385 lines
11 KiB
XML
385 lines
11 KiB
XML
<?xml version="1.0"?>
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<robot
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name="aubo_HRA7_L">
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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="0.5"/>
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<link
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name="link0">
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<inertial>
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<origin
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xyz="0.000000 0.000000 -0.015250"
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rpy="0 0 0" />
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<mass
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value="1.065000" />
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<inertia
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ixx="0.000855" ixy="-0.000000" ixz="-0.000000" iyy="0.000855" iyz="-0.000000" izz="0.000671" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_HRA7_L/visual/link0.3ds" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_HRA7_L/collision/link0.STL" />
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</geometry>
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</collision>
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</link>
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<link
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name="link1">
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<inertial>
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<origin
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xyz="0.000000 0.004449 -0.030765"
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rpy="0 0 0" />
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<mass
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value="0.254000" />
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<inertia
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ixx="0.000604" ixy="-0.000000" ixz="-0.000000" iyy="0.000538" iyz="0.000042" izz="0.000561" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_HRA7_L/visual/link1.3ds" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_HRA7_L/collision/link1.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="joint1"
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type="revolute">
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<origin
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xyz="0 0 0.0767"
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rpy="0 0 0" />
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<parent
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link="link0" />
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<child
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link="link1" />
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<axis
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xyz="0 0 1" />
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<limit lower="-3.05432619099008" upper="3.05432619099008" effort="40" start_stop="82" velocity="3.14159265358979" />
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<property inertia="1.24" damping="0" stiffness="0" offset="0" motor_constant="5.31" ratio="100" protect_max_torque="0" equa_inertia="0" />
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</joint>
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<link
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name="link2">
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<inertial>
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<origin
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xyz="0.000000 -0.035136 0.002030"
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rpy="0 0 0" />
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<mass
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value="1.258000" />
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<inertia
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ixx="0.003256" ixy="-0.000000" ixz="-0.000000" iyy="0.001018" iyz="-0.000090" izz="0.003068" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_HRA7_L/visual/link2.3ds" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.75294 0.75294 0.75294 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_HRA7_L/collision/link2.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="joint2"
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type="revolute">
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<origin
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xyz="0 0 0.0"
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rpy="-1.5707963267948966192313216916398 -1.5707963267948966192313216916398 0" />
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<parent
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link="link1" />
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<child
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link="link2" />
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<axis
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xyz="0 0 1" />
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<limit lower="0" upper="1.74532925199433" effort="40" start_stop="82" velocity="3.14159265358979" />
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<property inertia="1.24" damping="0" stiffness="0" offset="0" motor_constant="5.31" ratio="100" protect_max_torque="0" equa_inertia="0" />
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</joint>
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<link
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name="link3">
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<inertial>
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<origin
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xyz="0.001154 0.002496 -0.040960"
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rpy="0 0 0" />
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<mass
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value="1.810000" />
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<inertia
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ixx="0.004705" ixy="0.000005" ixz="0.000004" iyy="0.004429" iyz="-0.000186" izz="0.001267" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_HRA7_L/visual/link3.3ds" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_HRA7_L/collision/link3.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="joint3"
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type="revolute">
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<origin
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xyz="0 -0.253 0"
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rpy="1.5707963267948966192313216916398 0 0" />
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<parent
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link="link2" />
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<child
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link="link3" />
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<axis
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xyz="0 0 1" />
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<limit lower="-3.05432619099008" upper="3.05432619099008" effort="22" start_stop="42" velocity="4.18879020478639" />
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<property inertia="0.2" damping="0" stiffness="0" offset="0" motor_constant="4.5" ratio="100" protect_max_torque="0" equa_inertia="0" />
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</joint>
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<link
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name="link4">
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<inertial>
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<origin
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xyz="0.001723 -0.051273 -0.003090"
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rpy="0 0 0" />
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<mass
