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_iS35_E0">
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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="-0.000016 0.00278 0.058881" rpy="0 0 0" />
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<mass value="16.10509" />
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<inertia ixx="0.182691" ixy="0.000017" ixz="0.000003" iyy="0.173874" iyz="-0.000144" izz="0.292948" />
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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_iS35_E0/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_iS35_E0/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="0.000011 -0.034353 -0.124233" rpy="0 0 0" />
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<mass value="45.350716" />
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<inertia ixx="0.761958" ixy="0.000127" ixz="0.000443" iyy="0.646451" iyz="0.132131" izz="0.46315" />
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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_iS35_E0/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_iS35_E0/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 0.3776" 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="-3.0543261909900767596164588448551" upper="3.0543261909900767596164588448551" effort="1500" start_stop="2500" velocity="3.14159265" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="0" ratio="134.4"/>
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</joint>
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<link name="upperArm_Link">
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<inertial>
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<origin xyz="0.25028 -0.000012 -0.018961" rpy="0 0 0" />
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<mass value="73.565167" />
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<inertia ixx="1.056209" ixy="0.000035" ixz="-1.091904" iyy="14.512407" iyz="-0.0004" izz="13.995284" />
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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_iS35_E0/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_iS35_E0/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 0.2455 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="-3.0543261909900767596164588448551" upper="3.0543261909900767596164588448551" effort="1500" start_stop="2500" velocity="3.14159265" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="0" ratio="134.4"/>
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</joint>
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<link name="foreArm_Link">
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<inertial>
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<origin xyz="0.4445061 -0.00001 0.145985" rpy="0 0 0" />
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<mass value="14.84199" />
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<inertia ixx="0.071784" ixy="-0.000066" ixz="0.02179" iyy="2.585683" iyz="0.000005" izz="2.581688" />
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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_iS35_E0/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_iS35_E0/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="1.0 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="-3.0543261909900767596164588448551" upper="3.0543261909900767596164588448551" effort="557" start_stop="802" velocity="2.5964" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="0" ratio="120"/>
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</joint>
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<link name="wrist1_Link">
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<inertial>
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<origin xyz="0.000004 0.019642 -0.001959" rpy="0 0 0" />
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<mass value="4.391395" />
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<inertia ixx="0.009604" ixy="0.000001" ixz="-0.000002" iyy="0.007295" iyz="-0.000167" izz="0.009547" />
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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_iS35_E0/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_iS35_E0/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="0.9595 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="-3.0543261909900767596164588448551" upper="3.0543261909900767596164588448551" effort="133" start_stop="194" velocity="2.5964" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="0" ratio="100"/>
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</joint>
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<link name="wrist2_Link">
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<inertial>
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<origin xyz="-0.000004 -0.019642 -0.001959" rpy="0 0 0" />
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<mass value="4.391395" />
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<inertia ixx="0.009604" ixy="0.000001" ixz="0.000002" iyy="0.007295" iyz="0.000167" izz="0.009547" />
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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_iS35_E0/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_iS35_E0/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 0.1405 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="-3.0543261909900767596164588448551" upper="3.0543261909900767596164588448551" effort="133" start_stop="194" velocity="2.5964" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="0" ratio="100"/>
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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 0 -0.022644" rpy="0 0 0" />
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<mass value="0.825555" />
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<inertia ixx="0.001087" ixy="0" ixz="0" iyy="0.001087" iyz="0" izz="0.001832" />
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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_iS35_E0/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_iS35_E0/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 -0.1295 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="-3.0543261909900767596164588448551" upper="3.0543261909900767596164588448551" effort="133" start_stop="194" velocity="2.5964" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="0" ratio="100"/>
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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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