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Add thirdparty official Dofbot URDF file
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/*- Loading branch information
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,142 @@ | ||
| <?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> |