy=" 3.14159 1.5707 3.14159" /> | ||
| </collision> | ||
|
|
||
| </link> | ||
| <link name="joint6"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link6.dae" /> | ||
| </geometry> | ||
| <origin xyz="0.01 0 0" rpy=" 0 1.5707 0" /> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link6.dae" /> | ||
| </geometry> | ||
| <origin xyz="0.01 0 0" rpy=" 0 1.5707 0" /> | ||
| </collision> | ||
|
|
||
| </link> | ||
| <joint name="joint1_to_base" type="revolute"> | ||
| <axis xyz="0 0 1" /> | ||
| <limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" /> | ||
| <parent link="base" /> | ||
| <child link="joint1" /> | ||
| <origin xyz="0 0 0.22934" rpy="0 0 0" /> | ||
| </joint> | ||
|
|
||
| <joint name="joint2_to_joint1" type="revolute"> | ||
| <axis xyz="0 0 -1" /> | ||
| <limit effort="1000.0" lower="-2.26" upper="2.26" velocity="0" /> | ||
| <parent link="joint1" /> | ||
| <child link="joint2" /> | ||
| <origin xyz="0 0 0" rpy="1.5707 -1.5706 0" /> | ||
| </joint> | ||
| <joint name="joint3_to_joint2" type="revolute"> | ||
| <axis xyz=" 0 0 -1" /> | ||
| <limit effort="1000.0" lower="-2.61" upper="2.618" velocity="0" /> | ||
| <parent link="joint2" /> | ||
| <child link="joint3" /> | ||
| <origin xyz="0 0.27 0 " rpy="0 0 0" /> | ||
| </joint> | ||
| <joint name="joint4_to_joint3" type="revolute"> | ||
| <axis xyz=" 0 0 -1" /> | ||
| <limit effort="1000.0" lower="-3.17" upper="3.17" velocity="0" /> | ||
| <parent link="joint3" /> | ||
| <child link="joint4" /> | ||
| <origin xyz="0 0.267 -0.0745" rpy="0 0 1.5706" /> | ||
| </joint> | ||
| <joint name="joint5_to_joint4" type="revolute"> | ||
| <axis xyz="0 0 1" /> | ||
| <limit effort="1000.0" lower="-2.99" upper="2.99" velocity="0" /> | ||
| <parent link="joint4" /> | ||
| <child link="joint5" /> | ||
| <origin xyz="0 0 0.002" rpy="1.5707 -1.5707 0" /> | ||
| </joint> | ||
| <joint name="joint6_to_joint5" type="revolute"> | ||
| <axis xyz="-1 0 0" /> | ||
| <limit effort="1000.0" lower="-3.03" upper="3.0368" velocity="0" /> | ||
| <parent link="joint5" /> | ||
| <child link="joint6" /> | ||
| <origin xyz="-0.054 0 -0.08" rpy="-1.5707 0 0 " /> | ||
| </joint> | ||
|
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||
|
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||
| </robot> | ||
|
|