228 lines
8.5 KiB
Plaintext
228 lines
8.5 KiB
Plaintext
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<?xml version="1.0"?>
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<robot name="aubo_iS3_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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<link name="base_link">
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<inertial>
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<origin xyz="0.000145 -0.000526 0.034207" rpy="0 0 0" />
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<mass value="1.412307" />
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<inertia ixx="0.002893" ixy="-0.000001" ixz="0.000002" iyy="0.002866" iyz="-0.000011" izz="0.003975" />
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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_iS3_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_iS3_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="-0.000014 0.001713 -0.019537" rpy="0 0 0" />
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<mass value="2.906210" />
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<inertia ixx="0.004711" ixy="-0.000001" ixz="0.000001" iyy="0.004690" iyz="-0.000119" izz="0.003359" />
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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_iS3_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_iS3_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 0.156" 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="61" start_stop="102" velocity="3.1104877758314784539234092903757" />
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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="0.116495 0.000006 -0.016602" rpy="0 0 0" />
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<mass value="5.583211" />
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<inertia ixx="0.008619" ixy="0.000007" ixz="-0.001257" iyy="0.096760" iyz="-0.000001" izz="0.094072" />
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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_iS3_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_iS3_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 0.1205 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="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="61" start_stop="102" velocity="3.1104877758314784539234092903757" />
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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="0.198096 0.001004 0.095317" rpy="0 0 0" />
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<mass value="2.199571" />
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<inertia ixx="0.002384" ixy="-0.000096" ixz="0.000641" iyy="0.021203" iyz="0.000004" izz="0.020596" />
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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_iS3_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_iS3_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="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="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="49" start_stop="66" velocity="3.1104877758314784539234092903757" />
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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="0.000022 0.014886 -0.001687" rpy="0 0 0" />
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<mass value="1.505192" />
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<inertia ixx="0.001628" ixy="0.000001" ixz="0.000001" iyy="0.001015" iyz="-0.000042" izz="0.001603" />
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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_iS3_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_iS3_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="0.2565 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="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="13.5" start_stop="34" velocity="3.1104877758314784539234092903757" />
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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="-0.000022 -0.014886 -0.001687" rpy="0 0 0" />
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<mass value="1.505192" />
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<inertia ixx="0.001628" ixy="0.000001" ixz="0.000001" iyy="0.001015" iyz="-0.000042" izz="0.001603" />
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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_iS3_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_iS3_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 0.1025 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="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="13.5" start_stop="34" velocity="3.1104877758314784539234092903757" />
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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="0.000826 -0.000398 -0.017152" rpy="0 0 0" />
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<mass value="0.238363" />
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<inertia ixx="0.000126" ixy="0.000002" ixz="0.000001" iyy="0.000130" iyz="-0.000001" izz="0.000207" />
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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_iS3_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_iS3_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 -0.094 0" rpy="1.5707963267948966192313216916398 0 1.7907E-15" />
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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="13.5" start_stop="34" velocity="3.1104877758314784539234092903757" />
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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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