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new_mycobot_vision_v2_2022.urdf
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new_mycobot_vision_v2_2022.urdf
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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="env">
<visual>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/ai_kit320.dae"/>
</geometry>
<origin xyz = "0 0 0.0 " rpy = "0 0 0"/>
</visual>
</link>
<link name="base">
<visual>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/base.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_320_pi_2022/base.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 1.5708"/>
</collision>
</link>
<link name="link1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link1.dae"/>
</geometry>
<origin xyz = "0.0 0.0 -0.078 " rpy = " 0 0 1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link1.dae"/>
</geometry>
<origin xyz = "0.0 0.0 -0.078 " rpy = " 0 0 1.5708"/>
</collision>
</link>
<link name="link2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link2.dae"/>
</geometry>
<origin xyz = "0.0 0.0 -0.04 " rpy = " 0 1.5708 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link2.dae"/>
</geometry>
<origin xyz = "0.0 0.0 -0.04 " rpy = " 0 1.5708 0"/>
</collision>
</link>
<link name="link3">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link3.dae"/>
</geometry>
<origin xyz = "0.0 0.0 0.039 " rpy = " 1.5708 1.5708 1.5708"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link3.dae"/>
</geometry>
<origin xyz = "0.0 0.0 0.039 " rpy = " 1.5708 1.5708 1.5708"/>
</collision>
</link>
<link name="link4">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link4.dae"/>
</geometry>
<origin xyz = "0.0 -0.0024 -0.05" rpy = " 1.5708 1.5708 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link4.dae"/>
</geometry>
<origin xyz = "0.0 -0.0024 -0.05" rpy = " 1.5708 1.5708 0"/>
</collision>
</link>
<link name="link5">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link5.dae"/>
</geometry>
<origin xyz = "0.0 0.0 -0.05 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link5.dae"/>
</geometry>
<origin xyz = "0.0 0.0 -0.05 " rpy = " 0 0 -1.5708"/>
</collision>
</link>
<link name="link6">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link6.dae"/>
</geometry>
<origin xyz = "0.0 0.0 -0.022 " rpy = " 1.5708 1.5708 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link6.dae"/>
</geometry>
<origin xyz = "0.0 0.0 -0.022 " rpy = " 1.5708 1.5708 0"/>
</collision>
</link>
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
<parent link="base"/>
<child link="link1"/>
<origin xyz= "0 0 0.173" rpy = "0 0 0"/>
</joint>
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link1"/>
<child link="link2"/>
<origin xyz= "0 -0.086 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 = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link2"/>
<child link="link3"/>
<origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/>
</joint>
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link3"/>
<child link="link4"/>
<origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/>
</joint>
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
<parent link="link4"/>
<child link="link5"/>
<origin xyz= "0 -0.09415 0" rpy = "1.5708 0 0"/>
</joint>
<joint name="joint6output_to_joint6" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
<parent link="link5"/>
<child link="link6"/>
<origin xyz= "0 0.055 0" rpy = "-1.5708 0 0"/>
</joint>
<joint name="vision_joint" type="fixed">
<axis xyz="0 0 0"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="base"/>
<child link="env"/>
<origin xyz= "0 0 0" rpy = "0 0 0"/>
</joint>
</robot>