229 lines
8.6 KiB
Plaintext
229 lines
8.6 KiB
Plaintext
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<?xml version="1.0"?>
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<robot name="aubo_ES3">
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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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<render_settings ambient_light_color="0xffffff" ambient_light_intensity="0.9" directional_light_color="0xffffff" directional_light_intensity="0.3"/>
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<link name="base_link">
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<inertial>
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<origin xyz="0.000149 -0.000400 0.034600" rpy="0 1.5708 0" />
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<mass value="1.365846" />
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<inertia ixx="0.002801" ixy="-0.000001" ixz="0.000002" iyy="0.002763" iyz="-0.000011" izz="0.003837" />
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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_ES3/visual/link0.DAE" />
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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_ES3/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="-0.000016 0.001852 -0.015716" rpy="0 0 0" />
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<mass value="3.257300" />
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<inertia ixx="0.005717" ixy="0.000001" ixz="0.000004" iyy="0.005636" iyz="-0.000131" izz="0.003863" />
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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_ES3/visual/link1.DAE" />
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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_ES3/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 0.181" 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="-6.370451769779303" upper="6.370451769779303" effort="61" start_stop="102" velocity="3.106686068549907" />
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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="0.113925 -0.000006 -0.006424" rpy="0 0 0" />
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<mass value="6.116851" />
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<inertia ixx="0.009999" ixy="0.000018" ixz="-0.000214" iyy="0.106325" iyz="0.000003" izz="0.102883" />
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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_ES3/visual/link2.DAE" />
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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_ES3/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="-6.370451769779303" upper="6.370451769779303" effort="61" start_stop="102" velocity="3.106686068549907" />
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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="0.201115 -0.000036 0.093625" rpy="0 0 0" />
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<mass value="2.351523" />
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<inertia ixx="0.002760" ixy="0.000003" ixz="0.000301" iyy="0.022363" iyz="0.000004" izz="0.021553" />
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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_ES3/visual/link3.DAE" />
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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_ES3/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="-2.809980095710871" upper="2.809980095710871" effort="49" start_stop="66" velocity="3.106686068549907" />
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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="0.000038 0.011278 -0.001539" rpy="0 0 0" />
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<mass value="1.628022" />
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<inertia ixx="0.001951" ixy="0.000003" ixz="0.000001" iyy="0.001154" iyz="-0.000042" izz="0.001931" />
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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_ES3/visual/link4.DAE" />
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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_ES3/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="-6.370451769779303" upper="6.370451769779303" effort="13.5" start_stop="34" velocity="4.136430327226561" />
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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="-0.000038 -0.011278 -0.001539" rpy="0 0 0" />
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<mass value="1.628022" />
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<inertia ixx="0.001951" ixy="0.000003" ixz="-0.000001" iyy="0.001154" iyz="0.000042" izz="0.001931" />
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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_ES3/visual/link5.DAE" />
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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_ES3/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="-6.370451769779303" upper="6.370451769779303" effort="13.5" start_stop="34" velocity="4.136430327226561" />
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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="0.000022 0.000600 -0.017081" rpy="0 0 0" />
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<mass value="0.197800" />
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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_ES3/visual/link6.DAE" />
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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_ES3/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="-6.370451769779303" upper="6.370451769779303" effort="13.5" start_stop="34" velocity="4.136430327226561" />
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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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