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- <?xml version="1.0" ?>
- <!-- =================================================================================== -->
- <!-- | This document was autogenerated by xacro from irb14000.xacro | -->
- <!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
- <!-- =================================================================================== -->
- <!--======================================================================================
- =
- = NOTE: This xacro file has NOT been validated for a physical robot as of September 2015
- =
- ==========================================================================================
- =
- = Copyright (c) 2015, ABB
- = All rights reserved.
- =
- = Redistribution and use in source and binary forms, with
- = or without modification, are permitted provided that
- = the following conditions are met:
- =
- = * Redistributions of source code must retain the
- = above copyright notice, this list of conditions
- = and the following disclaimer.
- = * Redistributions in binary form must reproduce the
- = above copyright notice, this list of conditions
- = and the following disclaimer in the documentation
- = and/or other materials provided with the
- = distribution.
- = * Neither the name of ABB nor the names of its
- = contributors may be used to endorse or promote
- = products derived from this software without
- = specific prior written permission.
- =
- = THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- = AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- = IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- = ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- = LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- = DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- = SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- = CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- = OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
- = THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- =
- =======================================================================================-->
- <robot name="abb_irb14000" xmlns:xacro="http://www.ros.org/wiki/xacro">
- <!-- Files containing macros and properties for the robot -->
- <!--============================================================================================
- = Main macros
- =============================================================================================-->
- <!-- Basic link macro-->
- <!-- Basic joint macro -->
- <!--============================================
- = Macro for a irb14000 arm
- =============================================-->
- <!--============================================
- = Macro for constructing the IRB14000 robot
- =============================================-->
- <!--============================================================================================
- = Auxiliary macros
- =============================================================================================-->
- <!-- Calculate limit (with conversion from degrees to radians) -->
- <!--============================================
- = Setup all the joints in the left arm
- =============================================-->
- <!--============================================
- = Setup all the joints in the right arm
- =============================================-->
- <!--============================================================================================
- = Properties for the joints in the left arm. Origin, axis and limit values for each joint.
- =============================================================================================-->
- <!-- left_joint_1 -->
- <!-- Length of rotational axis [mm] (for normalization) -->
- <!-- left_joint_2 -->
- <!-- Length of rotational axis [mm] (for normalization) -->
- <!-- left_joint_3 -->
- <!-- Length of rotational axis [mm] (for normalization) -->
- <!-- left_joint_4 -->
- <!-- Length of rotational axis [mm] (for normalization) -->
- <!-- left_joint_5 -->
- <!-- Length of rotational axis [mm] (for normalization) -->
- <!-- left_joint_6 -->
- <!-- Length of rotational axis [mm] (for normalization) -->
- <!-- left_joint_7 -->
- <!-- Length of rotational axis [mm] (for normalization) -->
- <!--============================================================================================
- = Properties for the joints in the right arm. Origin, axis and limit values for each joint.
- =============================================================================================-->
- <!-- right_joint_1 -->
- <!-- Length of rotational axis [mm] (for normalization) -->
- <!-- right_joint_2 -->
- <!-- Length of rotational axis [mm] (for normalization) -->
- <!-- right_joint_3 -->
- <!-- Length of rotational axis [mm] (for normalization) -->
- <!-- right_joint_4 -->
- <!-- Length of rotational axis [mm] (for normalization) -->
- <!-- right_joint_5 -->
- <!-- Length of rotational axis [mm] (for normalization) -->
- <!-- right_joint_6 -->
- <!-- Length of rotational axis [mm] (for normalization) -->
- <!-- right_joint_7 -->
- <!-- Length of rotational axis [mm] (for normalization) -->
- <!-- Setup the robot -->
- <link name="base_link">
- <visual>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/base_link.dae"/>
- </geometry>
- <origin xyz="0 0 0"/>
- <material name="gray">
- <color rgba="0.5 0.5 0.5 1.0"/>
