229 lines
8.7 KiB
Plaintext
229 lines
8.7 KiB
Plaintext
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<?xml version="1.0"?>
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<robot name="aubo_S3">
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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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<render_settings ambient_light_color="0xffffff" ambient_light_intensity="0.7" directional_light_color="0xffffff" directional_light_intensity="0.3"/>
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<link name="base_link">
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<inertial>
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<origin xyz="-1.4795E-13 0.0015384 0.020951" rpy="0 0 0" />
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<mass value="0.83419" />
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<inertia ixx="0.0014414" ixy="7.8809E-15" ixz="8.5328E-16" iyy="0.0013542" iyz="-1.4364E-05" izz="0.0024659" />
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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_S3/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_S3/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="0.00006553 0.00225024 -0.06268722" rpy="0 0 0" />
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<mass value="1.99730902" />
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<inertia ixx="0.00360913" ixy="0.00000248" ixz="-0.00000248" iyy="0.0034589" iyz="-0.00030944" izz="0.00197495" />
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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_S3/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_S3/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 0.1577" 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="49" start_stop="82" velocity="2.5964" />
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<property inertia="0.0" damping="0" stiffness="0" offset="0" motor_constant="6.13" ratio="121"/>
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</joint>
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<link name="upperArm_Link">
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<inertial>
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<origin xyz="0.1215199 -0.00148523 -0.02613124" rpy="0 0 0" />
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<mass value="3.7584646" />
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<inertia ixx="0.00503071" ixy="0.00063677" ixz="-0.00216371" iyy="0.06710456" iyz="0.00003992" izz="0.06547308" />
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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_S3/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_S3/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 0.1325 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="-3.1415926535897932384626433832795" upper="3.1415926535897932384626433832795" effort="49" start_stop="82" velocity="2.5964" />
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<property inertia="0.0" damping="0" stiffness="0" offset="0" motor_constant="6.13" ratio="121"/>
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</joint>
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<link name="foreArm_Link">
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<inertial>
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<origin xyz="0.1718233 0.001602 0.09177125" rpy="0 0 0" />
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<mass value="1.66653267" />
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<inertia ixx="0.00187085" ixy="-0.00010669" ixz="0.00091847" iyy="0.0149741" iyz="0.000012" izz="0.01449639" />
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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_S3/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_S3/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="0.2835 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="-2.87979326579064" upper="2.87979326579064" effort="39" start_stop="54" velocity="2.5964" />
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<property inertia="0.0" damping="0" stiffness="0" offset="0" motor_constant="6.05" 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="0.04327757 -0.0004601 -0.00286449" rpy="0 0 0" />
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<mass value="1.06823262" />
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<inertia ixx="0.0007838" ixy="0.0000072" ixz="-0.00012333" iyy="0.00143101" iyz="0.00000247" izz="0.00136502" />
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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_S3/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_S3/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="0.236 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="9.8" start_stop="17" velocity="3.1105" />
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<property inertia="0.0" damping="0" stiffness="0" offset="0" motor_constant="4.46" 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 -0.04328001 -0.00286674" rpy="0 0 0" />
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<mass value="1.06823262" />
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<inertia ixx="0.00143109" ixy="-0.00000032" ixz="0.00000116" iyy="0.00078372" iyz="0.00012335" izz="0.00136502" />
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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_S3/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_S3/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 0.130 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="9.8" start_stop="17" velocity="3.1105" />
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<property inertia="0.0" damping="0" stiffness="0" offset="0" motor_constant="4.46" 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="0.0002383 0.0004129 -0.01884263" rpy="0 0 0" />
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<mass value="0.21445068" />
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<inertia ixx="0.00013087" ixy="0.00000109" ixz="0.00000047" iyy="0.00012864" iyz="0.00000065" izz="0.00017894" />
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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_S3/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_S3/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 -0.1237 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="9.8" start_stop="17" velocity="3.1105" />
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<property inertia="0.0" damping="0" stiffness="0" offset="0" motor_constant="4.46" 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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