mirror of
https://github.com/TheRobotStudio/SO-ARM100.git
synced 2026-01-08 15:03:50 -05:00
424 lines
16 KiB
XML
424 lines
16 KiB
XML
<?xml version="1.0" ?>
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<!-- Generated using onshape-to-robot -->
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<!-- Onshape https://cad.onshape.com/documents/7715cc284bb430fe6dab4ffd/w/4fd0791b683777b02f8d975a/e/bbd5da878b987933c7940f7d -->
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<robot name="so101_old_calib">
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<!-- Link base -->
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<link name="base">
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<inertial>
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<origin xyz="0.020739 0.00204287 0.065966" rpy="0 0 0"/>
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<mass value="0.147"/>
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<inertia ixx="0.000136117" ixy="4.59787e-07" ixz="9.75275e-08" iyy="0.000114686" iyz="-4.97151e-06" izz="0.000130364"/>
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</inertial>
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<!-- Part base_motor_holder_so101_v1 -->
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<visual>
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<origin xyz="0.0206915 0.0221255 0.0300817" rpy="1.5708 -1.23909e-16 2.33147e-15"/>
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<geometry>
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<mesh filename="package://assets/base_motor_holder_so101_v1.stl"/>
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</geometry>
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<material name="base_motor_holder_so101_v1_material">
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<color rgba="0.964706 0.964706 0.952941 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0.0206915 0.0221255 0.0300817" rpy="1.5708 -1.23909e-16 2.33147e-15"/>
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<geometry>
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<mesh filename="package://assets/base_motor_holder_so101_v1.stl"/>
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</geometry>
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</collision>
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<!-- Part base_so101_v2 -->
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<visual>
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<origin xyz="0.0207909 0.0221255 0.0300817" rpy="1.5708 -0 0"/>
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<geometry>
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<mesh filename="package://assets/base_so101_v2.stl"/>
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</geometry>
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<material name="base_so101_v2_material">
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<color rgba="0.964706 0.964706 0.952941 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0.0207909 0.0221255 0.0300817" rpy="1.5708 -0 0"/>
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<geometry>
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<mesh filename="package://assets/base_so101_v2.stl"/>
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</geometry>
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</collision>
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<!-- Part sts3215_03a_v1 -->
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<visual>
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<origin xyz="0.0207909 -0.0105745 0.0761817" rpy="-2.20282e-15 2.77556e-17 -1.5708"/>
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<geometry>
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<mesh filename="package://assets/sts3215_03a_v1.stl"/>
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</geometry>
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<material name="sts3215_03a_v1_material">
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<color rgba="0.627451 0.627451 0.627451 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0.0207909 -0.0105745 0.0761817" rpy="-2.20282e-15 2.77556e-17 -1.5708"/>
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<geometry>
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<mesh filename="package://assets/sts3215_03a_v1.stl"/>
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</geometry>
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</collision>
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<!-- Part waveshare_mounting_plate_so101_v2 -->
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<visual>
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<origin xyz="0.0205915 0.0467435 0.0798817" rpy="1.5708 -1.21716e-14 2.33147e-15"/>
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<geometry>
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<mesh filename="package://assets/waveshare_mounting_plate_so101_v2.stl"/>
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</geometry>
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<material name="waveshare_mounting_plate_so101_v2_material">
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<color rgba="0.964706 0.964706 0.952941 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0.0205915 0.0467435 0.0798817" rpy="1.5708 -1.21716e-14 2.33147e-15"/>
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<geometry>
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<mesh filename="package://assets/waveshare_mounting_plate_so101_v2.stl"/>
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</geometry>
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</collision>
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</link>
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<!-- Frame base (dummy link + fixed joint) -->
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<link name="base">
