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update mycobot 630 urdf
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@wangWking
wangWking committed Mar 6, 2024
1 parent df7a68e commit 64bb5d8
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Showing 16 changed files with 1,849 additions and 209,649 deletions.
25,705 changes: 192 additions & 25,513 deletions mycobot_description/urdf/mycobot_630/base.dae
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12,477 changes: 56 additions & 12,421 deletions mycobot_description/urdf/mycobot_630/link1.dae
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44,990 changes: 104 additions & 44,886 deletions mycobot_description/urdf/mycobot_630/link2.dae
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40,285 changes: 846 additions & 39,439 deletions mycobot_description/urdf/mycobot_630/link3.dae
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28,219 changes: 99 additions & 28,120 deletions mycobot_description/urdf/mycobot_630/link4.dae
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43,426 changes: 189 additions & 43,237 deletions mycobot_description/urdf/mycobot_630/link5.dae
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16,148 changes: 238 additions & 15,910 deletions mycobot_description/urdf/mycobot_630/link6.dae
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106 changes: 45 additions & 61 deletions mycobot_description/urdf/mycobot_630/mycobot_630.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -7,183 +7,167 @@
<link name="base">
<visual>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/600_urdf/base.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot_630/base.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
<origin xyz = "0 0 0 " rpy = " 1.5707 0 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/600_urdf/base.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot_630/base.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
<origin xyz = "0 0 0 " rpy = " 1.5707 0 0"/>
</collision>
</link>

<link name="link1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/600_urdf/link1.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link1.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = "0 0 3.1415926"/>
<origin xyz = "0 0 -0.06 " rpy = "0 0 3.1415926"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/600_urdf/link1.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link1.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 3.1415926"/>
<origin xyz = "0 0 -0.06 " rpy = " 0 0 3.1415926"/>
</collision>
</link>


<link name="link2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/600_urdf/link2.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link2.dae"/>
</geometry>
<origin xyz = "0 0 -0.080 " rpy = " 3.1415926 0 3.1415926"/>
<origin xyz = "0 0 -0.0446 " rpy = " 0 -1.5707 -1.5707"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/600_urdf/link2.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link2.dae"/>
</geometry>
<origin xyz = "0 0 -0.080 " rpy = " 3.1415926 0 3.1415926"/>
<origin xyz = "0 0 -0.0446 " rpy = " 0 -1.5707 -1.5707"/>
</collision>
</link>


<link name="link3">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/600_urdf/link3.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link3.dae"/>
</geometry>
<origin xyz = "0 0 -0.0855 " rpy = " 3.1415926 0 3.1415926"/>
<origin xyz = "0 0 -0.0444 " rpy = " 0 1.5707 -1.5707"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/600_urdf/link3.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link3.dae"/>
</geometry>
<origin xyz = "0 0 -0.0855 " rpy = "3.1415926 0 3.1415926"/>
<origin xyz = "0 0 -0.0444 " rpy = "0 1.5707 -1.5707"/>
</collision>
</link>



<link name="link4">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/600_urdf/link4.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link4.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 3.1415926 0"/>
<origin xyz = "0 0 0.041 " rpy = " -1.5707 0 1.5707"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/600_urdf/link4.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link4.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 3.1415926 0"/>
<origin xyz = "0 0 0.041 " rpy = " -1.5707 0 1.5707"/>
</collision>
</link>


<link name="link5">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/600_urdf/link5.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link5.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 1.5707"/>
<origin xyz = "-0.043 0 0 " rpy = " 0 -1.5707 3.1415926"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/600_urdf/link5.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link5.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 1.5707"/>
<origin xyz = "-0.043 0 0 " rpy = " 0 -1.5707 3.1415926"/>
</collision>
</link>

<link name="link6">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/600_urdf/link6.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link6.dae"/>
</geometry>
<material name = "grey">
<!-- <material name = "grey">
<color rgba = "0.5 0.5 0.5 1"/>
</material>
<origin xyz = "0.03 0 0" rpy = " 0 -1.5707 0"/>
</material> -->
<origin xyz = "0.01 0 0" rpy = " 0 1.5707 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/600_urdf/link6.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link6.dae"/>
</geometry>
<material name = "grey">
<!-- <material name = "grey">
<color rgba = "0.5 0.5 0.5 1"/>
</material>
<origin xyz = "0.03 0 0" rpy = " 0 -1.5707 0"/>
</material> -->
<origin xyz = "0.01 0 0" rpy = " 0 1.5707 0"/>
</collision>
</link>



