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smart_wasm/inc/URDFStrings.h
zhangshun 40f9bdb590 Initial commit
2026-06-01 15:55:59 +08:00

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namespace URDFStrings
{
const char *abb120_urdf = R"(<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from /home/xtark/ABB_ws/src/abb_experimental/abb_irb120_support/urdf/irb120_3_58.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="abb_irb120_3_58" xmlns:xacro="http://ros.org/wiki/xacro" uuid="9D7EAEF4-1AAB-499E-8783-B6CE016BC6D1">
<!-- Conversion were obtained from http://www.e-paint.co.uk/Lab_values.asp
unless otherwise stated. -->
<!-- link list -->
<link name="link_6" uuid="D9A71933-B7FA-4A77-805F-F7C404101CB1">
<inertial>
<mass value="6.215" />
<origin rpy="0 0 0" xyz="-0.04204 8.01E-05 0.07964" />
<inertia ixx="0.0247272" ixy="-8.0784E-05" ixz="0.00130902" iyy="0.0491285" iyz="-8.0419E-06" izz="0.0472376" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/base_link.stl" />
</geometry>
<material name="">
<color rgba="0.7372549 0.3490196 0.1607843 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/base_link.stl" />
</geometry>
<material name="">
<color rgba="1 1 0 1" />
</material>
</collision>
</link>
<link name="base_link" uuid="9D7EAEF4-1AAB-499E-8783-B6CE016BC6D1">
<inertial>
<mass value="6.215" />
<origin rpy="0 0 0" xyz="-0.04204 8.01E-05 0.07964" />
<inertia ixx="0.0247272" ixy="-8.0784E-05" ixz="0.00130902" iyy="0.0491285" iyz="-8.0419E-06" izz="0.0472376" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/base_link.stl" />
</geometry>
<material name="">
<color rgba="0.7372549 0.3490196 0.1607843 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/base_link.stl" />
</geometry>
<material name="">
<color rgba="1 1 0 1" />
</material>
</collision>
</link>
<link name="link_1" uuid="0A049A00-6C1F-4748-A22A-6B5942B09430">
<inertial>
<mass value="6.215" />
<origin rpy="0 0 0" xyz="-0.04204 8.01E-05 0.07964" />
<inertia ixx="0.0247272" ixy="-8.0784E-05" ixz="0.00130902" iyy="0.0491285" iyz="-8.0419E-06" izz="0.0472376" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/base_link.stl" />
</geometry>
<material name="">
<color rgba="0.7372549 0.3490196 0.1607843 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/base_link.stl" />
</geometry>
<material name="">
<color rgba="1 1 0 1" />
</material>
</collision>
</link>
<link name="link_2" uuid="F07C2A76-A13F-4475-B936-181FD8DBF986">
<inertial>
<mass value="6.215" />
<origin rpy="0 0 0" xyz="-0.04204 8.01E-05 0.07964" />
<inertia ixx="0.0247272" ixy="-8.0784E-05" ixz="0.00130902" iyy="0.0491285" iyz="-8.0419E-06" izz="0.0472376" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/base_link.stl" />
</geometry>
<material name="">
<color rgba="0.7372549 0.3490196 0.1607843 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/base_link.stl" />
</geometry>
<material name="">
<color rgba="1 1 0 1" />
</material>
</collision>
</link>
<link name="link_3" uuid="94295448-DD21-4A87-A80F-F65B85AB861E">
<inertial>
<mass value="6.215" />
<origin rpy="0 0 0" xyz="-0.04204 8.01E-05 0.07964" />
<inertia ixx="0.0247272" ixy="-8.0784E-05" ixz="0.00130902" iyy="0.0491285" iyz="-8.0419E-06" izz="0.0472376" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/base_link.stl" />
</geometry>
<material name="">
<color rgba="0.7372549 0.3490196 0.1607843 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/base_link.stl" />
</geometry>
<material name="">
<color rgba="1 1 0 1" />
</material>
</collision>
</link>
<link name="link_4" uuid="964D5694-ACC3-4C30-93F3-066D1FA04952">
<inertial>
<mass value="6.215" />
<origin rpy="0 0 0" xyz="-0.04204 8.01E-05 0.07964" />
<inertia ixx="0.0247272" ixy="-8.0784E-05" ixz="0.00130902" iyy="0.0491285" iyz="-8.0419E-06" izz="0.0472376" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/base_link.stl" />
</geometry>
<material name="">
<color rgba="0.7372549 0.3490196 0.1607843 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/base_link.stl" />
</geometry>
<material name="">
<color rgba="1 1 0 1" />
</material>
</collision>
</link>
