228 lines
8.0 KiB
XML
228 lines
8.0 KiB
XML
<?xml version="1.0"?>
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<robot name="aubo_N3">
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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="0.000149 -0.0004 0.0346" rpy="0 0 0" />
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<mass value="1.365846" />
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<inertia ixx="0.002801" ixy="-0.000001" ixz="0.000002" iyy="0.002763" iyz="0.000011" izz="0.003837" />
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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_N3/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_N3/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="-0.000016 0.001852 -0.015716" rpy="0 0 0" />
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<mass value="3.2573" />
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<inertia ixx="0.005717" ixy="0.000001" ixz="0.000004" iyy="0.005636" iyz="-0.000131" izz="0.003863" />
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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_N3/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_N3/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 0.157" 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="64" start_stop="107" velocity="6.806784" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="8.58" ratio="100"/>
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</joint>
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<link name="link2">
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<inertial>
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<origin xyz="0.113925 -0.000006 -0.006424" rpy="0 0 0" />
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<mass value="6.116851" />
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<inertia ixx="0.009999" ixy="0.000018" ixz="-0.000214" iyy="0.106325" iyz="0.000003" izz="0.102883" />
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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_N3/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_N3/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 0.119 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="64" start_stop="107" velocity="6.806784" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="8.58" ratio="100"/>
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</joint>
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<link name="link3">
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<inertial>
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<origin xyz="0.201115 -0.000036 0.093625" rpy="0 0 0" />
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<mass value="2.351523" />
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<inertia ixx="0.00276" ixy="0.000003" ixz="0.000301" iyy="0.022363" iyz="0.000004" izz="0.021553" />
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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_N3/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_N3/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="0.266 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="51" start_stop="70" velocity="7.64452" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="8.81" 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="0.000038 0.011278 -0.001539" rpy="0 0 0" />
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<mass value="1.628022" />
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<inertia ixx="0.001951" ixy="0.000003" ixz="0.000001" iyy="0.001154" iyz="-0.000042" izz="0.001931" />
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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_N3/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_N3/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="0.2565 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="14" start_stop="36" velocity="8.901179" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="7.092" ratio="100"/>
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</joint>
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<link name="link5">
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<inertial>
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<origin xyz="-0.000038 -0.011278 -0.001539" rpy="0 0 0" />
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<mass value="1.628022" />
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<inertia ixx="0.001951" ixy="0.000003" ixz="-0.000001" iyy="0.001154" iyz="0.000042" izz="0.001931" />
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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_N3/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_N3/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 0.1025 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="14" start_stop="36" velocity="8.901179" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="7.092" ratio="100"/>
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</joint>
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<link name="link6">
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<inertial>
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<origin xyz="0.000022 0.0006 -0.017081" rpy="0 0 0" />
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<mass value="0.1978" />
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<inertia ixx="0.000118" ixy="0" ixz="0" iyy="0.000112" iyz="0.000001" izz="0.000184" />
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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_N3/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_N3/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 -0.094 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="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="14" start_stop="36" velocity="8.901179" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="7.092" ratio="100"/>
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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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