309 lines
11 KiB
XML
309 lines
11 KiB
XML
<robot
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xmlns:xacro="http://ros.org/wiki/xacro" name="ABB_IRB_120" uuid="8bc48ac0-6570-4232-aa91-3367771c1069">
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<link name="base_link" uuid="9c88ec70-a337-4d16-94c5-92ccff72c1a5">
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<inertial>
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<mass value="1.0"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/link_1.stl"/>
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</geometry>
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<material name="">
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<color rgba="0.7372549 0.3490196 0.1607843 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/link_1.stl"/>
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</geometry>
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<material name="">
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<color rgba="1 1 0 1"/>
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</material>
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</collision>
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</link>
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<link name="link_1" uuid="09059ca4-6c99-4a5f-a474-8ba964e612c4">
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<inertial>
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<mass value="1.0"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/link_2.stl"/>
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</geometry>
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<material name="">
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<color rgba="0.7372549 0.3490196 0.1607843 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/link_2.stl"/>
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</geometry>
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<material name="">
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<color rgba="1 1 0 1"/>
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</material>
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</collision>
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</link>
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<link name="link_2" uuid="3f38944a-9e19-4aba-a46e-2cc2d2611b91">
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<inertial>
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<mass value="1.0"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/link_3.stl"/>
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</geometry>
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<material name="">
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<color rgba="0.7372549 0.3490196 0.1607843 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/link_3.stl"/>
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</geometry>
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<material name="">
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<color rgba="1 1 0 1"/>
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</material>
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</collision>
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</link>
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<link name="link_3" uuid="801f8e99-88d8-4a92-b848-3c573c5e6ddb">
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<inertial>
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<mass value="1.0"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/link_4.stl"/>
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</geometry>
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<material name="">
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<color rgba="0.7372549 0.3490196 0.1607843 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/link_4.stl"/>
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</geometry>
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<material name="">
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<color rgba="1 1 0 1"/>
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</material>
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</collision>
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</link>
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<link name="link_4" uuid="c0146e6e-b9c7-4ada-9e96-b7bb141f6feb">
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<inertial>
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<mass value="1.0"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/link_5.stl"/>
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</geometry>
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<material name="">
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<color rgba="0.7372549 0.3490196 0.1607843 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/link_5.stl"/>
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</geometry>
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<material name="">
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<color rgba="1 1 0 1"/>
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</material>
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</collision>
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</link>
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<link name="link_5" uuid="5a650225-e5cf-44ae-b2fc-aad215668177">
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<inertial>
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<mass value="1.0"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/link_6.stl"/>
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</geometry>
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<material name="">
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<color rgba="0.7372549 0.3490196 0.1607843 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/link_6.stl"/>
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</geometry>
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<material name="">
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<color rgba="1 1 0 1"/>
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</material>
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</collision>
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</link>
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<link name="link_6" uuid="4d20b9a3-23a5-48d8-bed6-b50439da66c0">
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<inertial>
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<mass value="1.0"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/link_7.stl"/>
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</geometry>
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<material name="">
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<color rgba="0.7372549 0.3490196 0.1607843 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/link_7.stl"/>
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</geometry>
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<material name="">
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<color rgba="1 1 0 1"/>
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</material>
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</collision>
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</link>
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<joint name="joint_1" innerId="D0F7B07F-0438-4392-B775-42512D10BBD4" type="revolute">
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<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
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<parent link="base_link" uuid="9c88ec70-a337-4d16-94c5-92ccff72c1a5"/>
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<child link="link_1" uuid="09059ca4-6c99-4a5f-a474-8ba964e612c4"/>
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<axis xyz="0 0 1"/>
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<limit effort="0" lower="-6.283185" upper="6.283185" velocity="1.570796"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<joint name="joint_2" innerId="3D80EDAC-92C7-492C-91FD-8108A298E175" type="revolute">
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<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.290000"/>
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<parent link="link_1" uuid="09059ca4-6c99-4a5f-a474-8ba964e612c4"/>
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<child link="link_2" uuid="3f38944a-9e19-4aba-a46e-2cc2d2611b91"/>
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<axis xyz="1 0 0"/>
