229 lines
9.0 KiB
Plaintext
229 lines
9.0 KiB
Plaintext
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<?xml version="1.0"?>
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<robot name="aubo_i5H_schaeffler">
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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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<friction_coeff value="0.65"/>
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<link name="base_link">
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<inertial>
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<origin xyz="0.00012852 0.00124924 0.01667817" rpy="0 0 0" />
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<mass value="1.53901989" />
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<inertia ixx="0.00327826" ixy="-0.00000076" ixz="-0.0000014" iyy="0.0030174" iyz="-0.00008" izz="0.00584373" />
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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_i5H_schaeffler/visual/link0.DAE" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 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_i5H_schaeffler/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="-0.00003702 0.00167327 -0.01993005" rpy="0 0 0" />
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<mass value="5.0248149" />
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<inertia ixx="0.01212416" ixy="-0.00001147" ixz="0.00000104" iyy="0.01202782" iyz="-0.00013867" izz="0.00833814" />
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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_i5H_schaeffler/visual/link1.DAE" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 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_i5H_schaeffler/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 0.1225" 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="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="140" start_stop="204" velocity="3.1415926535897932384626433832795" />
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<property inertia="1.48972" damping="0" stiffness="0" offset="0" motor_constant="6.70842" 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="0.20392823 0 -0.01141953" rpy="0 0 0" />
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<mass value="11.19552235" />
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<inertia ixx="0.02671361" ixy="0.00005637" ixz="-0.00004251" iyy="0.44882402" iyz="0.00000214" izz="0.44085807" />
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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_i5H_schaeffler/visual/link2.DAE" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 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_i5H_schaeffler/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 0.1345 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="140" start_stop="204" velocity="3.1415926535897932384626433832795" />
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<property inertia="1.48972" damping="0" stiffness="0" offset="0" motor_constant="6.70842" 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="0.23797774 0.00002623 0.10226946" rpy="0 0 0" />
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<mass value="3.416738" />
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<inertia ixx="0.00544722" ixy="-0.0000072" ixz="0.00190546" iyy="0.03424731" iyz="-0.00000411" izz="0.03264134" />
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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_i5H_schaeffler/visual/link3.DAE" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 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_i5H_schaeffler/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="0.408 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="140" start_stop="204" velocity="3.1415926535897932384626433832795" />
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<property inertia="1.48972" damping="0" stiffness="0" offset="0" motor_constant="6.70842" 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="-0.00003849 0.0208318 -0.00134581" rpy="0 0 0" />
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<mass value="2.33195365" />
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<inertia ixx="0.00367182" ixy="-0.00000334" ixz="0.00000221" iyy="0.00223668" iyz="-0.0000767" izz="0.00364712" />
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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_i5H_schaeffler/visual/link4.DAE" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 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_i5H_schaeffler/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="0.2945 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="51" start_stop="70" velocity="3.1415926535897932384626433832795" />
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<property inertia="0.50925" damping="0" stiffness="0" offset="0" motor_constant="6.75488" 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="0.00003849 -0.0208318 -0.00134581" rpy="0 0 0" />
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<mass value="2.33195365" />
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<inertia ixx="0.00367182" ixy="-0.00000334" ixz="-0.00000221" iyy="0.0022409" iyz="0.00001133" izz="0.0046591" />
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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_i5H_schaeffler/visual/link5.DAE" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 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_i5H_schaeffler/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 0.1175 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="51" start_stop="70" velocity="3.1415926535897932384626433832795" />
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<property inertia="0.50925" damping="0" stiffness="0" offset="0" motor_constant="6.75488" 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="0.00013306 0.00049329 -0.01709171" rpy="0 0 0" />
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<mass value="0.21595085" />
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<inertia ixx="0.0001462" ixy="-0.00000019" ixz="0.00000002" iyy="0.00014279" iyz="0.00000114" izz="0.00024327" />
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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_i5H_schaeffler/visual/link6.DAE" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 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_i5H_schaeffler/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 -0.1035 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="51" start_stop="70" velocity="3.1415926535897932384626433832795" />
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<property inertia="0.21928069650925" damping="0" stiffness="0" offset="0" motor_constant="6.75488" 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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