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<origin xyz="0 0 0" rpy="0 -0 0"/>
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="1e-9"/>
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
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</inertial>
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</link>
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<joint name="base_frame" type="fixed">
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<origin xyz="0.020791 0.0157608 0.0324817" rpy="-3.14159 -9.52796e-30 -2.64454e-46"/>
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<parent link="base"/>
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<child link="base"/>
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<axis xyz="0 0 0"/>
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</joint>
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<!-- Link shoulder -->
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<link name="shoulder">
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<inertial>
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<origin xyz="-0.0307604 -1.66727e-05 -0.0252713" rpy="0 0 0"/>
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<mass value="0.100006"/>
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<inertia ixx="8.3759e-05" ixy="7.55525e-08" ixz="-1.16342e-06" iyy="8.10403e-05" iyz="1.54663e-07" izz="2.39783e-05"/>
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</inertial>
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<!-- Part sts3215_03a_v1_2 -->
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<visual>
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<origin xyz="-0.0303992 0.000422241 -0.0417" rpy="1.5708 1.5708 0"/>
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<geometry>
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<mesh filename="package://assets/sts3215_03a_v1.stl"/>
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</geometry>
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<material name="sts3215_03a_v1_2_material">
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<color rgba="0.627451 0.627451 0.627451 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="-0.0303992 0.000422241 -0.0417" rpy="1.5708 1.5708 0"/>
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<geometry>
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<mesh filename="package://assets/sts3215_03a_v1.stl"/>
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</geometry>
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</collision>
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<!-- Part motor_holder_so101_base_v1 -->
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<visual>
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<origin xyz="-0.0675992 -0.000177759 0.0158499" rpy="1.5708 -1.5708 0"/>
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<geometry>
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<mesh filename="package://assets/motor_holder_so101_base_v1.stl"/>
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</geometry>
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<material name="motor_holder_so101_base_v1_material">
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<color rgba="0.964706 0.964706 0.952941 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="-0.0675992 -0.000177759 0.0158499" rpy="1.5708 -1.5708 0"/>
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<geometry>
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<mesh filename="package://assets/motor_holder_so101_base_v1.stl"/>
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</geometry>
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</collision>
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<!-- Part rotation_pitch_so101_v1 -->
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<visual>
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<origin xyz="0.0122008 2.22413e-05 0.0464" rpy="-1.5708 -0 0"/>
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<geometry>
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<mesh filename="package://assets/rotation_pitch_so101_v1.stl"/>
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</geometry>
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<material name="rotation_pitch_so101_v1_material">
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<color rgba="0.964706 0.964706 0.952941 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0.0122008 2.22413e-05 0.0464" rpy="-1.5708 -0 0"/>
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<geometry>
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<mesh filename="package://assets/rotation_pitch_so101_v1.stl"/>
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</geometry>
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</collision>
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</link>
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<!-- Link upper_arm -->
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<link name="upper_arm">
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<inertial>
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<origin xyz="-0.00838224 0.0898471 0.0184089" rpy="0 0 0"/>
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<mass value="0.103"/>
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<inertia ixx="0.000147318" ixy="1.97819e-05" ixz="8.97326e-09" iyy="4.08002e-05" iyz="4.03016e-08" izz="0.000142487"/>
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</inertial>
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<!-- Part sts3215_03a_v1_3 -->
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<visual>
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<origin xyz="-0.0155 0.11257 0.0187" rpy="-3.14159 -3.22659e-15 -3.14159"/>
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<geometry>
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<mesh filename="package://assets/sts3215_03a_v1.stl"/>
