229 lines
8.1 KiB
XML
229 lines
8.1 KiB
XML
<?xml version="1.0"?>
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<robot name="aubo_N30">
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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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<friction_coeff value="0.65"/>
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<link name="link0">
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<inertial>
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<origin xyz="0.000229 0.001159 0.034428" rpy="0 0 0" />
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<mass value="5.346475" />
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<inertia ixx="0.032233" ixy="0.000005" ixz="-0.000002" iyy="0.031749" iyz="-0.000139" izz="0.054685" />
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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_N30/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_N30/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="-0.000063 0.005306 -0.037423" rpy="0 0 0" />
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<mass value="19.848224" />
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<inertia ixx="0.141701" ixy="-0.000011" ixz="0.000006" iyy="0.139553" iyz="-0.004204" izz="0.107794" />
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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_N30/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_N30/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 0.2105" 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="819" start_stop="1147" velocity="2.487094" />
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<property inertia="9.5" damping="0" stiffness="0" offset="0" motor_constant="16.66" ratio="160"/>
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</joint>
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<link name="link2">
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<inertial>
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<origin xyz="0.39065382 0.00001621 0.04630441" rpy="0 0 0" />
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<mass value="45.85382997" />
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<inertia ixx="0.29704511" ixy="0.00072005" ixz="-0.07473281" iyy="0.07473281" iyz="0.00001435" izz="6.92255682" />
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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_N30/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_N30/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 0.1835 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="819" start_stop="1147" velocity="2.487094" />
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<property inertia="9.5" damping="0" stiffness="0" offset="0" motor_constant="16.66" ratio="160"/>
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</joint>
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<link name="link3">
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<inertial>
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<origin xyz="0.4445061 -0.00001 0.145985" rpy="0 0 0" />
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<mass value="11.527" />
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<inertia ixx="0.071784" ixy="-0.000066" ixz="0.02179" iyy="2.585683" iyz="0.000005" izz="2.581688" />
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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_N30/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_N30/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="0.856 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="-3.0543261909900767596164588448551" upper="3.0543261909900767596164588448551" effort="484" start_stop="738" velocity="4.18879" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="0" ratio="100"/>
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</joint>
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<link name="link4">
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<inertial>
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<origin xyz="0.000010 0.019300 -0.001720" rpy="0 0 0" />
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<mass value="2.8906100" />
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<inertia ixx="0.004670" ixy="-0.000000" ixz="-0.000000" iyy="0.003320" iyz="-0.000120" izz="0.004640" />
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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_N30/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_N30/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="0.826 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="-3.0543261909900767596164588448551" upper="3.0543261909900767596164588448551" effort="61" start_stop="96" velocity="6.806784" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="0" ratio="80"/>
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</joint>
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<link name="link5">
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<inertial>
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<origin xyz="-0.000010 -0.019300 -0.001720" rpy="0 0 0" />
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<mass value="2.8906100" />
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<inertia ixx="0.004670" ixy="-0.000000" ixz="-0.000000" iyy="0.003320" iyz="0.000120" izz="0.004640" />
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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_N30/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_N30/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="-3.0543261909900767596164588448551" upper="3.0543261909900767596164588448551" effort="61" start_stop="96" velocity="6.806784" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="0" ratio="80"/>
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</joint>
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<link name="link6">
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<inertial>
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<origin xyz="0 0 -0.022644" rpy="0 0 0" />
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<mass value="0.825555" />
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<inertia ixx="0.001087" ixy="0" ixz="0" iyy="0.001087" iyz="0" izz="0.001832" />
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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_N30/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_N30/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 -0.1295 0" rpy="1.5707963267948966192313216916398 0 0" />
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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="-3.0543261909900767596164588448551" upper="3.0543261909900767596164588448551" effort="61" start_stop="96" velocity="6.806784" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="0" ratio="80"/>
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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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