<link name="link_5" uuid="243AAD5C-4E64-4E9E-A9FA-E79600045F08">
<inertial>
<mass value="6.215" />
<origin rpy="0 0 0" xyz="-0.04204 8.01E-05 0.07964" />
<inertia ixx="0.0247272" ixy="-8.0784E-05" ixz="0.00130902" iyy="0.0491285" iyz="-8.0419E-06" izz="0.0472376" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/base_link.stl" />
</geometry>
<material name="">
<color rgba="0.7372549 0.3490196 0.1607843 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/base_link.stl" />
</geometry>
<material name="">
<color rgba="1 1 0 1" />
</material>
</collision>
</link>
<!-- end of link list -->
<!-- joint list -->
<joint name="joint_6" type="revolute" innerId="8E926C36-2177-41F4-BA1C-8E34589BF818">
<origin rpy="0 0 0" xyz="0.072 0 0" />
<parent link="link_5" uuid="243AAD5C-4E64-4E9E-A9FA-E79600045F08" />
<child link="link_6" uuid="D9A71933-B7FA-4A77-805F-F7C404101CB1" />
<limit effort="0" lower="-6.28318548202515" upper="6.28318548202515" velocity="1.39626336097717" />
<axis xyz="1 0 0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="joint_1" type="revolute" innerId="45B6400D-AE70-4FE0-910A-6F8962B4F792">
<origin rpy="0 0 0" xyz="0 0 0" />
<parent link="base_link" uuid="9D7EAEF4-1AAB-499E-8783-B6CE016BC6D1" />
<child link="link_1" uuid="0A049A00-6C1F-4748-A22A-6B5942B09430" />
<limit effort="0" lower="-6.28318548202515" upper="6.28318548202515" velocity="1.39626336097717" />
<axis xyz="0 0 1" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="joint_2" type="revolute" innerId="35A4A784-26D1-4DBA-BAEF-740B6E2278AB">
<origin rpy="0 0 0" xyz="0 0 0.29" />
<parent link="link_1" uuid="0A049A00-6C1F-4748-A22A-6B5942B09430" />
<child link="link_2" uuid="F07C2A76-A13F-4475-B936-181FD8DBF986" />
<limit effort="0" lower="-6.28318548202515" upper="6.28318548202515" velocity="1.39626336097717" />
<axis xyz="0 1 0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="joint_3" type="revolute" innerId="BBAD98ED-4240-4E21-8620-C6D448303F9B">
<origin rpy="0 0 0" xyz="0 0 0.27" />
<parent link="link_2" uuid="F07C2A76-A13F-4475-B936-181FD8DBF986" />
<child link="link_3" uuid="94295448-DD21-4A87-A80F-F65B85AB861E" />
<limit effort="0" lower="-6.28318548202515" upper="6.28318548202515" velocity="1.39626336097717" />
<axis xyz="0 1 0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="joint_4" type="revolute" innerId="1A0AD00D-9676-49F1-BB15-852516029946">
<origin rpy="0 0 0" xyz="0.134 0 0.07" />
<parent link="link_3" uuid="94295448-DD21-4A87-A80F-F65B85AB861E" />
<child link="link_4" uuid="964D5694-ACC3-4C30-93F3-066D1FA04952" />
<limit effort="0" lower="-6.28318548202515" upper="6.28318548202515" velocity="1.39626336097717" />
<axis xyz="1 0 0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="joint_5" type="revolute" innerId="29B7FB0E-32B5-4216-A3E4-95EA7767B3B8">
<origin rpy="0 0 0" xyz="0.168 0 0" />
<parent link="link_4" uuid="964D5694-ACC3-4C30-93F3-066D1FA04952" />
<child link="link_5" uuid="243AAD5C-4E64-4E9E-A9FA-E79600045F08" />
<limit effort="0" lower="-6.28318548202515" upper="6.28318548202515" velocity="1.39626336097717" />
<axis xyz="0 1 0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<!-- end of joint list -->
<!-- ROS-Industrial 'base' frame: base_link to ABB World Coordinates transform -->
<link name="base" uuidBase="39fc08ad-6f2e-4fc5-8bcc-dd6e35918a31" />
<joint name="base_link-base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0" />
<parent link="base" />
<child link="base_link" />
</joint>
<!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
<link name="flange" />
<joint name="joint_6-flange" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0" />
<parent link="link_6" />
<child link="flange" />
</joint>
<!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
<link name="tool0" uuidTool="5b570726-e374-4d8a-882e-60c803f37ac0" />
<joint name="link_6-tool0" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0" />
<parent link="flange" />
<child link="tool0" />
</joint>
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/</robotNamespace>
</plugin>
</gazebo>
</robot>
)";
}
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