-
Notifications
You must be signed in to change notification settings - Fork 6
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
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
Showing
7 changed files
with
142 additions
and
0 deletions.
There are no files selected for viewing
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| 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> |