228 lines
7.9 KiB
XML
228 lines
7.9 KiB
XML
<?xml version="1.0"?>
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<robot name="aubo_G20">
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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="link0">
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<inertial>
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<origin xyz="-0.00001 0.01392 0.03668" rpy="0 0 0" />
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<mass value="3.21884" />
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<inertia ixx="0.01636" ixy="0" ixz="0" iyy="0.01304" iyz="0.00027" izz="0.02491" />
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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_G20/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_G20/collision/link0.STL" />
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</geometry>
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</collision>
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</link>
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<link name="link1">
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<inertial>
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<origin xyz="-0.00001 0.00372 -0.03497" rpy="0 0 0" />
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<mass value="15.37779" />
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<inertia ixx="0.08014" ixy="-0.00002" ixz="0.00002" iyy="0.07972" iyz="-0.00249" izz="0.0666" />
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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_G20/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_G20/collision/link1.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="joint1" type="revolute">
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<origin xyz="0 0 0.1855" rpy="0 0 3.1415926535897932384626433832795" />
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<parent link="link0" />
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<child link="link1" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="586" start_stop="802" velocity="3.490659" />
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<property inertia="9.5" damping="0" stiffness="0" offset="0" motor_constant="17.45" ratio="120"/>
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</joint>
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<link name="link2">
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<inertial>
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<origin xyz="0.338804 0.0 0.01388" rpy="0 0 0" />
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<mass value="31.16" />
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<inertia ixx="0.15023" ixy="0.00007" ixz="-0.04352" iyy="4.12564" iyz="-0.00003" izz="4.09815" />
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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_G20/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_G20/collision/link2.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="joint2" type="revolute">
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<origin xyz="0 0.181 0" rpy="-1.5707963267948966192313216916398 -1.5707963267948966192313216916398 0" />
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<parent link="link1" />
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<child link="link2" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="586" start_stop="802" velocity="3.490659" />
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<property inertia="9.5" damping="0" stiffness="0" offset="0" motor_constant="17.45" ratio="120"/>
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</joint>
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<link name="link3">
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<inertial>
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<origin xyz="0.32 -0.00001 0.11277" rpy="0 0 0" />
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<mass value="6.78" />
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<inertia ixx="0.01262" ixy="0.00001" ixz="0.00353" iyy="0.50164" iyz="0" izz="0.50044" />
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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_G20/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_G20/collision/link3.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="joint3" type="revolute">
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<origin xyz="0.850 0 0" rpy="-3.1415926535897932384626433832795 0 0" />
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<parent link="link2" />
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<child link="link3" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="281" start_stop="433" velocity="5.026548" />
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<property inertia="4.9" damping="0" stiffness="0" offset="0" motor_constant="9.54" ratio="101"/>
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</joint>
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<link name="link4">
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<inertial>
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<origin xyz="0.00001 0.0193 -0.00172" rpy="0 0 0" />
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<mass value="2.89061" />
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<inertia ixx="0.00467" ixy="0" ixz="0" iyy="0.00332" iyz="-0.00012" izz="0.00464" />
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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_G20/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_G20/collision/link4.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="joint4" type="revolute">
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<origin xyz="0.825 0 0" rpy="3.1415926535897932384626433832795 0 1.5707963267948966192313216916398" />
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<parent link="link3" />
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<child link="link4" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="61" start_stop="96" velocity="8.50848" />
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<property inertia="0.96" damping="0" stiffness="0" offset="0" motor_constant="8.58" ratio="81"/>
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</joint>
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<link name="link5">
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<inertial>
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<origin xyz="-0.00001 -0.0193 -0.00172" rpy="0 0 0" />
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<mass value="2.89061" />
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<inertia ixx="0.00467" ixy="0" ixz="0" iyy="0.00332" iyz="0.00012" izz="0.00464" />
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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_G20/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_G20/collision/link5.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="joint5" type="revolute">
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<origin xyz="0 0.125 0" rpy="-1.5707963267948966192313216916398 0 0" />
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<parent link="link4" />
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<child link="link5" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="61" start_stop="96" velocity="8.50848" />
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<property inertia="0.96" damping="0" stiffness="0" offset="0" motor_constant="8.58" ratio="81"/>
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</joint>
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<link name="link6">
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<inertial>
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<origin xyz="-0.00068 0.0005 -0.01915" rpy="0 0 0" />
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<mass value="0.379" />
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<inertia ixx="0.00029" ixy="0" ixz="0" iyy="0.0003" iyz="0" izz="0.00051" />
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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_G20/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_G20/collision/link6.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="joint6" type="revolute">
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<origin xyz="0 -0.1083 0" rpy="1.5707963267948966192313216916398 0 1.7907E-15" />
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<parent link="link5" />
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<child link="link6" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="61" start_stop="96" velocity="8.50848" />
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<property inertia="0.96" damping="0" stiffness="0" offset="0" motor_constant="8.58" ratio="81"/>
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</joint>
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<link name="world" />
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<joint name="joint0" type="fixed">
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<parent link="world" />
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<child link = "link0" />
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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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