229 lines
8.5 KiB
XML
229 lines
8.5 KiB
XML
<?xml version="1.0"?>
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<robot name="aubo_G5">
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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="-0.00001 0.00527 0.01622" rpy="0 0 0" />
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<mass value="1.0774" />
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<inertia ixx="0.00238" ixy="7.8809E-15" ixz="8.5328E-16" iyy="0.00204" iyz="-0.00004" izz="0.00409" />
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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_G5/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_G5/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 0.00195 -0.01922" rpy="0 0 0" />
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<mass value="4.414" />
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<inertia ixx="0.00971" ixy="0" ixz="0" iyy="0.00966" iyz="-0.00016" izz="0.00732" />
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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_G5/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_G5/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 0.122" 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="140" start_stop="204" velocity="4.146902" />
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<property inertia="2.0" damping="0" stiffness="0" offset="0" motor_constant="7.05" ratio="100" protect_max_torque="80.0" equa_inertia="1.5" collision_detection_para = "50 50 30 20"/>
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</joint>
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<link name="link2">
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<inertial>
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<origin xyz="0.2765 -0.00165 0.00" rpy="0 0 0" />
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<mass value="11.6939" />
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<inertia ixx="0.02162" ixy="0" ixz="0.00002" iyy="0.38612" iyz="0" izz="0.3912" />
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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_G5/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_G5/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 0.1215 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="140" start_stop="204" velocity="4.146902" />
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<property inertia="2.0" damping="0" stiffness="0" offset="0" motor_constant="7.05" ratio="100" protect_max_torque="80.0" equa_inertia="1.5" collision_detection_para = "50 50 30 20"/>
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</joint>
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<link name="link3">
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<inertial>
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<origin xyz="0.27656 -0.00002 0.0912" rpy="0 0 0" />
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<mass value="2.50655" />
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<inertia ixx="0.00296" ixy="0" ixz="0.00042" iyy="0.05259" iyz="0" izz="0.05208" />
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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_G5/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_G5/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="0.5215 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="140" start_stop="204" velocity="4.146902" />
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<property inertia="2.0" damping="0" stiffness="0" offset="0" motor_constant="7.05" ratio="100" protect_max_torque="80.0" equa_inertia="1.5" collision_detection_para = "50 50 30 20"/>
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</joint>
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<link name="link4">
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<inertial>
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<origin xyz="0.00002 0.01469 -0.00169" rpy="0 0 0" />
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<mass value="1.49768" />
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<inertia ixx="0.00163" ixy="0" ixz="0" iyy="0.00101" iyz="-0.00004" izz="0.0016" />
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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_G5/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_G5/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="0.376 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="5.17141" />
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<property inertia="0.15" damping="0" stiffness="0" offset="0" motor_constant="5.94" ratio="100" protect_max_torque="16.0" equa_inertia="0.05" collision_detection_para = "50 50 30 20"/>
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</joint>
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<link name="link5">
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<inertial>
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<origin xyz="-0.00002 -0.01469 -0.00169" rpy="0 0 0" />
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<mass value="1.49768" />
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<inertia ixx="0.00163" ixy="0" ixz="0" iyy="0.00102" iyz="0" izz="0.00193" />
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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_G5/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_G5/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="5.17141" />
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<property inertia="0.15" damping="0" stiffness="0" offset="0" motor_constant="5.94" ratio="100" protect_max_torque="16.0" equa_inertia="0.05" collision_detection_para = "50 50 30 20"/>
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</joint>
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<link name="link6">
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<inertial>
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<origin xyz="-0.00084 0.00036 -0.01715" rpy="0 0 0" />
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<mass value="0.23837" />
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<inertia ixx="0.00013" ixy="0" ixz="0" iyy="0.00013" iyz="0" izz="0.00021" />
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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_G5/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_G5/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 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="14" start_stop="36" velocity="5.17141" />
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<property inertia="0.15" damping="0" stiffness="0" offset="0" motor_constant="5.94" ratio="100" protect_max_torque="16.0" equa_inertia="0.05" collision_detection_para = "50 50 30 20"/>
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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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