229 lines
8.0 KiB
XML
229 lines
8.0 KiB
XML
<?xml version="1.0"?>
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<robot name="aubo_G40_T0">
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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="-0.000524 0.000984 0.040277" rpy="0 0 0" />
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<mass value="8.264220" />
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<inertia ixx="0.061164" ixy="0.000477" ixz="-0.000124" iyy="0.059802" iyz="-0.000650" izz="0.100451" />
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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_G40_T0/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_G40_T0/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="-0.000066 0.007438 -0.046486" rpy="0 0 0" />
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<mass value="28.738000" />
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<inertia ixx="0.233574" ixy="-0.000200" ixz="0.000243" iyy="0.228557" iyz="-0.011188" izz="0.210986" />
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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_G40_T0/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_G40_T0/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 0.251" 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="-6.28318530717958" upper="6.28318530717958" effort="1057" start_stop="1404" velocity="3.054326" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="0" ratio="120"/>
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</joint>
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<link name="link2">
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<inertial>
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<origin xyz="0.353463 0.000032 0.032437" rpy="0 0 0" />
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<mass value="55.782000" />
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<inertia ixx="0.424088" ixy="0.000740" ixz="-0.154011" iyy="9.529795" iyz="-0.000243" izz="9.460476" />
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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_G40_T0/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_G40_T0/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 0.2245 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="-6.28318530717958" upper="6.28318530717958" effort="1057" start_stop="1404" velocity="3.054326" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="0" ratio="120"/>
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</joint>
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<link name="link3">
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<inertial>
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<origin xyz="0.420553 0.000000 0.138764" rpy="0 0 0" />
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<mass value="15.148173" />
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<inertia ixx="0.054076" ixy="0.000009" ixz="-0.026356" iyy="1.343417" iyz="0.000005" izz="1.338534" />
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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_G40_T0/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_G40_T0/collision/link3.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="joint3" type="revolute">
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<origin xyz="0.9 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="586" start_stop="802" velocity="3.490659" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="0" ratio="120"/>
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</joint>
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<link name="link4">
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<inertial>
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<origin xyz="0.000000 0.023671 -0.001854" rpy="0 0 0" />
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<mass value="4.772000" />
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<inertia ixx="0.011892" ixy="0.000001" ixz="0.000002" iyy="0.007907" iyz="-0.000205" izz="0.011839" />
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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_G40_T0/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_G40_T0/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="0.744 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="-6.28318530717958" upper="6.28318530717958" effort="140" start_stop="204" velocity="5.8643" />
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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="link5">
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<inertial>
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<origin xyz="0.000000 0.023671 -0.001854" rpy="0 0 0" />
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<mass value="4.772000" />
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<inertia ixx="0.011892" ixy="0.000001" ixz="0.000002" iyy="0.007907" iyz="-0.000205" izz="0.011839" />
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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_G40_T0/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_G40_T0/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 0.156 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="-6.28318530717958" upper="6.28318530717958" effort="140" start_stop="204" velocity="5.8643" />
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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="link6">
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<inertial>
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<origin xyz="-0.000062 0.000159 -0.027923" rpy="0 0 0" />
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<mass value="0.803688" />
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<inertia ixx="0.001182" ixy="-0.000002" ixz="-0.000001" iyy="0.001192" iyz="0.000007" izz="0.001828" />
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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_G40_T0/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_G40_T0/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 -0.155 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="-6.28318530717958" upper="6.28318530717958" effort="140" start_stop="204" velocity="5.8643" />
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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="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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