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<limit effort="0" lower="-6.283185" upper="6.283185" velocity="1.570796"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<joint name="joint_3" innerId="0A098978-9EAC-4F7B-B8DB-A1FFF640B6FF" type="revolute">
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<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.270000"/>
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<parent link="link_2" uuid="3f38944a-9e19-4aba-a46e-2cc2d2611b91"/>
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<child link="link_3" uuid="801f8e99-88d8-4a92-b848-3c573c5e6ddb"/>
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<axis xyz="1 0 0"/>
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<limit effort="0" lower="-6.283185" upper="6.283185" velocity="1.570796"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<joint name="joint_4" innerId="823DDDE0-DBFA-4F5E-B3A6-9A87C06C8DB9" type="revolute">
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<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 -0.134000 0.070000"/>
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<parent link="link_3" uuid="801f8e99-88d8-4a92-b848-3c573c5e6ddb"/>
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<child link="link_4" uuid="c0146e6e-b9c7-4ada-9e96-b7bb141f6feb"/>
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<axis xyz="0 1 0"/>
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<limit effort="0" lower="-6.283185" upper="6.283185" velocity="1.570796"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<joint name="joint_5" innerId="A3DD936A-C88D-4267-8926-1C29C144D52E" type="revolute">
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<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 -0.168000 0.000000"/>
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<parent link="link_4" uuid="c0146e6e-b9c7-4ada-9e96-b7bb141f6feb"/>
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<child link="link_5" uuid="5a650225-e5cf-44ae-b2fc-aad215668177"/>
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<axis xyz="1 0 0"/>
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<limit effort="0" lower="-6.283185" upper="6.283185" velocity="1.570796"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<joint name="joint_6" innerId="85949D90-0C7B-463A-A18D-281A71FA4C19" type="revolute">
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<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 -0.072000 0.000000"/>
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<parent link="link_5" uuid="5a650225-e5cf-44ae-b2fc-aad215668177"/>
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<child link="link_6" uuid="4d20b9a3-23a5-48d8-bed6-b50439da66c0"/>
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<axis xyz="0 1 0"/>
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<limit effort="0" lower="-6.283185" upper="6.283185" velocity="1.570796"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<link name="base" uuidBase="f25bddf0-6533-448a-a1f5-b1ebbabe7d3c"/>
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<joint name="base_link-base" type="fixed">
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<origin xyz="0.000000 0.000000 0.000000" rpy="0.000000 0.000000 0.000000"/>
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<parent link="base"/>
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<child link="base_link"/>
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</joint>
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<link name="flange"/>
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<joint name="joint_6-flange" type="fixed">
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<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
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<parent link="link_6"/>
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<child link="flange"/>
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</joint>
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<link name="tool0" uuidTool="5272238a-a622-412b-aa83-3e748fe57798"/>
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<joint name="link_6-tool0" type="fixed">
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<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
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<parent link="flange"/>
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<child link="tool0"/>
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</joint>
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<transmission name="joint_1">
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<type>transmission_interface/SimpleTransmission</type>
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<joint>
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="joint_1_motor">
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<hardwareInterface>1</hardwareInterface>
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<mechanicalReduction/>
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</actuator>
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</transmission>
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<transmission name="joint_2">
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<type>transmission_interface/SimpleTransmission</type>
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<joint>
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="joint_2_motor">
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<hardwareInterface>1</hardwareInterface>
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<mechanicalReduction/>
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</actuator>
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</transmission>
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<transmission name="joint_3">
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<type>transmission_interface/SimpleTransmission</type>
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<joint>
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="joint_3_motor">
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<hardwareInterface>1</hardwareInterface>
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<mechanicalReduction/>
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</actuator>
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</transmission>
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<transmission name="joint_4">
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<type>transmission_interface/SimpleTransmission</type>
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<joint>
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="joint_4_motor">
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<hardwareInterface>1</hardwareInterface>
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<mechanicalReduction/>
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</actuator>
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</transmission>
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<transmission name="joint_5">
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<type>transmission_interface/SimpleTransmission</type>
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<joint>
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="joint_5_motor">
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<hardwareInterface>1</hardwareInterface>
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<mechanicalReduction/>
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</actuator>
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</transmission>
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<transmission name="joint_6">
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<type>transmission_interface/SimpleTransmission</type>
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<joint>
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="joint_6_motor">
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<hardwareInterface>1</hardwareInterface>
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<mechanicalReduction/>
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</actuator>
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</transmission>
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<gazebo>
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<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
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<robotNamespace>/</robotNamespace>
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</plugin>
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</gazebo>
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</robot> |