216 lines
8.2 KiB
Plaintext
216 lines
8.2 KiB
Plaintext
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<?xml version="1.0"?>
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<robot name="aubo_i5L">
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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 rpy="0 0 0" xyz="0.000129 0.001249 0.016678"/>
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<mass value="1.53902"/>
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<inertia ixx="0.003278" ixy="-0.000001" ixz="-0.000001" iyy="0.003017" iyz="-0.000048" izz="0.005841"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5L/visual/link0.DAE"/>
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</geometry>
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<material name="black">
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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 rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5L/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 rpy="0 0 0" xyz="-0.00001 0.001807 -0.013854"/>
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<mass value="4.848581"/>
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<inertia ixx="0.011842" ixy="0.0" ixz="0.000004" iyy="0.0118" iyz="-0.000103" izz="0.008103"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5L/visual/link1.DAE"/>
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</geometry>
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<material name="orange">
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<color rgba="1 0.65098 0 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5L/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 rpy="0 0 3.1415926535897932384626433832795" xyz="0 0 0.122"/>
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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="133" start_stop="207" velocity="2.5964" />
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<property inertia="2.0" damping="0" stiffness="0" offset="0" motor_constant="8.72" ratio="121"/>
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</joint>
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<link name="upperArm_Link">
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<inertial>
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<origin rpy="0 0 0" xyz="0.304 0 0.007104"/>
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<mass value="11.497272"/>
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<inertia ixx="0.027242" ixy="0.000032" ixz="0.0" iyy="0.960999" iyz="0.0" izz="0.953225"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5L/visual/link2.DAE"/>
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</geometry>
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<material name="orange">
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<color rgba="1 0.65098 0 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5L/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 rpy="-1.5707963267948966192313216916398 -1.5707963267948966192313216916398 0" xyz="0 0.1215 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="133" start_stop="207" velocity="2.5964" />
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<property inertia="2.0" damping="0" stiffness="0" offset="0" motor_constant="8.72" ratio="121"/>
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</joint>
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<link name="foreArm_Link">
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<inertial>
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<origin rpy="0 0 0" xyz="0.432656 -0.000023 0.095804"/>
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<mass value="3.456221"/>
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<inertia ixx="0.004364" ixy="0.000018" ixz="0.001188" iyy="0.210628" iyz="0.000004" izz="0.209901"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5L/visual/link3.DAE"/>
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</geometry>
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<material name="orange">
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<color rgba="1 0.65098 0 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5L/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 rpy="-3.1415926535897932384626433832795 0 0" xyz="0.608 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="133" start_stop="207" velocity="2.5964" />
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<property inertia="2.0" damping="0" stiffness="0" offset="0" motor_constant="8.72" ratio="121"/>
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</joint>
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<link name="wrist1_Link">
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<inertial>
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<origin rpy="0 0 0" xyz="0.000038 0.011278 -0.001539"/>
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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 rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5L/visual/link4.DAE"/>
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</geometry>
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<material name="orange">
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<color rgba="1 0.65098 0 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5L/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 rpy="3.1415926535897932384626433832795 0 1.5707963267948966192313216916398" xyz="0.6395 0 0"/>
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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="3.1105" />
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<property inertia="0.15" 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 rpy="0 0 0" xyz="-0.000038 -0.011278 -0.001539"/>
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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 rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5L/visual/link5.DAE"/>
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</geometry>
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<material name="orange">
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<color rgba="1 0.65098 0 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5L/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 rpy="-1.5707963267948966192313216916398 0 0" xyz="0 0.1025 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="3.1105" />
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<property inertia="0.15" 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 rpy="0 0 0" xyz="0.000022 0.0006 -0.017081"/>
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<mass value="0.1978"/>
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<inertia ixx="0.000118" ixy="0.0" ixz="0.0" iyy="0.000112" iyz="0.000001" izz="0.000184"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5L/visual/link6.DAE"/>
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</geometry>
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<material name="black">
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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 rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5L/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 rpy="1.5707963267948966192313216916398 0 0" xyz="0 -0.094 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="-3.054326190990076759616458844855" upper="3.054326190990076759616458844855" effort="13.5" start_stop="34" velocity="3.1105" />
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<property inertia="0.15" 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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