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</geometry>
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<material name="sts3215_03a_v1_3_material">
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<color rgba="0.627451 0.627451 0.627451 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="-0.0155 0.11257 0.0187" rpy="-3.14159 -3.22659e-15 -3.14159"/>
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<geometry>
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<mesh filename="package://assets/sts3215_03a_v1.stl"/>
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</geometry>
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</collision>
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<!-- Part upper_arm_so101_v1 -->
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<visual>
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<origin xyz="0.012 0.065085 0.0182" rpy="3.14159 -1.22125e-15 -1.5708"/>
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<geometry>
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<mesh filename="package://assets/upper_arm_so101_v1.stl"/>
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</geometry>
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<material name="upper_arm_so101_v1_material">
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<color rgba="0.964706 0.964706 0.952941 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0.012 0.065085 0.0182" rpy="3.14159 -1.22125e-15 -1.5708"/>
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<geometry>
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<mesh filename="package://assets/upper_arm_so101_v1.stl"/>
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</geometry>
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</collision>
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</link>
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<!-- Link lower_arm -->
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<link name="lower_arm">
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<inertial>
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<origin xyz="-0.00324376 -0.0980701 0.0182831" rpy="0 0 0"/>
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<mass value="0.104"/>
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<inertia ixx="0.000159844" ixy="-7.41152e-06" ixz="4.90188e-08" iyy="2.87438e-05" iyz="1.26409e-06" izz="0.00014529"/>
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</inertial>
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<!-- Part under_arm_so101_v1 -->
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<visual>
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<origin xyz="0.032 -0.0648499 0.0182" rpy="3.14159 -1.11022e-16 1.5708"/>
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<geometry>
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<mesh filename="package://assets/under_arm_so101_v1.stl"/>
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</geometry>
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<material name="under_arm_so101_v1_material">
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<color rgba="0.964706 0.964706 0.952941 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0.032 -0.0648499 0.0182" rpy="3.14159 -1.11022e-16 1.5708"/>
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<geometry>
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<mesh filename="package://assets/under_arm_so101_v1.stl"/>
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</geometry>
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</collision>
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<!-- Part motor_holder_so101_wrist_v1 -->
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<visual>
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<origin xyz="0.032 -0.0648499 0.018" rpy="-3.14159 -1.11022e-16 1.5708"/>
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<geometry>
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<mesh filename="package://assets/motor_holder_so101_wrist_v1.stl"/>
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</geometry>
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<material name="motor_holder_so101_wrist_v1_material">
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<color rgba="0.964706 0.964706 0.952941 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0.032 -0.0648499 0.018" rpy="-3.14159 -1.11022e-16 1.5708"/>
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<geometry>
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<mesh filename="package://assets/motor_holder_so101_wrist_v1.stl"/>
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</geometry>
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</collision>
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<!-- Part sts3215_03a_v1_4 -->
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<visual>
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<origin xyz="-0.0052 -0.1224 0.0187" rpy="3.14159 -8.24341e-15 -1.5708"/>
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<geometry>
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<mesh filename="package://assets/sts3215_03a_v1.stl"/>
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</geometry>
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<material name="sts3215_03a_v1_4_material">
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<color rgba="0.627451 0.627451 0.627451 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="-0.0052 -0.1224 0.0187" rpy="3.14159 -8.24341e-15 -1.5708"/>
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<geometry>
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<mesh filename="package://assets/sts3215_03a_v1.stl"/>
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</geometry>
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</collision>
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</link>
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<!-- Link wrist -->
