<?xml version="1.0"?> <robot name="PUMA560"> <material name="color3"> <color rgba="0.4 0.4 0.4 1"/> </material> <material name="color4"> <color rgba="0.7 0.7 0.7 1"/> </material> <link name="base_link"> <visual> <origin xyz="0 0 0" rpy="0 0 0"/> <geometry> <mesh filename="file:///root/puma-urdf/vrml/link0.dae" /> </geometry> <material name="color3" /> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0"/> <geometry> <mesh filename="file:///root/puma-urdf/vrml/link0-convex.dae" /> </geometry> </collision> </link> <joint name="J1" type="revolute"> <parent link="base_link"/> <child link="Link1"/> <origin xyz="0 0 0" rpy="0 0 0"/> <axis xyz="0 0 1"/> <limit effort="56" lower="-2.792526803" upper="2.792526803" velocity ="1.92" /> </joint> <link name="Link1"> <visual> <origin xyz="0 0 0.664" rpy="-1.570796 0 0"/> <geometry> <mesh filename="file:///root/puma-urdf/vrml/link1.dae" /> </geometry> <material name="color4" /> </visual> <collision> <origin xyz="0 0 0.664" rpy="-1.570796 0 0"/> <geometry> <mesh filename="file:///root/puma-urdf/vrml/link1-convex.dae" /> </geometry> </collision> <inertial> <origin xyz="0 0 0.664" rpy ="0 0 0" /> <mass value="0" /> <inertia ixx="0" ixy="0" ixz="0" iyy="0.35" iyz="0" izz="0" /> </inertial> </link> <joint name="J2" type="revolute"> <parent link="Link1"/> <child link="Link2"/> <origin xyz="0 0 0.664" rpy="-1.570796 0 0"/> <axis xyz="0 0 1"/> <limit effort="97" lower="-3.892084232" upper="0.750491578" velocity ="1.51" /> </joint> <link name="Link2"> <visual> <origin xyz="0.4318 0 0.129100" rpy="0 0 0"/> <geometry> <mesh filename="file:///root/puma-urdf/vrml/link2.dae" /> </geometry> <material name="color4" /> </visual> <collision> <origin xyz="0.4318 0 0.129100" rpy="0 0 0"/> <geometry> <mesh filename="file:///root/puma-urdf/vrml/link2-convex.dae" /> </geometry> </collision> <inertial> <origin xyz="0.13 0.524 0.539" rpy ="0 0 0" /> <mass value="17.4" /> <inertia ixx="-0.3638" ixy="0" ixz="0" iyy="0.006" iyz="0" izz="0.2275" /> </inertial> </link> <joint name="J3" type="revolute"> <parent link="Link2"/> <child link="Link3"/> <origin xyz="0.4318 0 0.1291" rpy="0 0 0"/> <axis xyz="0 0 1"/> <limit effort="52" lower="-0.907571211" upper="4.049163865" velocity ="2.40" /> </joint> <link name="Link3"> <visual> <origin xyz="-0.020300 0 0" rpy="1.570796327 0 0"/> <geometry> <mesh filename="file:///root/puma-urdf/vrml/link3.dae" /> </geometry> <material name="color4" /> </visual> <collision> <origin xyz="-0.020300 0 0" rpy="1.570796327 0 0"/> <geometry> <mesh filename="file:///root/puma-urdf/vrml/link3-convex.dae" /> </geometry> </collision> <inertial> <origin xyz="-0.0203 -0.0141 0.07" rpy ="0 0 0" /> <mass value="4.8" /> <inertia ixx="0.066" ixy="0" ixz="0" iyy="0.086" iyz="0" izz="0.0125" /> </inertial> </link> <joint name="J4" type="revolute"> <parent link="Link3"/> <child link="Link4"/> <origin xyz="-0.0203 0 0" rpy="1.570796 0 0"/> <axis xyz="0 0 1"/> <limit effort="10" lower="-1.919862177" upper="3.141592654" velocity ="5.34" /> </joint> <link name="Link4"> <visual> <origin xyz="0 0 0.433100" rpy="-1.570796 0 0"/> <geometry> <mesh filename="file:///root/puma-urdf/vrml/link4.dae" /> </geometry> <material name="color3" /> </visual> <collision> <origin xyz="0 0 0.433100" rpy="-1.570796 0 0"/> <geometry> <mesh filename="file:///root/puma-urdf/vrml/link4-convex.dae" /> </geometry> </collision> <inertial> <origin xyz="0 0.19 0" rpy ="0 0 0" /> <mass value="0.82" /> <inertia ixx="1.8e-3" ixy="0" ixz="0" iyy="1.3e-3" iyz="0" izz="1.8e-3" /> </inertial> </link> <joint name="J5" type="revolute"> <parent link="Link4"/> <child link="Link5"/> <origin xyz="0.0 0.0 0.4331" rpy="-1.570796 0 0"/> <axis xyz="0 0 1"/> <limit effort="10" lower="-1.745329252" upper="1.745329252" velocity ="5.09" /> </joint> <link name="Link5"> <visual> <origin xyz="0 0 0" rpy="1.570796 0 0"/> <geometry> <mesh filename="file:///root/puma-urdf/vrml/link5.dae" /> </geometry> <material name="color4" /> </visual> <collision> <origin xyz="0 0 0" rpy="1.570796 0 0"/> <geometry> <mesh filename="file:///root/puma-urdf/vrml/link5-convex.dae" /> </geometry> </collision> <inertial> <origin xyz="0 0 0" rpy ="0 0 0" /> <mass value="0.34" /> <inertia ixx="0.3e-3" ixy="0" ixz="0" iyy="0.4e-3" iyz="0" izz="0.3e-3" /> </inertial> </link> <joint name="J6" type="revolute"> <parent link="Link5"/> <child link="Link6"/> <origin xyz="0 0 0" rpy="1.570796 0 0"/> <axis xyz="0 0 1"/> <limit effort="10" lower="-4.64257581" upper="+4.64257581" velocity ="5.74" /> </joint> <link name="Link6"> <visual> <origin xyz="0 0 0.04125" rpy="0 0 0"/> <geometry> <mesh filename="file:///root/puma-urdf/vrml/link6.dae" /> </geometry> <material name="color3" /> </visual> <collision> <origin xyz="0 0 0.04125" rpy="0 0 0"/> <geometry> <mesh filename="file:///root/puma-urdf/vrml/link6-convex.dae" /> </geometry> </collision> <inertial> <origin xyz="0 0 0.032" rpy ="0 0 0" /> <mass value="0.09" /> <inertia ixx="0.15e-3" ixy="0" ixz="0" iyy="0.15e-3" iyz="0" izz="0.04e-3" /> </inertial> </link> </robot>
Tag: urdf
PUMA 560 robot simulation with V-REP
- Importing a URDF model of the PUMA 560 robot
- Adding a custom user interface and a Lua script
Viewing a URDF model of the PUMA 560 robot with rviz
- Ready position (0, -90, 90, 0, 0, 0).
- Zero position (0, 0, 0, 0, 0, 0).