391 lines
11 KiB
Plaintext
391 lines
11 KiB
Plaintext
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name="aubo_HRM_R">
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name="link0">
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name="link1">
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name="joint1"
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link="link0" />
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link="link1" />
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name="link2">
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name="joint2"
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type="revolute">
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link="link1" />
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link="link2" />
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name="link3">
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<inertial>
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|
|
<mesh filename="package://aubo_description/meshes/aubo_HRM_R/collision/link7.STL" />
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="joint7"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="1.5707963267948966192313216916398 -1.5707963267948966192313216916398 0" />
|
||
|
|
<parent
|
||
|
|
link="link6" />
|
||
|
|
<child
|
||
|
|
link="link7" />
|
||
|
|
<axis
|
||
|
|
xyz="0 0 1" />
|
||
|
|
<limit lower="-1.30899693899575" upper="1.30899693899575" effort="8" start_stop="15" velocity="3.14159265358979" />
|
||
|
|
<property inertia="0.085" damping="0" stiffness="0" offset="0" motor_constant="4.63" ratio="100" protect_max_torque="0" equa_inertia="0" />
|
||
|
|
</joint>
|
||
|
|
<link name="flange"/>
|
||
|
|
<joint name="flange" type="fixed">
|
||
|
|
<origin rpy="1.5707963267948966192313216916398 0 0" xyz="0 -0.1115 0"/>
|
||
|
|
<parent link="link7"/>
|
||
|
|
<child link="flange"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="world" />
|
||
|
|
|
||
|
|
<joint name="world_joint" type="fixed">
|
||
|
|
<parent link="world" />
|
||
|
|
<child link = "link0" />
|
||
|
|
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
|
||
|
|
</joint>
|
||
|
|
</robot>
|