embeded/robot2026. 6. 22. 22:51

mycobot280_pi urdf

URDF 포맷의 정보를 이용하면 관절관의 거리 등이 있어서

ROS2 나 moveit2 에서 충돌 검사를 통해서 자기 파괴하지 않도록 할 수 있다고 한다.

 

moveit은 ros 1용

moveit2는 ros 2 용인듯. 그런데 단독 사용은 안되려나?

[링크 : https://github.com/moveit/moveit2]

 

<?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_pi/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_pi/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_pi/joint1_pi.dae"/>
      </geometry>
    <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
    </visual>
    <collision>
      <geometry>
     <!--- 0.0 0 -0.04  1.5708 3.14159-->
       <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint1_pi.dae"/>
      </geometry>
    <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
    </collision>
  </link>

  <link name="joint2">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/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_pi/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_pi/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_pi/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_pi/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_pi/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_pi/joint5.dae"/>
      </geometry>
    <origin xyz = "0.0 -0.001 -0.0345 " rpy = " 0 -1.5708 1.5708"/>
    </visual>
      <collision>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint5.dae"/>
      </geometry>
    <origin xyz = "0.0 -0.001 -0.0345 " rpy = " 0 -1.5708 1.5708"/>
    </collision>
  </link>


  <link name="joint6">
    <visual>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/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_pi/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_pi/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_pi/joint7.dae"/>
      </geometry>
    <origin xyz = "0.0 0 -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 = "-2.9321" upper = "2.9321" velocity = "0"/>
    <parent link="joint1"/>
    <child link="joint2"/>
    <origin xyz= "0 0 0.13956" rpy = "0 0 0"/>  
  </joint>


  <joint name="joint3_to_joint2" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-2.4434" upper = "2.4434" velocity = "0"/>
    <parent link="joint2"/>
    <child link="joint3"/>
    <origin xyz= "0 0 -0.001" rpy = "0 1.5708 -1.5708"/>  
  </joint>


  <joint name="joint4_to_joint3" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-2.6179" upper = "2.6179" 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 = "-2.6179" upper = "2.6179" 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 = "-2.7052" upper = "2.7925" velocity = "0"/>
    <parent link="joint5"/>
    <child link="joint6"/>
    <origin xyz= "0 -0.07318 -0.001" rpy = "1.5708 -1.5708 0"/>  
  </joint>

  <joint name="joint6output_to_joint6" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
    <parent link="joint6"/>
    <child link="joint6_flange"/>
    <origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>  
  </joint>



</robot>

[링크 : https://github.com/elephantrobotics/mycobot_ros/blob/noetic/mycobot_description/urdf/mycobot_280_pi/mycobot_280_pi.urdf]

 

 

엥 ur5e 니가 왜 여기서 나와 -ㅁ-

[링크 : https://github.com/jdj2261/pykin]

[링크 : https://ropiens.tistory.com/177] << 볼 것 링크

 

저작자표시 (새창열림)

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