262 lines
9.1 KiB
XML
262 lines
9.1 KiB
XML
<?xml version="1.0"?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from aubo_i5L.urdf | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="aubo_i5" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:include filename="$(find aubo_description)/urdf/aubo.transmission.xacro" />
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<xacro:include filename="$(find aubo_description)/urdf/materials.xacro" />
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<xacro:include filename="$(find aubo_description)/urdf/ros2_control.xacro" />
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<xacro:include filename="$(find dh_ag95_description)/urdf/dh_ag95_macro.urdf.xacro" />
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<xacro:include filename="$(find aubo_description)/urdf/sensors.xacro" />
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<xacro:property name="hardware" value="$(arg hardware)"/>
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<xacro:property name="robot_ip" value="$(arg robot_ip)"/>
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<link name="base_link">
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<inertial>
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<origin xyz="-1.4795E-13 0.0015384 0.020951" rpy="0 0 0" />
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<mass value="0.83419" />
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<inertia ixx="0.0014414" ixy="7.8809E-15" ixz="8.5328E-16" iyy="0.0013542" iyz="-1.4364E-05"
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izz="0.0024659" />
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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_i5/visual/base_link.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_i5/collision/base_link.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="3.2508868974735E-07 0.00534955349296065 -0.00883689325611056" rpy="0 0 0" />
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<mass value="1.57658348693929" />
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<inertia ixx="0.0040640448663128" ixy="0" ixz="0" iyy="0.00392863238466817"
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iyz="-0.000160151642851425" izz="0.0030869857349184" />
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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_i5/visual/shoulder_Link.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_i5/collision/shoulder_Link.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 0.122" rpy="0 0 3.1416" />
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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="-6.28" upper="6.28" effort="150" velocity="3.1416" />
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</joint>
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<link name="upperArm_Link">
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<inertial>
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<origin xyz="0.203996646979614 2.01304585036544E-10 0.0127641545395984" rpy="0 0 0" />
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<mass value="4.04175782265494" />
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<inertia ixx="0.00965399211106204" ixy="0" ixz="0" iyy="0.144993869035655" iyz="0"
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izz="0.142607184038966" />
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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_i5/visual/upperArm_Link.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_i5/collision/upperArm_Link.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 0.1215 0" rpy="-1.5708 -1.5708 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="-6.28" upper="6.28" effort="150" velocity="3.1416" />
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</joint>
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<link name="foreArm_Link">
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<inertial>
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<origin xyz="0.188922115560337 6.78882434739072E-07 0.0981026740461557" rpy="0 0 0" />
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<mass value="2.27145669098343" />
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<inertia ixx="0.00214322284946289" ixy="0" ixz="-0.00073120631553383" iyy="0.0443926090878205"
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iyz="0" izz="0.0441273797128365" />
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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_i5/visual/foreArm_Link.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_i5/collision/foreArm_Link.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="0.408 0 0" rpy="-3.1416 -5.1632E-18 -5.459E-16" />
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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="-6.28" upper="6.28" effort="150" velocity="3.1416" />
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</joint>
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<link name="wrist1_Link">
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<inertial>
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<origin xyz="7.54205137428592E-07 0.0062481254331257 -0.00392367464072373" rpy="0 0 0" />
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<mass value="0.500477539188764" />
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<inertia ixx="0.00071194605962081" ixy="0" ixz="0" iyy="0.00040588242872958"
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iyz="-2.30808694377512E-05" izz="0.000685574004861334" />
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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_i5/visual/wrist1_Link.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_i5/collision/wrist1_Link.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="0.376 0 0" rpy="3.1416 -1.8323E-15 1.5708" />
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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="-6.28" upper="6.28" effort="28" velocity="3.1416" />
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</joint>
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<link name="wrist2_Link">
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<inertial>
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<origin xyz="-7.54207620578635E-07 -0.00624812542617262 -0.00392367464115684" rpy="0 0 0" />
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<mass value="0.500477539245988" />
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<inertia ixx="0.00071194605981829" ixy="0" ixz="0" iyy="0.000405882428755442"
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iyz="2.30808694515886E-05" izz="0.000685574005112107" />
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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_i5/visual/wrist2_Link.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_i5/collision/wrist2_Link.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 0.1025 0" rpy="-1.5708 -1.8709E-15 -1.6653E-16" />
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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="-6.28" upper="6.28" effort="28" velocity="3.1416" />
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</joint>
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<link name="wrist3_Link">
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<inertial>
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<origin xyz="3.92048778449938E-10 0.000175788057281467 -0.0213294490706684" rpy="0 0 0" />
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<mass value="0.158309554874285" />
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<inertia ixx="7.31376196034769E-05" ixy="0" ixz="0" iyy="7.19528188876563E-05" iyz="0"
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izz="0.000108772439051422" />
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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_i5/visual/wrist3_Link.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_i5/collision/wrist3_Link.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 -0.094 0" rpy="1.5708 0 1.7907E-15" />
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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="-6.28" upper="6.28" effort="28" velocity="3.1416" />
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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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<xacro:dh_ag95_gripper prefix="" parent="wrist3_Link">
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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</xacro:dh_ag95_gripper>
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<xacro:rgbd parent="wrist3_Link" tf_prefix="">
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<origin xyz="0.0 0.05 0.08" rpy="0.0 -1.57 -1.57" />
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</xacro:rgbd>
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<xacro:aubo_ros2_control hardware="${hardware}" robot_ip="${robot_ip}" />
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<xacro:if value="${hardware=='gazebo'}">
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<gazebo>
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<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
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<parameters>$(arg simulation_controllers)</parameters>
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<!-- <ros> -->
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<!-- <namespace>${namespace}</namespace> -->
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<!-- </ros> -->
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</plugin>
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</gazebo>
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</xacro:if>
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</robot>
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