242 lines
8.3 KiB
Plaintext
242 lines
8.3 KiB
Plaintext
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<?xml version="1.0"?>
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<robot name="aubo_i10H_A0">
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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="-0.000221 0.002113 0.018872" rpy="0 0 0" />
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<mass value="2.549978" />
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<inertia ixx="0.008544" ixy="0.000003" ixz="0.000006" iyy="0.007861" iyz="-0.000090" izz="0.015272" />
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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_i10H_A0/visual/link0.3ds" />
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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_i10H_A0/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="0.000004 0.005144 -0.026170" rpy="0 0 0" />
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<mass value="10.199731" />
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<inertia ixx="0.043663" ixy="0.000006" ixz="-0.000004" iyy="0.042297" iyz="-0.001800" izz="0.030184" />
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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
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filename="package://aubo_description/meshes/aubo_i10H_A0/visual/link1.3ds" />
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</geometry>
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<material name="">
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<color rgba="0.89804 0.91765 0.92941 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_i10H_A0/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 0.1632" rpy="-8.7138E-17 -4.3534E-32 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="-6.283185307179586" upper="6.283185307179586" effort="267" start_stop="411" velocity="3.106686068549906" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="8.75" 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="0.219995 -0.000006 -0.020440" rpy="0 0 0" />
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<mass value="16.404664" />
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<inertia ixx="0.059333" ixy="0.000007" ixz="-0.029969" iyy="1.461412" iyz="0.000009" izz="1.443119" />
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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_i10H_A0/visual/link2.3ds" />
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</geometry>
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<material name="">
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<color rgba="0.89804 0.91765 0.92941 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_i10H_A0/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 0.2013 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="-6.283185307179586" upper="6.283185307179586" effort="267" start_stop="411" velocity="3.106686068549906" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="8.75" 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="0.432305 -0.000048 0.119758" rpy="0 0 0" />
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<mass value="2.911771" />
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<inertia ixx="0.004452" ixy="-0.000003" ixz="-0.000681" iyy="0.166073" iyz="0.000004" izz="0.165172" />
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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_i10H_A0/visual/link3.3ds" />
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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_i10H_A0/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="0.647 0 0" rpy="-3.1415926535897932384626433832795 -4.5954E-17 -8.4328E-17" />
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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="-6.283185307179586" upper="6.283185307179586" effort="133" start_stop="207" velocity="3.892084231947355" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="8.72" ratio="121"/>
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</joint>
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<link name="wrist1_Link">
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<inertial>
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<origin xyz="0.000047 0.009773 -0.005726" rpy="0 0 0" />
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<mass value="1.791660" />
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<inertia ixx="0.002457" ixy="0.000004" ixz="0.000001" iyy="0.001590" iyz="-0.000123" izz="0.002183" />
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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_i10H_A0/visual/link4.3ds" />
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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_i10H_A0/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="0.6005 0 0" rpy="3.1415926535897932384626433832795 -1.4294E-15 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="-6.283185307179586" upper="6.283185307179586" effort="49" start_stop="66" velocity="4.136430327226561" />
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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="wrist2_Link">
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<inertial>
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<origin xyz="-0.000051 -0.010695 -0.001597" rpy="0 0 0" />
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<mass value="1.642155" />
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<inertia ixx="0.002015" ixy="0.000004" ixz="-0.000001" iyy="0.001165" iyz="0.000048" izz="0.001995" />
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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_i10H_A0/visual/link5.3ds" />
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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_i10H_A0/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 -7.0777E-16 -7.4101E-16" />
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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="-6.283185307179586" upper="6.283185307179586" effort="13.5" start_stop="34" velocity="4.136430327226561" />
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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="0.000022 0.000153 -0.017082" rpy="0 0 0" />
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<mass value="0.196750" />
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<inertia ixx="0.000118" ixy="-0.000000" ixz="-0.000000" iyy="0.000112" iyz="-0.000000" izz="0.000184" />
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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_i10H_A0/visual/link6.3ds" />
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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_i10H_A0/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 6.7283E-16" />
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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="-6.283185307179586" upper="6.283185307179586" effort="13.5" start_stop="34" velocity="4.136430327226561" />
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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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