415 lines
11 KiB
Plaintext
415 lines
11 KiB
Plaintext
|
<?xml version="1.0"?>
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<robot
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name="aubo_i30TD-0">
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<dh_type type="modified"/>
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name="base_link">
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xyz="-1.4042E-11 0.0016835 0.028388"
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<geometry>
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filename="package://aubo_description/meshes/aubo_i30TD-0/visual/link0.DAE" />
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name="">
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xyz="0 0 0"
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filename="package://aubo_description/meshes/aubo_i30TD-0/collision/link0.STL" />
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name="shoulder_Link">
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filename="package://aubo_description/meshes/aubo_i30TD-0/visual/link1.DAE" />
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name="">
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rgba="1 1 1 1" />
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xyz="0 0 0"
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<geometry>
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filename="package://aubo_description/meshes/aubo_i30TD-0/collision/link1.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="shoulder_joint"
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type="revolute">
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link="base_link" />
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link="shoulder_Link" />
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xyz="0 0 1" />
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lower="-6.28318530717958647692528676655"
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upper="6.28318530717958647692528676655"
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effort="557"
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start_stop="800"
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velocity="0" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="17.45" ratio="161"/>
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</joint>
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<link
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name="upperArm_Link">
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<inertial>
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xyz="0.189901424929999 -1.38782924648951E-06 0.01572616750902"
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<visual>
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_i30TD-0/visual/link2.DAE" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_i30TD-0/collision/link2.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="upperArm_joint"
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type="revolute">
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<origin
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xyz="0 0.2195 0"
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link="shoulder_Link" />
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link="upperArm_Link" />
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xyz="0 0 1" />
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effort="557"
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velocity="0" />
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<link
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name="foreArm_Link">
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xyz="0 0 0"
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<geometry>
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filename="package://aubo_description/meshes/aubo_i30TD-0/visual/link3.DAE" />
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name="">
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xyz="0 0 0"
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<geometry>
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<joint
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name="foreArm_joint"
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type="revolute">
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name="wrist1_joint"
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name="wrist2_joint"
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type="revolute">
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velocity="0" />
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<link
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name="wrist3_Link">
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name="">
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|
||
|
|
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="package://aubo_description/meshes/aubo_i30TD-0/collision/link6.STL" />
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="wrist3_joint"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 -0.1425 0"
|
||
|
|
rpy="1.5707963267948966192313216916398 0 0" />
|
||
|
|
<parent
|
||
|
|
link="wrist2_Link" />
|
||
|
|
<child
|
||
|
|
link="wrist3_Link" />
|
||
|
|
<axis
|
||
|
|
xyz="0 0 1" />
|
||
|
|
<limit
|
||
|
|
lower="-6.28318530717958647692528676655"
|
||
|
|
upper="6.28318530717958647692528676655"
|
||
|
|
effort="133"
|
||
|
|
start_stop="207"
|
||
|
|
velocity="0" />
|
||
|
|
<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="8.72" ratio="121"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="world" />
|
||
|
|
|
||
|
|
<joint name="world_joint" type="fixed">
|
||
|
|
<parent link="world" />
|
||
|
|
<child link = "base_link" />
|
||
|
|
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
|
||
|
|
</joint>
|
||
|
|
</robot>
|