216 lines
8.6 KiB
Plaintext
216 lines
8.6 KiB
Plaintext
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<?xml version="1.0"?>
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<robot name="aubo_i5_32">
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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 rpy="0 0 0" xyz="-5.5723E-10 -0.00053181 0.016438"/>
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<mass value="0.5499"/>
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<inertia ixx="0.0011098" ixy="1.3184E-11" ixz="3.3523E-12" iyy="0.0011174" iyz="-1.2673E-05" izz="0.002061"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5_32/visual/link0.3ds"/>
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</geometry>
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<material name="black">
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<color rgba="0.25098 0.25098 0.25098 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5_32/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 rpy="0 0 0" xyz="1.8797E-06 0.0063705 -0.014752"/>
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<mass value="1.4505"/>
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<inertia ixx="0.0032429" ixy="5.3132E-08" ixz="-1.3896E-08" iyy="0.0031222" iyz="-0.00024889" izz="0.0027718"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5_32/visual/link1.3ds"/>
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</geometry>
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<material name="orange">
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<color rgba="1 0.65098 0 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5_32/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 rpy="0 0 3.1415926535897932384626433832795" xyz="0 0 0.122"/>
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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="133" start_stop="207" velocity="2.5964" />
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<property inertia="2.0" damping="0" stiffness="0" offset="0" motor_constant="8.72" 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 rpy="0 0 0" xyz="0.304 1.1022E-06 0.0069544"/>
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<mass value="3.552"/>
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<inertia ixx="0.0075968" ixy="-3.9847E-07" ixz="1.2349E-09" iyy="0.28172" iyz="3.2578E-07" izz="0.28066"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5_32/visual/link2.3ds"/>
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</geometry>
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<material name="orange">
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<color rgba="1 0.65098 0 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5_32/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 rpy="-1.5707963267948966192313216916398 -1.5707963267948966192313216916398 0" xyz="0 0.1215 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="133" start_stop="207" velocity="2.5964" />
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<property inertia="2.0" damping="0" stiffness="0" offset="0" motor_constant="8.72" 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 rpy="0 0 0" xyz="0.47998 -3.2016E-06 0.096041"/>
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<mass value="0.90769"/>
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<inertia ixx="0.0010698" ixy="-3.7747E-07" ixz="0.00094801" iyy="0.034604" iyz="2.1581E-07" izz="0.034439"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5_32/visual/link3.3ds"/>
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</geometry>
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<material name="orange">
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<color rgba="1 0.65098 0 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5_32/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 rpy="-3.1415926535897932384626433832795 0 0" xyz="0.608 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="133" start_stop="207" velocity="2.5964" />
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<property inertia="2.0" 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 rpy="0 0 0" xyz="4.9891E-07 0.013119 -0.0045696"/>
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<mass value="0.44686"/>
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<inertia ixx="0.00048851" ixy="-3.823E-09" ixz="8.3651E-09" iyy="0.00036127" iyz="-3.9646E-05" izz="0.00046417"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5_32/visual/link4.3ds"/>
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</geometry>
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<material name="orange">
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<color rgba="1 0.65098 0 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5_32/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 rpy="3.1415926535897932384626433832795 -1.1102E-16 1.5707963267948966192313216916398" xyz="0.6395 0 0"/>
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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="3.1105" />
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<property inertia="0.15" 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 rpy="0 0 0" xyz="-4.9891E-07 -0.013119 -0.0045696"/>
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<mass value="0.44686"/>
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<inertia ixx="0.00048851" ixy="-3.823E-09" ixz="-8.3651E-09" iyy="0.00036127" iyz="3.9646E-05" izz="0.00046417"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5_32/visual/link5.3ds"/>
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</geometry>
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<material name="orange">
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<color rgba="1 0.65098 0 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5_32/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 rpy="-1.5707963267948966192313216916398 0 -1.6653E-16" xyz="0 0.1025 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="3.1105" />
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<property inertia="0.15" 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 rpy="0 0 0" xyz="2.2512E-08 0.00029937 -0.018058"/>
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<mass value="0.14035"/>
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<inertia ixx="6.1524E-05" ixy="-1.0358E-10" ixz="3.0206E-11" iyy="5.9833E-05" iyz="4.033E-07" izz="9.5362E-05"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5_32/visual/link6.3ds"/>
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</geometry>
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<material name="black">
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<color rgba="0.25098 0.25098 0.25098"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5_32/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 rpy="1.5707963267948966192313216916398 -1.6653E-16 0" xyz="0 -0.094 0"/>
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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="3.1105" />
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<property inertia="0.15" 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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