<joint name="joint2_to_joint1" type="revolute">
<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 0.19934" rpy = "0 0 0"/>
<origin xyz= "0 0 0.22934" rpy = "0 0 0"/>
</joint>


<joint name="joint3_to_joint2" type="revolute">
<joint name="joint2_to_joint1" 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 = "1.5707" 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 = "1.5707 0 0"/>
</joint>


<joint name="joint4_to_joint3" type="revolute">
<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= "0.25 0 0 " rpy = "0 0 0"/>
<origin xyz= "0.27 0 0 " rpy = "0 0 0"/>
</joint>

<joint name="joint5_to_joint4" type="revolute">
<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 = "-2.96" upper = "2.97" 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= "0.267 0 -0.0745" rpy = "0 0 0"/>
</joint>

<joint name="joint6_to_joint5" type="revolute">
<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 -0.108 0" rpy = "1.57080 -1.57080 0"/>
<origin xyz= "0 -0.095 0.002" rpy = "1.5707 -1.5707 0"/>
</joint>

<joint name="joint6output_to_joint6" type="revolute">
<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= "-0.07586 0 0" rpy = "-1.57080 0 0 "/>
<origin xyz= "-0.054 0 0" rpy = "-1.5707 0 0 "/>
</joint>


Expand Down
61 changes: 39 additions & 22 deletions mycobot_pro/mycobot_630/config/mycobot_630.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -8,8 +8,9 @@ Panels:
- /Status1
- /RobotModel1
- /TF1
- /TF1/Frames1
Splitter Ratio: 0.5
Tree Height: 775
Tree Height: 609
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expand All @@ -18,17 +19,18 @@ Panels:
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Expand All @@ -40,7 +42,7 @@ Visualization Manager:
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Expand Down Expand Up @@ -105,13 +107,15 @@ Visualization Manager:
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15
Frames:
All Enabled: true
All Enabled: false
base:
Value: true
link1:
Value: true
Value: false
link2:
Value: true
link3:
Expand All @@ -122,7 +126,8 @@ Visualization Manager:
Value: true
link6:
Value: true
Marker Scale: 0.300000012
Marker Alpha: 1
Marker Scale: 0.20000000298023224
Name: TF
Show Arrows: true
Show Axes: true
Expand All @@ -138,6 +143,15 @@ Visualization Manager:
{}
Update Interval: 0
Value: true
- Alpha: 1
Class: rviz/Axes
Enabled: true
Length: 0.20000000298023224
Name: Axes
Radius: 0.004999999888241291
Reference Frame: <Fixed Frame>
Show Trail: false
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Expand All @@ -153,7 +167,10 @@ Visualization Manager:
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Expand All @@ -163,33 +180,33 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 2.0593462
Distance: 1.5878180265426636
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: -0.0706475973
Y: -0.0814988762
Z: 0.107583851
X: -0.07064759731292725
Y: -0.0814988762140274
Z: 0.10758385062217712
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.660398126
Near Clip Distance: 0.009999999776482582
Pitch: 0.5947973132133484
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 3.10539246
Yaw: 2.5353903770446777
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1056
Height: 906
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000039a0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002ecfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ec000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001d0000002ecfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ec000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000003f2000002ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
Expand All @@ -198,6 +215,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
Width: 1855
X: 65
Y: 24
Width: 1848
X: 72
Y: 27
4 changes: 2 additions & 2 deletions mycobot_pro/mycobot_630_moveit/config/fake_controllers.yaml
View file
Original file line number Diff line number Diff line change
@@ -1,9 +1,9 @@
controller_list:
- name: fake_arm_group_controller
joints:
- joint1_to_base
- joint2_to_joint1
- joint3_to_joint2
- joint4_to_joint3
- joint5_to_joint4
- joint6_to_joint5
- joint6output_to_joint6
- joint6_to_joint5
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