228 lines
8.7 KiB
Plaintext
228 lines
8.7 KiB
Plaintext
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<?xml version="1.0"?>
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<robot name="aubo_C3_30">
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<dh_type type="modified"/>
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<safety_para singularity_consistent="0.02 0.01 10 0.2 0.045 10"/>
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<link name="base_link">
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<inertial>
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<origin xyz="2.1698E-06 0.00017917 0.036984" rpy="0 1.5708 0" />
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<mass value="0.97332" />
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<inertia ixx="0.0015063" ixy="0" ixz="0" iyy="0.0014907" iyz="0" izz="0.0019063" />
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</inertial>
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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://aubo_description/meshes/aubo_C3_30/visual/link0.3ds" />
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</geometry>
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<material name="">
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<color rgba="0.29804 0.29804 0.29804 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://aubo_description/meshes/aubo_C3_30/collision/link0.STL" />
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</geometry>
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</collision>
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</link>
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<link name="shoulder_Link">
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<inertial>
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<origin xyz="-2.9523E-07 0.0037104 -0.0023315" rpy="0 0 0" />
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<mass value="1.173" />
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<inertia ixx="0.0026259" ixy="0" ixz="0" iyy="0.0025333" iyz="0" izz="0.0016014" />
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</inertial>
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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://aubo_description/meshes/aubo_C3_30/visual/link1.3ds" />
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</geometry>
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<material name="">
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<color rgba="0.29804 0.29804 0.29804 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://aubo_description/meshes/aubo_C3_30/collision/link1.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="shoulder_joint" type="revolute">
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<origin xyz="0 0 0.157" rpy="0 0 3.1415926535897932384626433832795" />
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<parent link="base_link" />
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<child link="shoulder_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-3.054326190990076759616458844855" upper="3.054326190990076759616458844855" effort="61" start_stop="102" velocity="3.1415926535897932384626433832795" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="8.58" ratio="101"/>
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</joint>
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<link name="upperArm_Link">
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<inertial>
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<origin xyz="0.1186 1.7713E-06 0.0063972" rpy="0 0 0" />
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<mass value="2.7791" />
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<inertia ixx="0.0046752" ixy="0" ixz="0.00015757" iyy="0.040156" iyz="0" izz="0.038401" />
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</inertial>
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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://aubo_description/meshes/aubo_C3_30/visual/link2.3ds" />
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</geometry>
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<material name="">
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<color rgba="0.29804 0.29804 0.29804 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://aubo_description/meshes/aubo_C3_30/collision/link2.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="upperArm_joint" type="revolute">
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<origin xyz="0 0.119 0" rpy="-1.5707963267948966192313216916398 -1.5707963267948966192313216916398 0" />
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<parent link="shoulder_Link" />
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<child link="upperArm_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-3.054326190990076759616458844855" upper="3.054326190990076759616458844855" effort="61" start_stop="102" velocity="3.1415926535897932384626433832795" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="8.58" ratio="101"/>
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</joint>
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<link name="foreArm_Link">
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<inertial>
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<origin xyz="0.15095 3.6355E-05 0.1001" rpy="0 0 0" />
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<mass value="1.5214" />
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<inertia ixx="0.0014873" ixy="0" ixz="-0.00055006" iyy="0.016144" iyz="0" izz="0.015711" />
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</inertial>
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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://aubo_description/meshes/aubo_C3_30/visual/link3.3ds" />
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</geometry>
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<material name="">
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<color rgba="0.77647 0.75686 0.73725 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://aubo_description/meshes/aubo_C3_30/collision/link3.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="foreArm_joint" type="revolute">
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<origin xyz="0.266 0 0" rpy="-3.1415926535897932384626433832795 0 0" />
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<parent link="upperArm_Link" />
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<child link="foreArm_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-3.054326190990076759616458844855" upper="3.054326190990076759616458844855" effort="49" start_stop="66" velocity="3.1415926535897932384626433832795" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="8.81" ratio="101"/>
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</joint>
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<link name="wrist1_Link">
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<inertial>
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<origin xyz="-7.0582E-05 -0.0015345 -0.0029597" rpy="0 0 0" />
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<mass value="0.63348" />
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<inertia ixx="0.0009362" ixy="0" ixz="0" iyy="0.00051333" iyz="0" izz="0.00090515" />
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</inertial>
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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://aubo_description/meshes/aubo_C3_30/visual/link4.3ds" />
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</geometry>
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<material name="">
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<color rgba="0.79216 0.81961 0.93333 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://aubo_description/meshes/aubo_C3_30/collision/link4.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="wrist1_joint" type="revolute">
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<origin xyz="0.2565 0 0" rpy="3.1415926535897932384626433832795 0 1.5707963267948966192313216916398" />
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<parent link="foreArm_Link" />
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<child link="wrist1_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-3.054326190990076759616458844855" upper="3.054326190990076759616458844855" effort="13.5" start_stop="34" velocity="3.1415926535897932384626433832795" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="7.092" ratio="101"/>
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</joint>
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<link name="wrist2_Link">
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<inertial>
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<origin xyz="7.0582E-05 0.0015345 -0.0029597" rpy="0 0 0" />
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<mass value="0.63348" />
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<inertia ixx="0.0009362" ixy="0" ixz="0" iyy="0.00051333" iyz="7.4602E-06" izz="0.00090515" />
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</inertial>
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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://aubo_description/meshes/aubo_C3_30/visual/link5.3ds" />
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</geometry>
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<material name="">
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<color rgba="0.79216 0.81961 0.93333 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://aubo_description/meshes/aubo_C3_30/collision/link5.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="wrist2_joint" type="revolute">
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<origin xyz="0 0.1025 0" rpy="-1.5707963267948966192313216916398 0 0" />
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<parent link="wrist1_Link" />
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<child link="wrist2_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-3.054326190990076759616458844855" upper="3.054326190990076759616458844855" effort="13.5" start_stop="34" velocity="3.1415926535897932384626433832795" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="7.092" ratio="101"/>
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</joint>
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<link name="wrist3_Link">
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<inertial>
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<origin xyz="8.8789E-10 0.00040506 -0.01865" rpy="0 0 0" />
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<mass value="0.13713" />
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<inertia ixx="6.1911E-05" ixy="0" ixz="0" iyy="5.9471E-05" iyz="2.8126E-07" izz="9.7957E-05" />
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</inertial>
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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://aubo_description/meshes/aubo_C3_30/visual/link6.3ds" />
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</geometry>
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<material name="">
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<color rgba="0.25098 0.25098 0.25098 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://aubo_description/meshes/aubo_C3_30/collision/link6.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="wrist3_joint" type="revolute">
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<origin xyz="0 -0.094 0" rpy="1.5707963267948966192313216916398 0 0" />
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<parent link="wrist2_Link" />
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<child link="wrist3_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="13.5" start_stop="34" velocity="3.1415926535897932384626433832795" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="7.092" ratio="101"/>
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</joint>
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<link name="world" />
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<joint name="world_joint" type="fixed">
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<parent link="world" />
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<child link = "base_link" />
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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</joint>
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</robot>
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