Dobot Magician URDF

dobot_magician.xml

<?xml version="1.0" encoding="utf-8"?>
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<!-- |    This document was autogenerated by xacro from model/magician_standalone.xml  | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
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<robot name="magician" xmlns:xi="http://www.w3.org/2001/XInclude">
  <link name="root"/>
  <link name="magician_link_base">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://dobot/model/meshes/dae/magicianBase.dae"/>
      </geometry>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://dobot/model/meshes/dae/magicianBase.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="magician_joint_base" type="fixed">
    <parent link="root"/>
    <child link="magician_link_base"/>
    <axis xyz="0 0 0"/>
    <limit effort="2000" lower="0" upper="0" velocity="1"/>
    <origin rpy="0 0 0" xyz="0 0 0.0"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="magician_link_1">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://dobot/model/meshes/dae/magicianLink1.dae"/>
      </geometry>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://dobot/model/meshes/dae/magicianLink1.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="magician_joint_1" type="revolute">
    <parent link="magician_link_base"/>
    <child link="magician_link_1"/>
    <axis xyz="0 0 1"/>
    <limit effort="2000" lower="-1.57079632679" upper="1.57079632679" velocity="1"/>
    <origin rpy="0 0 0" xyz="0 0 0.0"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <transmission name="magician_joint_1_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="magician_joint_1">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="magician_joint_1_actuator">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>160</mechanicalReduction>
    </actuator>
  </transmission>
  <link name="magician_link_2">
    <visual>
      <origin rpy="0 -0.349065850399 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://dobot/model/meshes/dae/magicianLink2.dae"/>
      </geometry>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 -0.349065850399 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://dobot/model/meshes/dae/magicianLink2.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="magician_joint_2" type="revolute">
    <parent link="magician_link_1"/>
    <child link="magician_link_2"/>
    <axis xyz="0 1 0"/>
    <limit effort="2000" lower="0.0" upper="1.4835298642" velocity="1"/>
    <origin rpy="0 0.0 0" xyz="0 0 0.0"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <transmission name="magician_joint_2_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="magician_joint_2">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="magician_joint_2_actuator">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>160</mechanicalReduction>
    </actuator>
  </transmission>
  <link name="magician_link_3">
    <visual>
      <origin rpy="0 -0.471238898038 0" xyz="0.0164523613597 0 -0.133993730472"/>
      <geometry>
        <mesh filename="package://dobot/model/meshes/dae/magicianLink3.dae"/>
      </geometry>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 -0.471238898038 0" xyz="0.0164523613597 0 -0.133993730472"/>
      <geometry>
        <mesh filename="package://dobot/model/meshes/dae/magicianLink3.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="magician_joint_3" type="revolute">
    <parent link="magician_link_2"/>
    <child link="magician_link_3"/>
    <axis xyz="0 1 0"/>
    <limit effort="2000" lower="-0.174532925199" upper="1.57079632679" velocity="1"/>
    <origin rpy="0 0 0" xyz="0 0.0 0.135"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <transmission name="magician_joint_3_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="magician_joint_3">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="magician_joint_3_actuator">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>160</mechanicalReduction>
    </actuator>
  </transmission>
  <link name="magician_link_4">
    <visual>
      <origin rpy="0 0 0" xyz="-0.177150678405 0 -0.0585951072678"/>
      <geometry>
        <mesh filename="package://dobot/model/meshes/dae/magicianLink4.dae"/>
      </geometry>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.177150678405 0 -0.0585951072678"/>
      <geometry>
        <mesh filename="package://dobot/model/meshes/dae/magicianLink4.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="magician_joint_4" type="continuous">
    <parent link="magician_link_3"/>
    <child link="magician_link_4"/>
    <axis xyz="0 1 0"/>
    <limit effort="2000" lower="0.0" upper="6.28318530718" velocity="1"/>
    <origin rpy="0 0 0" xyz="0.147 0 0"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <transmission name="magician_joint_4_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="magician_joint_4">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="magician_joint_4_actuator">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>160</mechanicalReduction>
    </actuator>
  </transmission>
  <link name="magician_link_5">
    <visual>
      <origin rpy="0 0 0" xyz="-0.237150678405 0 -0.0585951072678"/>
      <geometry>
        <mesh filename="package://dobot/model/meshes/dae/magicianSuctionCup.dae"/>
      </geometry>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.237150678405 0 -0.0585951072678"/>
      <geometry>
        <mesh filename="package://dobot/model/meshes/dae/magicianSuctionCup.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="magician_joint_5" type="revolute">
    <parent link="magician_link_4"/>
    <child link="magician_link_5"/>
    <axis xyz="0 0 1"/>
    <limit effort="2000" lower="-6.28318530718" upper="6.28318530718" velocity="1"/>
    <origin rpy="0 0 0" xyz="0.06 0 0"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <transmission name="magician_joint_5_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="magician_joint_5">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="magician_joint_5_actuator">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>160</mechanicalReduction>
    </actuator>
  </transmission>
  <link name="magician_end_effector">
    <visual>
      <geometry>
        <box size="0 0 0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0 0 0"/>
      </geometry>
    </collision>
  </link>
  <joint name="magician_joint_end_effector" type="fixed">
    <parent link="magician_link_5"/>
    <child link="magician_end_effector"/>
    <axis xyz="0 0 0"/>
    <limit effort="2000" lower="0" upper="0" velocity="1"/>
    <origin rpy="0 0 0" xyz="0 0 -0.06"/>
  </joint>
</robot>