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mycobot_280m5_with_gripper_parallel.urdf
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mycobot_280m5_with_gripper_parallel.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="g_base">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/G_base.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/G_base.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
</collision>
</link>
<link name="joint1">
<visual>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint1.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_280_m5/joint1.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
</collision>
</link>
<link name="joint2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint2.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint2.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
</collision>
</link>
<link name="joint3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint3.dae"/>
</geometry>
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint3.dae"/>
</geometry>
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
</collision>
</link>
<link name="joint4">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint4.dae"/>
</geometry>
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint4.dae"/>
</geometry>
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
</collision>
</link>
<link name="joint5">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint5.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint5.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
</collision>
</link>
<link name="joint6">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint6.dae"/>
</geometry>
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint6.dae"/>
</geometry>
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="joint6_flange">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint7.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/joint7.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_base">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_base.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_base.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_left1">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left1.dae"/>
</geometry>
<origin xyz = "0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
<!-- <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/> -->
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left1.dae"/>
</geometry>
<origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_left2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left2.dae"/>
</geometry>
<origin xyz = "0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left2.dae"/>
</geometry>
<origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_left3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left3.dae"/>
</geometry>
<origin xyz = "0.012 0.0025 -0.012 " rpy = " 0 0 0"/>
<!-- <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> -->
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left3.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_right1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_right1.dae"/>
</geometry>
<origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_right1.dae"/>
</geometry>
<origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_right2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_right2.dae"/>
</geometry>
<origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_right2.dae"/>
</geometry>
<origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_right3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_right3.dae"/>
</geometry>
<origin xyz = "-0.012 0.0025 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_right3.dae"/>
</geometry>
<origin xyz = "-0.012 0.0025 -0.012" rpy = " 0 0 0"/>
</collision>
</link>
<joint name="g_base_to_joint1" type="fixed">
<axis xyz="0 0 0"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="g_base"/>
<child link="joint1"/>
<origin xyz= "0 0 0" rpy = "0 0 0"/>
</joint>
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<parent link="joint1"/>
<child link="joint2"/>
<origin xyz= "0 0 0.13156" rpy = "0 0 0"/>
</joint>
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<parent link="joint2"/>
<child link="joint3"/>
<origin xyz= "0 0 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 = "-2.879793" upper = "2.879793" velocity = "0"/>
<parent link="joint3"/>
<child link="joint4"/>
<origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
</joint>
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<parent link="joint4"/>
<child link="joint5"/>
<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
</joint>
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<parent link="joint5"/>
<child link="joint6"/>
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 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="joint6"/>
<child link="joint6_flange"/>
<origin xyz= "0 0.0456 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 = "-3.14" upper = "3.14159" velocity = "0"/> -->
<parent link="joint6_flange"/>
<child link="gripper_base"/>
<!-- <origin xyz= "0 0.0 0" rpy = "-1.5708 0 0"/> -->
<origin xyz= "0 0 0.034" rpy = "1.579 0 0"/>
</joint>
<joint name="gripper_controller" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.7" upper = "0.15" velocity = "0"/>
<parent link="gripper_base"/>
<child link="gripper_left3"/>
<origin xyz= "-0.012 0.005 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= "-0.005 0.027 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= "-0.027 0.016 0" 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 = "-0.15" upper = "0.7" velocity = "0"/>
<parent link="gripper_base"/>
<child link="gripper_right3"/>
<origin xyz= "0.012 0.005 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= "0.005 0.027 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= "0.027 0.016 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
</joint>
</robot>