100 lines
2.8 KiB
Plaintext
100 lines
2.8 KiB
Plaintext
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<?xml version="1.0"?>
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<robot name="aubo_track_dof_02">
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<dh_type type="modified"/>
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<link name="base_link">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="0" />
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
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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="file_path" />
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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="file_path" />
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</geometry>
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</collision>
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</link>
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<link name="movement_axis_Link01">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="0" />
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
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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="file_path" />
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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="file_path" />
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</geometry>
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</collision>
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</link>
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<joint name="motion_joint01" type="prismatic">
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<origin xyz="0 0 0" rpy="0 0 0" />
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<parent link="base_link" />
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<child link="movement_axis_Link01" />
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<axis xyz="0 0 0" />
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<limit lower="0.0" upper="0.0" effort="0.0" start_stop="0.0" velocity="0.0" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="0" ratio="0"/>
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</joint>
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<link name="movement_axis_Link02">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="0" />
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
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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="file_path" />
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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="file_path" />
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</geometry>
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</collision>
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</link>
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<joint name="motion_joint02" type="prismatic">
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<origin xyz="0 0 0" rpy="0 0 0" />
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<parent link="movement_axis_Link01" />
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<child link="movement_axis_Link02" />
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<axis xyz="0 0 0" />
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<limit lower="0.0" upper="0.0" effort="0.0" start_stop="0.0" velocity="0.0" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="0" ratio="0"/>
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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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