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j3soonj3soon
committedNov 6, 2023
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/*
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v1.2.0
1 parent 05c2cd7 commit e866618

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7 files changed

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7 files changed

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‎thirdparty/dofbot_info/meshes/base_link.STL

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‎thirdparty/dofbot_info/meshes/link1.STL

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‎thirdparty/dofbot_info/meshes/link2.STL

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‎thirdparty/dofbot_info/meshes/link3.STL

3.03 MB
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‎thirdparty/dofbot_info/meshes/link4.STL

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‎thirdparty/dofbot_info/meshes/link5.STL

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‎thirdparty/dofbot_info/urdf/dofbot.urdf

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<?xml version="1.0" encoding="UTF-8" ?>
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<robot name="arm">
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<link name="base_link">
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://dofbot_info/meshes/base_link.STL" />
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</geometry>
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<material name="">
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<color rgba="0.592156862745098 0.666666666666667 0.682352941176471 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://dofbot_info/meshes/base_link.STL" />
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</geometry>
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</collision>
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</link>
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<link name="link1">
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://dofbot_info/meshes/link1.STL" />
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</geometry>
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<material name="">
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<color rgba="0 0.627450980392157 0.235294117647059 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://dofbot_info/meshes/link1.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="joint1" type="revolute">
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<origin xyz="0 0 0.06605" rpy="-0.010805 0 0" />
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<parent link="base_link" />
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<child link="link1" />
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<axis xyz="0 0 1" />
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<limit effort="30" velocity="1.0" lower="-1.5708" upper="1.5708"/>
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</joint>
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<link name="link2">
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://dofbot_info/meshes/link2.STL" />
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</geometry>
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<material name="">
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<color rgba="0.592156862745098 0.666666666666667 0.682352941176471 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://dofbot_info/meshes/link2.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="joint2" type="revolute">
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<origin xyz="0 -0.00031873 0.04145" rpy="0 1.5708 0" />
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<parent link="link1" />
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<child link="link2" />
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<axis xyz="0 0 1" />
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<limit effort="30" velocity="1.0" lower="-1.5708" upper="1.5708"/>
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</joint>
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<link name="link3">
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://dofbot_info/meshes/link3.STL" />
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</geometry>
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<material name="">
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<color rgba="0 0.627450980392157 0.235294117647059 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://dofbot_info/meshes/link3.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="joint3" type="revolute">
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<origin xyz="-0.08285 0 0" rpy="0 0 0" />
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<parent link="link2" />
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<child link="link3" />
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<axis xyz="0 0 1" />
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<limit effort="30" velocity="1.0" lower="-1.5708" upper="1.5708"/>
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</joint>
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<link name="link4">
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://dofbot_info/meshes/link4.STL" />
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</geometry>
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<material name="">
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<color rgba="0.592156862745098 0.666666666666667 0.682352941176471 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://dofbot_info/meshes/link4.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="joint4" type="revolute">
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<origin xyz="-0.08285 0 0" rpy="0 0 0.0083081" />
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<parent link="link3" />
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<child link="link4" />
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<axis xyz="0 0 1" />
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<limit effort="30" velocity="1.0" lower="-1.5708" upper="1.5708"/>
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</joint>
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<!-- link5 -->
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<link name="link5">
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://dofbot_info/meshes/link5.STL"/>
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://dofbot_info/meshes/link5.STL" />
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</geometry>
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</collision>
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</link>
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<!-- joint5 -->
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<joint name="joint5" type="revolute">
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<origin xyz="-0.07385 -0.001 0" rpy="0 -1.57 0"/>
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<axis xyz="0 0 1"/>
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<parent link="link4"/>
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<child link="link5"/>
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<limit effort="30" velocity="1.0" lower="-1.5708" upper="3.1416"/>
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</joint>
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</robot>

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