242 lines
8.3 KiB
XML
242 lines
8.3 KiB
XML
<?xml version="1.0"?>
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<robot name="aubo_i16">
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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="base_link">
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<inertial>
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<origin xyz="0.000136 0.001601 0.018986" rpy="0 0 0" />
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<mass value="2.592" />
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<inertia ixx="0.008524" ixy="-0.000001" ixz="-0.000005" iyy="0.007934" iyz="-0.000081" izz="0.015304" />
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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_i16/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_i16/collision/link0.STL" />
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</geometry>
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</collision>
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</link>
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<link name="shoulder_Link">
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<inertial>
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<origin xyz="-0.000004 0.005112 -0.026275" rpy="0 0 0" />
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<mass value="10.180139" />
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<inertia ixx="0.043326" ixy="0.000003" ixz="0.000003" iyy="0.042233" iyz="-0.001767" izz="0.029902" />
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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
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filename="package://aubo_description/meshes/aubo_i16/visual/link1.DAE" />
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</geometry>
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<material name="">
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<color rgba="0.89804 0.91765 0.92941 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_i16/collision/link1.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="shoulder_joint" type="revolute">
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<origin xyz="0 0 0.163" rpy="0 0 3.1415926535897932384626433832795" />
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<parent link="base_link" />
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<child link="shoulder_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="267" start_stop="411" velocity="3.1416" />
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<property inertia="4.9" damping="0" stiffness="0" offset="0" motor_constant="8.75" ratio="101"/>
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</joint>
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<link name="upperArm_Link">
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<inertial>
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<origin xyz="0.170602 0.0000 -0.013024" rpy="0 0 0" />
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<mass value="17.66406" />
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<inertia ixx="0.063521" ixy="0.00002" ixz="-0.024888" iyy="0.847528" iyz="0.000005" izz="0.828847" />
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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_i16/visual/link2.DAE" />
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</geometry>
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<material name="">
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<color rgba="0.89804 0.91765 0.92941 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_i16/collision/link2.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="upperArm_joint" type="revolute">
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<origin xyz="0 0.191 0" rpy="-1.5707963267948966192313216916398 -1.5707963267948966192313216916398 0" />
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<parent link="shoulder_Link" />
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<child link="upperArm_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="267" start_stop="411" velocity="3.1416" />
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<property inertia="4.9" damping="0" stiffness="0" offset="0" motor_constant="8.75" ratio="101"/>
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</joint>
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<link name="foreArm_Link">
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<inertial>
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<origin xyz="0.269208 -0.000022 0.106467" rpy="0 0 0" />
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<mass value="3.926354" />
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<inertia ixx="0.006007" ixy="0.000009" ixz="0.001991" iyy="0.08378" iyz="0.000005" izz="0.082433" />
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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_i16/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_i16/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="0.480 0 0" rpy="-3.1415926535897932384626433832795 0 0" />
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<parent link="upperArm_Link" />
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<child link="foreArm_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="133" start_stop="207" velocity="4.6600" />
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<property inertia="2.0" damping="0" stiffness="0" offset="0" motor_constant="8.72" ratio="101"/>
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</joint>
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<link name="wrist1_Link">
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<inertial>
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<origin xyz="0.000036 0.01561 -0.001526" rpy="0 0 0" />
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<mass value="2.370741" />
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<inertia ixx="0.003672" ixy="0.000006" ixz="-0.000001" iyy="0.00219" iyz="-0.00008" izz="0.003621" />
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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_i16/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_i16/collision/link4.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="wrist1_joint" type="revolute">
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<origin xyz="0.370 0 0" rpy="3.1415926535897932384626433832795 0 1.5707963267948966192313216916398" />
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<parent link="foreArm_Link" />
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<child link="wrist1_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="49" start_stop="66" velocity="3.1416" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="8.81" ratio="101"/>
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</joint>
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<link name="wrist2_Link">
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<inertial>
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<origin xyz="-0.000036 -0.01561 -0.001526" rpy="0 0 0" />
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<mass value="2.370741" />
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<inertia ixx="0.003672" ixy="0.000006" ixz="0.000001" iyy="0.00219" iyz="0.00008" izz="0.003621" />
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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_i16/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_i16/collision/link5.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="wrist2_joint" type="revolute">
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<origin xyz="0 0.1175 0" rpy="-1.5707963267948966192313216916398 0 0" />
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<parent link="wrist1_Link" />
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<child link="wrist2_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="49" start_stop="66" velocity="3.1416" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="8.814" ratio="101"/>
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</joint>
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<link name="wrist3_Link">
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<inertial>
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<origin xyz="0.000508 0.000344 -0.017049" rpy="0 0 0" />
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<mass value="0.259654" />
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<inertia ixx="0.000162" ixy="0.0000" ixz="0.0000" iyy="0.000162" iyz="0.000001" izz="0.000273" />
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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_i16/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_i16/collision/link6.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="wrist3_joint" type="revolute">
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<origin xyz="0 -0.1035 0" rpy="1.5707963267948966192313216916398 0 0" />
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<parent link="wrist2_Link" />
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<child link="wrist3_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="49" start_stop="66" velocity="3.1416" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="8.814" ratio="101"/>
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</joint>
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<link name="world" />
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<joint name="world_joint" type="fixed">
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<parent link="world" />
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<child link = "base_link" />
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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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