/
new_mycobot_pro_320_m5_2022_gripper.urdf
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new_mycobot_pro_320_m5_2022_gripper.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="base">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/base.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_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_m5_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_m5_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_m5_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_m5_2022/link2.dae"/>
</geometry>
<origin xyz = "0.0 0.0 -0.04 " rpy = " 0 1.5708 0"/>
</collision>
</link>
<link name="link3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/link3.dae"/>
</geometry>
<origin xyz = "0.0 0.0 0.039 " rpy = " 1.5708 1.5708 1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_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>
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/link4.dae"/>
</geometry>
<origin xyz = "0.0 -0.0024 -0.05" rpy = " 1.5708 1.5708 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_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>
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/link5.dae"/>
</geometry>
<origin xyz = "0.0 0.0 -0.05 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/link5.dae"/>
</geometry>
<origin xyz = "0.0 0.0 -0.05 " rpy = " 0 0 -1.5708"/>
</collision>
</link>
<link name="link6">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/link6.dae"/>
</geometry>
<origin xyz = "0.0 0.0 -0.0115 " rpy = " 1.5708 1.5708 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/link6.dae"/>
</geometry>
<origin xyz = "0.0 0.0 -0.0115 " rpy = " 1.5708 1.5708 0"/>
</collision>
</link>
<link name="gripper_base">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_base.dae"/>
</geometry>
<origin xyz = "-0.02 0.012 -0.018 " rpy = " 0 0 1.5708"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_base.dae"/>
</geometry>
<origin xyz = "-0.02 0.012 -0.018 " rpy = " 0 0 1.5708"/>
</collision>
</link>
<link name="gripper_left1">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left1.dae"/>
</geometry>
<origin xyz = "0.036 -0.052 0.0 " rpy = " 0 0 1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left1.dae"/>
</geometry>
<origin xyz = "0.036 -0.052 0.0 " rpy = " 0 0 1.5708"/>
</collision>
</link>
<link name="gripper_left2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left2.dae"/>
</geometry>
<origin xyz = "0.03 0.024 -0.018 " rpy = " 0 0 1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left2.dae"/>
</geometry>
<origin xyz = "0.03 0.024 -0.018 " rpy = " 0 0 1.5708"/>
</collision>
</link>
<link name="gripper_left3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left3.dae"/>
</geometry>
<origin xyz = "0.034 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
<!-- <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> -->
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left3.dae"/>
</geometry>
<origin xyz = "0.034 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
</collision>
</link>
<link name="gripper_right1">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right1.dae"/>
</geometry>
<origin xyz = "-0.072 -0.05 0.0 " rpy = " 0 0 1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right1.dae"/>
</geometry>
<origin xyz = "-0.036 -0.052 0.0 " rpy = " 0 0 1.5708"/>
</collision>
</link>
<link name="gripper_right2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right2.dae"/>
</geometry>
<origin xyz = "-0.066 0.023 -0.018 " rpy = " 0 0 1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right2.dae"/>
</geometry>
<origin xyz = "-0.03 0.024 -0.018 " rpy = " 0 0 1.5708"/>
</collision>
</link>
<link name="gripper_right3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right3.dae"/>
</geometry>
<origin xyz = "0 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right3.dae"/>
</geometry>
<origin xyz = "-0.034 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
</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 0.0" 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 0.0" rpy = "-1.5708 0 0"/>
</joint>
<joint name="joint6output_to_gripper_base" type="fixed">
<!-- <axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/> -->
<parent link="link6"/>
<child link="gripper_base"/>
<origin xyz= "0 0.0 0.034" rpy = "1.5708 0 0"/>
</joint>
<joint name="gripper_controller" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.7" upper = "0.3" velocity = "0"/>
<parent link="gripper_base"/>
<child link="gripper_left3"/>
<origin xyz= "-0.018 0.016 0" rpy = "0 0 0"/>
</joint>
<joint name="gripper_base_to_gripper_left2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.8" upper = "0.5" velocity = "0"/>
<parent link="gripper_base"/>
<child link="gripper_left2"/>
<origin xyz= "-0.05 -0.01 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
</joint>
<joint name="gripper_left3_to_gripper_left1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
<parent link="gripper_left3"/>
<child link="gripper_left1"/>
<origin xyz= "-0.0356 0.051 -0.018" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
</joint>
<joint name="gripper_base_to_gripper_right3" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.3" upper = "0.7" velocity = "0"/>
<parent link="gripper_base"/>
<child link="gripper_right3"/>
<origin xyz= "0.018 0.016 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
</joint>
<joint name="gripper_base_to_gripper_right2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.5" upper = "0.8" velocity = "0"/>
<parent link="gripper_base"/>
<child link="gripper_right2"/>
<origin xyz= "0.046 -0.01 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
</joint>
<joint name="gripper_right3_to_gripper_right1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
<parent link="gripper_right3"/>
<child link="gripper_right1"/>
<origin xyz= "0.033 0.051 -0.018" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
</joint>
</robot>