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<link name="wrist">
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<inertial>
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<origin xyz="-0.000103312 -0.0386143 0.0281156" rpy="0 0 0"/>
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<mass value="0.079"/>
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<inertia ixx="3.68263e-05" ixy="1.7893e-08" ixz="-5.28128e-08" iyy="2.5391e-05" iyz="3.6412e-06" izz="2.1e-05"/>
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</inertial>
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<!-- Part sts3215_03a_no_horn_v1 -->
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<visual>
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<origin xyz="0 -0.0424 0.0306" rpy="1.5708 1.5708 0"/>
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<geometry>
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<mesh filename="package://assets/sts3215_03a_no_horn_v1.stl"/>
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</geometry>
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<material name="sts3215_03a_no_horn_v1_material">
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<color rgba="0.627451 0.627451 0.627451 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 -0.0424 0.0306" rpy="1.5708 1.5708 0"/>
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<geometry>
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<mesh filename="package://assets/sts3215_03a_no_horn_v1.stl"/>
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</geometry>
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</collision>
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<!-- Part wrist_roll_pitch_so101_v2 -->
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<visual>
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<origin xyz="-2.77556e-17 -0.028 0.0181" rpy="-1.5708 -1.5708 0"/>
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<geometry>
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<mesh filename="package://assets/wrist_roll_pitch_so101_v2.stl"/>
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</geometry>
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<material name="wrist_roll_pitch_so101_v2_material">
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<color rgba="0.964706 0.964706 0.952941 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="-2.77556e-17 -0.028 0.0181" rpy="-1.5708 -1.5708 0"/>
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<geometry>
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<mesh filename="package://assets/wrist_roll_pitch_so101_v2.stl"/>
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</geometry>
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</collision>
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</link>
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<!-- Link gripper -->
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<link name="gripper">
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<inertial>
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<origin xyz="0.000213627 0.000245138 -0.025187" rpy="0 0 0"/>
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<mass value="0.087"/>
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<inertia ixx="2.75087e-05" ixy="-3.35241e-07" ixz="-5.7352e-06" iyy="4.33657e-05" iyz="-5.17847e-08" izz="3.45059e-05"/>
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</inertial>
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<!-- Part sts3215_03a_v1_5 -->
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<visual>
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<origin xyz="0.0077 0.0001 -0.0234" rpy="-1.5708 -5.55112e-17 -1.38213e-14"/>
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<geometry>
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<mesh filename="package://assets/sts3215_03a_v1.stl"/>
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</geometry>
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<material name="sts3215_03a_v1_5_material">
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<color rgba="0.627451 0.627451 0.627451 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0.0077 0.0001 -0.0234" rpy="-1.5708 -5.55112e-17 -1.38213e-14"/>
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<geometry>
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<mesh filename="package://assets/sts3215_03a_v1.stl"/>
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</geometry>
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</collision>
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<!-- Part wrist_roll_follower_so101_v1 -->
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<visual>
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<origin xyz="1.11022e-16 -0.000218214 0.000949706" rpy="-3.14159 -5.55112e-17 -6.22813e-24"/>
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<geometry>
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<mesh filename="package://assets/wrist_roll_follower_so101_v1.stl"/>
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</geometry>
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<material name="wrist_roll_follower_so101_v1_material">
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<color rgba="0.964706 0.964706 0.952941 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="1.11022e-16 -0.000218214 0.000949706" rpy="-3.14159 -5.55112e-17 -6.22813e-24"/>
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<geometry>
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<mesh filename="package://assets/wrist_roll_follower_so101_v1.stl"/>
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</geometry>
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</collision>
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</link>
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<!-- Frame gripper (dummy link + fixed joint) -->
