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Add thirdparty official Dofbot URDF file
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The Dofbot URDF file is retrieved from the `Download/Code` link in:

    http://www.yahboom.net/study/Dofbot-Jetson_nano

that redirects to the following Google Drive folder:

    https://drive.google.com/drive/folders/1RZHuC0HH60sUO7rWguYe0-Y3q9s-isUn?usp=sharing

which is a file named `Yahboom_Nano_DOFBOT_code.zip`, modified on:
`21 Jan 2021 by Dolphin Zhang`.

The URDF file can be found in the following file path (while extracting
the zipped files):

    Yahboom_Nano_DOFBOT_code.zip/dofbot_ws.zip/dofbot_ws/src/dofbot_info/urdf/dofbot.urdf

and its meshes:

    Yahboom_Nano_DOFBOT_code.zip/dofbot_ws.zip/dofbot_ws/src/dofbot_info/meshes/*
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j3soon committed Nov 6, 2023
1 parent 05c2cd7 commit e866618
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142 changes: 142 additions & 0 deletions thirdparty/dofbot_info/urdf/dofbot.urdf
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<?xml version="1.0" encoding="UTF-8" ?>
<robot name="arm">
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://dofbot_info/meshes/base_link.STL" />
</geometry>
<material name="">
<color rgba="0.592156862745098 0.666666666666667 0.682352941176471 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://dofbot_info/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link name="link1">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://dofbot_info/meshes/link1.STL" />
</geometry>
<material name="">
<color rgba="0 0.627450980392157 0.235294117647059 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://dofbot_info/meshes/link1.STL" />
</geometry>
</collision>
</link>
<joint name="joint1" type="revolute">
<origin xyz="0 0 0.06605" rpy="-0.010805 0 0" />
<parent link="base_link" />
<child link="link1" />
<axis xyz="0 0 1" />
<limit effort="30" velocity="1.0" lower="-1.5708" upper="1.5708"/>
</joint>
<link name="link2">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://dofbot_info/meshes/link2.STL" />
</geometry>
<material name="">
<color rgba="0.592156862745098 0.666666666666667 0.682352941176471 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://dofbot_info/meshes/link2.STL" />
</geometry>
</collision>
</link>
<joint name="joint2" type="revolute">
<origin xyz="0 -0.00031873 0.04145" rpy="0 1.5708 0" />
<parent link="link1" />
<child link="link2" />
<axis xyz="0 0 1" />
<limit effort="30" velocity="1.0" lower="-1.5708" upper="1.5708"/>
</joint>
<link name="link3">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://dofbot_info/meshes/link3.STL" />
</geometry>
<material name="">
<color rgba="0 0.627450980392157 0.235294117647059 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://dofbot_info/meshes/link3.STL" />
</geometry>
</collision>
</link>
<joint name="joint3" type="revolute">
<origin xyz="-0.08285 0 0" rpy="0 0 0" />
<parent link="link2" />
<child link="link3" />
<axis xyz="0 0 1" />
<limit effort="30" velocity="1.0" lower="-1.5708" upper="1.5708"/>
</joint>
<link name="link4">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://dofbot_info/meshes/link4.STL" />
</geometry>
<material name="">
<color rgba="0.592156862745098 0.666666666666667 0.682352941176471 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://dofbot_info/meshes/link4.STL" />
</geometry>
</collision>
</link>
<joint name="joint4" type="revolute">
<origin xyz="-0.08285 0 0" rpy="0 0 0.0083081" />
<parent link="link3" />
<child link="link4" />
<axis xyz="0 0 1" />
<limit effort="30" velocity="1.0" lower="-1.5708" upper="1.5708"/>
</joint>
<!-- link5 -->
<link name="link5">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://dofbot_info/meshes/link5.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://dofbot_info/meshes/link5.STL" />
</geometry>
</collision>
</link>
<!-- joint5 -->
<joint name="joint5" type="revolute">
<origin xyz="-0.07385 -0.001 0" rpy="0 -1.57 0"/>
<axis xyz="0 0 1"/>
<parent link="link4"/>
<child link="link5"/>
<limit effort="30" velocity="1.0" lower="-1.5708" upper="3.1416"/>
</joint>
</robot>

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