229 lines
8.7 KiB
XML
229 lines
8.7 KiB
XML
<?xml version="1.0"?>
|
|
<robot name="aubo_iS7_E0">
|
|
<dh_type type="modified"/>
|
|
<safety_para singularity_consistent="0.02 0.01 10 0.2 0.045 10"/>
|
|
<friction_coeff value="0.65"/>
|
|
<link name="base_link">
|
|
<inertial>
|
|
<origin xyz="-0.00001 0.00527 0.01622" rpy="0 0 0" />
|
|
<mass value="1.0774" />
|
|
<inertia ixx="0.00238" ixy="7.8809E-15" ixz="8.5328E-16" iyy="0.00204" iyz="-0.00004" izz="0.00409" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_iS7_E0/visual/link0.DAE" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_iS7_E0/collision/link0.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<link name="shoulder_Link">
|
|
<inertial>
|
|
<origin xyz="-0.00001 0.00195 -0.01922" rpy="0 0 0" />
|
|
<mass value="4.414" />
|
|
<inertia ixx="0.00971" ixy="0" ixz="0" iyy="0.00966" iyz="-0.00016" izz="0.00732" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_iS7_E0/visual/link1.DAE" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_iS7_E0/collision/link1.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="shoulder_joint" type="revolute">
|
|
<origin xyz="0 0 0.122" rpy="0 0 3.1415926535897932384626433832795" />
|
|
<parent link="base_link" />
|
|
<child link="shoulder_Link" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="133" start_stop="204" velocity="4.146902" />
|
|
<property inertia="2.0" damping="0" stiffness="0" offset="0" motor_constant="7.05" ratio="101" protect_max_torque="80.0" equa_inertia="1.5" collision_detection_para = "50 50 30 20"/>
|
|
</joint>
|
|
|
|
<link name="upperArm_Link">
|
|
<inertial>
|
|
<origin xyz="0.2040 -0.00165 0.00" rpy="0 0 0" />
|
|
<mass value="9.78015" />
|
|
<inertia ixx="0.02162" ixy="0" ixz="0.00002" iyy="0.38612" iyz="0" izz="0.3912" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_iS7_E0/visual/link2.DAE" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_iS7_E0/collision/link2.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="upperArm_joint" type="revolute">
|
|
<origin xyz="0 0.1215 0" rpy="-1.5707963267948966192313216916398 -1.5707963267948966192313216916398 0" />
|
|
<parent link="shoulder_Link" />
|
|
<child link="upperArm_Link" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="133" start_stop="207" velocity="4.146902" />
|
|
<property inertia="2.0" damping="0" stiffness="0" offset="0" motor_constant="7.05" ratio="101" protect_max_torque="80.0" equa_inertia="1.5" collision_detection_para = "50 50 30 20"/>
|
|
</joint>
|
|
|
|
<link name="foreArm_Link">
|
|
<inertial>
|
|
<origin xyz="0.27656 -0.00002 0.0912" rpy="0 0 0" />
|
|
<mass value="2.50655" />
|
|
<inertia ixx="0.00296" ixy="0" ixz="0.00042" iyy="0.05259" iyz="0" izz="0.05208" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_iS7_E0/visual/link3.DAE" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_iS7_E0/collision/link3.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="foreArm_joint" type="revolute">
|
|
<origin xyz="0.408 0 0" rpy="-3.1415926535897932384626433832795 0 0" />
|
|
<parent link="upperArm_Link" />
|
|
<child link="foreArm_Link" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="133" start_stop="207" velocity="4.146902" />
|
|
<property inertia="2.0" damping="0" stiffness="0" offset="0" motor_constant="7.05" ratio="101" protect_max_torque="60.0" equa_inertia="1.2" collision_detection_para = "50 50 30 20"/>
|
|
</joint>
|
|
|
|
<link name="wrist1_Link">
|
|
<inertial>
|
|
<origin xyz="0.00002 0.01469 -0.00169" rpy="0 0 0" />
|
|
<mass value="1.49768" />
|
|
<inertia ixx="0.00163" ixy="0" ixz="0" iyy="0.00101" iyz="-0.00004" izz="0.0016" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_iS7_E0/visual/link4.DAE" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_iS7_E0/collision/link4.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="wrist1_joint" type="revolute">
|
|
<origin xyz="0.376 0 0" rpy="3.1415926535897932384626433832795 0 1.5707963267948966192313216916398" />
|
|
<parent link="foreArm_Link" />
|
|
<child link="wrist1_Link" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="13.5" start_stop="34" velocity="5.17141" />
|
|
<property inertia="0.15" damping="0" stiffness="0" offset="0" motor_constant="5.94" ratio="81" protect_max_torque="16.0" equa_inertia="0.05" collision_detection_para = "50 50 30 20"/>
|
|
</joint>
|
|
|
|
<link name="wrist2_Link">
|
|
<inertial>
|
|
<origin xyz="-0.00002 -0.01469 -0.00169" rpy="0 0 0" />
|
|
<mass value="1.49768" />
|
|
<inertia ixx="0.00163" ixy="0" ixz="0" iyy="0.00102" iyz="0" izz="0.00193" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_iS7_E0/visual/link5.DAE" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_iS7_E0/collision/link5.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="wrist2_joint" type="revolute">
|
|
<origin xyz="0 0.1025 0" rpy="-1.5707963267948966192313216916398 0 0" />
|
|
<parent link="wrist1_Link" />
|
|
<child link="wrist2_Link" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="13.5" start_stop="34" velocity="5.17141" />
|
|
<property inertia="0.15" damping="0" stiffness="0" offset="0" motor_constant="5.94" ratio="81" protect_max_torque="16.0" equa_inertia="0.05" collision_detection_para = "50 50 30 20"/>
|
|
</joint>
|
|
|
|
<link name="wrist3_Link">
|
|
<inertial>
|
|
<origin xyz="-0.00084 0.00036 -0.01715" rpy="0 0 0" />
|
|
<mass value="0.23837" />
|
|
<inertia ixx="0.00013" ixy="0" ixz="0" iyy="0.00013" iyz="0" izz="0.00021" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_iS7_E0/visual/link6.DAE" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_iS7_E0/collision/link6.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="wrist3_joint" type="revolute">
|
|
<origin xyz="0 -0.094 0" rpy="1.5707963267948966192313216916398 0 1.7907E-15" />
|
|
<parent link="wrist2_Link" />
|
|
<child link="wrist3_Link" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="13.5" start_stop="34" velocity="5.17141" />
|
|
<property inertia="0.15" damping="0" stiffness="0" offset="0" motor_constant="5.94" ratio="81" protect_max_torque="10.0" equa_inertia="0.01" collision_detection_para = "50 50 30 20"/>
|
|
</joint>
|
|
|
|
<link name="world" />
|
|
|
|
<joint name="world_joint" type="fixed">
|
|
<parent link="world" />
|
|
<child link = "base_link" />
|
|
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
|
|
</joint>
|
|
</robot>
|