228 lines
8.1 KiB
XML
228 lines
8.1 KiB
XML
<?xml version="1.0"?>
|
|
<robot name="aubo_G25">
|
|
<dh_type type="modified"/>
|
|
<safety_para singularity_consistent="0.02 0.01 10 0.2 0.045 10"/>
|
|
<link name="link0">
|
|
<inertial>
|
|
<origin xyz="0.000229 0.001159 0.034428" rpy="0 0 0" />
|
|
<mass value="5.346475" />
|
|
<inertia ixx="0.032233" ixy="0.000005" ixz="-0.000002" iyy="0.031749" iyz="-0.000139" izz="0.054685" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_G25/visual/link0.3ds" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_G25/collision/link0.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<link name="link1">
|
|
<inertial>
|
|
<origin xyz="-0.000063 0.005306 -0.037423" rpy="0 0 0" />
|
|
<mass value="19.848224" />
|
|
<inertia ixx="0.141701" ixy="-0.000011" ixz="0.000006" iyy="0.139553" iyz="-0.004204" izz="0.107794" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_G25/visual/link1.3ds" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_G25/collision/link1.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="joint1" type="revolute">
|
|
<origin xyz="0 0 0.2105" rpy="0 0 3.1415926535897932384626433832795" />
|
|
<parent link="link0" />
|
|
<child link="link1" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="819" start_stop="1147" velocity="2.287" />
|
|
<property inertia="12.04" damping="0" stiffness="0" offset="0" motor_constant="16.66" ratio="160"/>
|
|
</joint>
|
|
|
|
<link name="link2">
|
|
<inertial>
|
|
<origin xyz="0.255426 0.000033 0.010898" rpy="0 0 0" />
|
|
<mass value="35.284836" />
|
|
<inertia ixx="0.215736" ixy="0.000423" ixz="-0.066941" iyy="3.868923" iyz="-0.000005" izz="3.818579" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_G25/visual/link2.3ds" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_G25/collision/link2.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="joint2" type="revolute">
|
|
<origin xyz="0 0.208 0" rpy="-1.5707963267948966192313216916398 -1.5707963267948966192313216916398 0" />
|
|
<parent link="link1" />
|
|
<child link="link2" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="819" start_stop="1147" velocity="2.287" />
|
|
<property inertia="9.4874" damping="0" stiffness="0" offset="0" motor_constant="16.66" ratio="160"/>
|
|
</joint>
|
|
|
|
<link name="link3">
|
|
<inertial>
|
|
<origin xyz="0.412973 -0.000019 0.112509" rpy="0 0 0" />
|
|
<mass value="6.252767" />
|
|
<inertia ixx="0.011821" ixy="0.000003" ixz="0.003345" iyy="0.418615" iyz="0.000002" izz="0.417501" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_G25/visual/link3.3ds" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_G25/collision/link3.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="foreArm_joint" type="revolute">
|
|
<origin xyz="0.736 0 0" rpy="-3.1415926535897932384626433832795 0 0" />
|
|
<parent link="link2" />
|
|
<child link="link3" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="281" start_stop="433" velocity="5.02655" />
|
|
<property inertia="4.9" damping="0" stiffness="0" offset="0" motor_constant="8.837" ratio="100"/>
|
|
</joint>
|
|
|
|
<link name="link4">
|
|
<inertial>
|
|
<origin xyz="0.000010 0.019300 -0.001720" rpy="0 0 0" />
|
|
<mass value="2.8906100" />
|
|
<inertia ixx="0.004670" ixy="-0.000000" ixz="-0.000000" iyy="0.003320" iyz="-0.000120" izz="0.004640" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_G25/visual/link4.3ds" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_G25/collision/link4.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="joint4" type="revolute">
|
|
<origin xyz="0.639 0 0" rpy="3.1415926535897932384626433832795 0 1.5707963267948966192313216916398" />
|
|
<parent link="link3" />
|
|
<child link="link4" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="61" start_stop="96" velocity="8.50848" />
|
|
<property inertia="0.96" damping="0" stiffness="0" offset="0" motor_constant="8.58" ratio="80"/>
|
|
</joint>
|
|
|
|
<link name="link5">
|
|
<inertial>
|
|
<origin xyz="-0.000010 -0.019300 -0.001720" rpy="0 0 0" />
|
|
<mass value="2.8906100" />
|
|
<inertia ixx="0.004670" ixy="-0.000000" ixz="-0.000000" iyy="0.003320" iyz="0.000120" izz="0.004640" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_G25/visual/link5.3ds" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_G25/collision/link5.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="joint5" type="revolute">
|
|
<origin xyz="0 0.125 0" rpy="-1.5707963267948966192313216916398 0 0" />
|
|
<parent link="link4" />
|
|
<child link="link5" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="61" start_stop="96" velocity="8.50848" />
|
|
<property inertia="0.96" damping="0" stiffness="0" offset="0" motor_constant="5.88" ratio="80"/>
|
|
</joint>
|
|
|
|
<link name="link6">
|
|
<inertial>
|
|
<origin xyz="-0.000680 0.000500 -0.019150" rpy="0 0 0" />
|
|
<mass value="0.379000" />
|
|
<inertia ixx="0.000290" ixy="-0.000000" ixz="-0.000000" iyy="0.000300" iyz="-0.000000" izz="0.000510" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_G25/visual/link6.3ds" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_G25/collision/link6.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="joint6" type="revolute">
|
|
<origin xyz="0 -0.1083 0" rpy="1.5707963267948966192313216916398 0 1.7907E-15" />
|
|
<parent link="link5" />
|
|
<child link="link6" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="61" start_stop="96" velocity="8.50848" />
|
|
<property inertia="0.96" damping="0" stiffness="0" offset="0" motor_constant="5.88" ratio="80"/>
|
|
</joint>
|
|
|
|
<link name="world" />
|
|
|
|
<joint name="joint0" type="fixed">
|
|
<parent link="world" />
|
|
<child link = "link0" />
|
|
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
|
|
</joint>
|
|
</robot>
|