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<link name="gripper">
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<origin xyz="0 0 0" rpy="0 -0 0"/>
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="1e-9"/>
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
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</inertial>
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</link>
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<joint name="gripper_frame" type="fixed">
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<origin xyz="-0.0079 -0.000218121 -0.0981274" rpy="-1.5708 4.93038e-32 -1.5708"/>
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<parent link="gripper"/>
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<child link="gripper"/>
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<axis xyz="0 0 0"/>
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</joint>
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<!-- Link moving_jaw_so101_v1 -->
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<link name="moving_jaw_so101_v1">
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<inertial>
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<origin xyz="-0.00157495 -0.0300244 0.0192755" rpy="0 0 0"/>
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<mass value="0.012"/>
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<inertia ixx="6.61427e-06" ixy="-3.19807e-07" ixz="-5.90717e-09" iyy="1.89032e-06" iyz="-1.09945e-07" izz="5.28738e-06"/>
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</inertial>
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<!-- Part moving_jaw_so101_v1 -->
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<visual>
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<origin xyz="0 1.89351e-17 0.0189" rpy="9.53145e-17 -1.20743e-23 0"/>
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<geometry>
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<mesh filename="package://assets/moving_jaw_so101_v1.stl"/>
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</geometry>
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<material name="moving_jaw_so101_v1_material">
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<color rgba="0.964706 0.964706 0.952941 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 1.89351e-17 0.0189" rpy="9.53145e-17 -1.20743e-23 0"/>
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<geometry>
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<mesh filename="package://assets/moving_jaw_so101_v1.stl"/>
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</geometry>
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</collision>
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</link>
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<!-- Joint from gripper to moving_jaw_so101_v1 -->
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<joint name="6" type="revolute">
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<origin xyz="0.0202 0.0188 -0.0234" rpy="1.5708 -7.91661e-17 -1.0396e-16"/>
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<parent link="gripper"/>
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<child link="moving_jaw_so101_v1"/>
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<axis xyz="0 0 1"/>
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<limit effort="10" velocity="10" lower="-0.174533" upper="1.74533"/>
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</joint>
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<!-- Joint from wrist to gripper -->
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<joint name="5" type="revolute">
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<origin xyz="2.77556e-17 -0.0611 0.0181" rpy="1.5708 -9.38083e-08 3.14159"/>
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<parent link="wrist"/>
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<child link="gripper"/>
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<axis xyz="0 0 1"/>
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<limit effort="10" velocity="10" lower="-2.79253" upper="2.79253"/>
|
|
</joint>
|
|
<!-- Joint from lower_arm to wrist -->
|
|
<joint name="4" type="revolute">
|
|
<origin xyz="-0.0052 -0.1349 3.40439e-16" rpy="-1.41553e-15 4.91611e-15 7.56157e-09"/>
|
|
<parent link="lower_arm"/>
|
|
<child link="wrist"/>
|
|
<axis xyz="0 0 1"/>
|
|
<limit effort="10" velocity="10" lower="-1.65806" upper="1.65806"/>
|
|
</joint>
|
|
<!-- Joint from upper_arm to lower_arm -->
|
|
<joint name="3" type="revolute">
|
|
<origin xyz="-0.028 0.11257 1.24466e-16" rpy="1.89432e-15 -3.22659e-15 -3.14159"/>
|
|
<parent link="upper_arm"/>
|
|
<child link="lower_arm"/>
|
|
<axis xyz="0 0 1"/>
|
|
<limit effort="10" velocity="10" lower="-0.174533" upper="3.14159"/>
|
|
</joint>
|
|
<!-- Joint from shoulder to upper_arm -->
|
|
<joint name="2" type="revolute">
|
|
<origin xyz="-0.0303992 -0.0182778 -0.0542" rpy="-1.5708 1.5708 0"/>
|
|
<parent link="shoulder"/>
|
|
<child link="upper_arm"/>
|
|
<axis xyz="0 0 1"/>
|
|
<limit effort="10" velocity="10" lower="-3.31613" upper="0.174533"/>
|
|
</joint>
|
|
<!-- Joint from base to shoulder -->
|
|
<joint name="1" type="revolute">
|
|
<origin xyz="0.0207909 -0.0230745 0.0948817" rpy="-3.14159 6.03684e-16 1.5708"/>
|
|
<parent link="base"/>
|
|
<child link="shoulder"/>
|
|
<axis xyz="0 0 1"/>
|
|
<limit effort="10" velocity="10" lower="-1.91986" upper="1.91986"/>
|
|
</joint>
|
|
<!-- Additional joints_properties.xml -->
|
|
<default>
|
|
<default class="sts3215">
|
|
<geom contype="0" conaffinity="0"/>
|
|
<joint damping="0.60" frictionloss="0.052" armature="0.028"/>
|
|
<position kp="17.8" kv="0.0" forcerange="-3.35 3.35"/>
|
|
</default>
|
|
<default class="backlash">
|
|
<!-- +/- 0.5° of backlash -->
|
|
<joint damping="0.01" frictionloss="0" armature="0.01" limited="true" range="-0.008726646259971648 0.008726646259971648"/>
|
|
</default>
|
|
</default>
|
|
</robot>
|