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value="0.155000" />
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<inertia
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ixx="0.000246" ixy="-0.000005" ixz="-0.000002" iyy="0.000125" iyz="0.000025" izz="0.000199" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_HRA7_L/visual/link4.3ds" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.75294 0.75294 0.75294 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_HRA7_L/collision/link4.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="joint4"
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type="revolute">
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<origin
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xyz="0 0 0"
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rpy="-1.5707963267948966192313216916398 0 0" />
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<parent
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link="link3" />
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<child
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link="link4" />
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<axis
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xyz="0 0 1" />
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<limit lower="-2.26892802759263" upper="0" effort="22" start_stop="42" velocity="4.18879020478639" />
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<property inertia="0.2" damping="0" stiffness="0" offset="0" motor_constant="4.5" ratio="100" protect_max_torque="0" equa_inertia="0" />
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</joint>
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<link
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name="link5">
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<inertial>
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<origin
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xyz="0.000000 -0.000713 -0.057614"
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rpy="0 0 0" />
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<mass
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value="0.630000" />
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<inertia
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ixx="0.000734" ixy="-0.000000" ixz="-0.000000" iyy="0.000595" iyz="0.000030" izz="0.000350" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_HRA7_L/visual/link5.3ds" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_HRA7_L/collision/link5.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="joint5"
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type="revolute">
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<origin
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xyz="0 -0.195 0"
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rpy="1.5707963267948966192313216916398 0 0" />
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<parent
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link="link4" />
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<child
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link="link5" />
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<axis
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xyz="0 0 1" />
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<limit lower="-3.05432619099008" upper="3.05432619099008" effort="8" start_stop="15" velocity="3.14159265358979" />
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<property inertia="0.085" damping="0" stiffness="0" offset="0" motor_constant="4.63" ratio="100" protect_max_torque="0" equa_inertia="0" />
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</joint>
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<link
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name="link6">
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<inertial>
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<origin
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xyz="0.000000 -0.024059 0.000704"
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rpy="0 0 0" />
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<mass
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value="0.978000" />
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<inertia
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ixx="0.001302" ixy="-0.000000" ixz="-0.000000" iyy="0.000529" iyz="-0.000017" izz="0.001185" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_HRA7_L/visual/link6.3ds" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.75294 0.75294 0.75294 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_HRA7_L/collision/link6.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="joint6"
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type="revolute">
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<origin
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xyz="0 0 0"
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rpy="-1.5707963267948966192313216916398 0 0" />
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<parent
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link="link5" />
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<child
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link="link6" />
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<axis
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xyz="0 0 1" />
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<limit lower="-1.39626340159546" upper="1.39626340159546" effort="8" start_stop="15" velocity="3.14159265358979" />
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<property inertia="0.085" damping="0" stiffness="0" offset="0" motor_constant="4.63" ratio="100" protect_max_torque="0" equa_inertia="0" />
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</joint>
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<link
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name="link7">
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<inertial>
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<origin
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xyz="0.000000 0.000000 -0.035638"
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rpy="0 0 0" />
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<mass
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value="0.226000" />
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<inertia
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ixx="0.000118" ixy="-0.000000" ixz="-0.000000" iyy="0.000118" iyz="-0.000000" izz="0.000088" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_HRA7_L/visual/link7.3ds" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.75294 0.75294 0.75294 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_HRA7_L/collision/link7.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="joint7"
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type="revolute">
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<origin
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xyz="0 -0.152 0"
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rpy="1.5707963267948966192313216916398 0 0" />
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<parent
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link="link6" />
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<child
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link="link7" />
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<axis
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xyz="0 0 1" />
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<limit lower="-3.05432619099008" upper="3.05432619099008" effort="8" start_stop="15" velocity="3.14159265358979" />
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<property inertia="0.085" damping="0" stiffness="0" offset="0" motor_constant="4.63" ratio="100" protect_max_torque="0" equa_inertia="0" />
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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 = "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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