- <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
- <!-- transparent used for comparing visual and collision meshes -->
- </material>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/base_link.stl"/>
- </geometry>
- <origin xyz="0 0 0"/>
- </collision>
- </link>
- <!-- Links -->
- <link name="left_link_1">
- <visual>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/left_arm/left_link_1.dae"/>
- </geometry>
- <origin xyz="0 0 0"/>
- <material name="gray">
- <color rgba="0.5 0.5 0.5 1.0"/>
- <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
- <!-- transparent used for comparing visual and collision meshes -->
- </material>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/left_arm/left_link_1.stl"/>
- </geometry>
- <origin xyz="0 0 0"/>
- </collision>
- </link>
- <link name="left_link_2">
- <visual>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/left_arm/left_link_2.dae"/>
- </geometry>
- <origin xyz="0 0 0"/>
- <material name="gray">
- <color rgba="0.5 0.5 0.5 1.0"/>
- <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
- <!-- transparent used for comparing visual and collision meshes -->
- </material>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/left_arm/left_link_2.stl"/>
- </geometry>
- <origin xyz="0 0 0"/>
- </collision>
- </link>
- <link name="left_link_3">
- <visual>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/left_arm/left_link_3.dae"/>
- </geometry>
- <origin xyz="0 0 0"/>
- <material name="gray">
- <color rgba="0.5 0.5 0.5 1.0"/>
- <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
- <!-- transparent used for comparing visual and collision meshes -->
- </material>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/left_arm/left_link_3.stl"/>
- </geometry>
- <origin xyz="0 0 0"/>
- </collision>
- </link>
- <link name="left_link_4">
- <visual>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/left_arm/left_link_4.dae"/>
- </geometry>
- <origin xyz="0 0 0"/>
- <material name="gray">
- <color rgba="0.5 0.5 0.5 1.0"/>
- <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
- <!-- transparent used for comparing visual and collision meshes -->
- </material>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/left_arm/left_link_4.stl"/>
- </geometry>
- <origin xyz="0 0 0"/>
- </collision>
- </link>
- <link name="left_link_5">
- <visual>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/left_arm/left_link_5.dae"/>
- </geometry>
- <origin xyz="0 0 0"/>
- <material name="gray">
- <color rgba="0.5 0.5 0.5 1.0"/>
- <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
- <!-- transparent used for comparing visual and collision meshes -->
- </material>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/left_arm/left_link_5.stl"/>
- </geometry>
- <origin xyz="0 0 0"/>
- </collision>
- </link>
- <link name="left_link_6">
- <visual>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/left_arm/left_link_6.dae"/>
- </geometry>
- <origin xyz="0 0 0"/>
- <material name="gray">
- <color rgba="0.5 0.5 0.5 1.0"/>
- <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
- <!-- transparent used for comparing visual and collision meshes -->
- </material>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/left_arm/left_link_6.stl"/>
- </geometry>
- <origin xyz="0 0 0"/>
- </collision>
- </link>
- <link name="left_link_7">
- <visual>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/left_arm/left_link_7.dae"/>
- </geometry>
- <origin xyz="0 0 0"/>
- <material name="gray">
- <color rgba="0.5 0.5 0.5 1.0"/>
- <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
- <!-- transparent used for comparing visual and collision meshes -->
- </material>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/left_arm/left_link_7.stl"/>
- </geometry>
- <origin xyz="0 0 0"/>
- </collision>
- </link>
- <!-- Joints -->
- <joint name="left_joint_1" type="revolute">
- <parent link="base_link"/>
- <child link="left_link_1"/>
- <origin xyz="0.02767 0.06163 0.39997"/>
- <axis xyz="0.813781891 0.342033376804 0.469864032781"/>
- <limit effort="0.0" lower="-2.94087978962" upper="2.94087978962" velocity="180.0"/>
- </joint>
- <joint name="left_joint_2" type="revolute">
- <parent link="left_link_1"/>
- <child link="left_link_2"/>
- <origin xyz="0.09359 0.08563 0.0565"/>
- <axis xyz="0.107005805065 0.706538329704 -0.699537949934"/>
- <limit effort="0.0" lower="-2.50454747662" upper="0.75921822462" velocity="180.0"/>
- </joint>
- <joint name="left_joint_3" type="revolute">
- <parent link="left_link_2"/>
- <child link="left_link_3"/>
- <origin xyz="0.11922 0.00381 0.06637"/>
- <axis xyz="0.813771185903 0.34206991743 0.469855982337"/>
- <limit effort="0.0" lower="-2.94087978962" upper="2.94087978962" velocity="180.0"/>
- </joint>
- <joint name="left_joint_4" type="revolute">
- <parent link="left_link_3"/>
- <child link="left_link_4"/>
- <origin xyz="0.12649 0.0436 0.00883"/>
- <axis xyz="0.106857471368 0.706733207183 -0.699363726399"/>
- <limit effort="0.0" lower="-2.15548162622" upper="1.3962634016" velocity="180.0"/>
- </joint>
- <joint name="left_joint_5" type="revolute">
- <parent link="left_link_4"/>
- <child link="left_link_5"/>
- <origin xyz="0.10366 -0.09418 -0.0248"/>
- <axis xyz="0.571257473841 -0.619307167902 -0.538631138367"/>
- <limit effort="0.0" lower="-5.0614548308" upper="5.0614548308" velocity="400.0"/>
- </joint>
- <joint name="left_joint_6" type="revolute">
- <parent link="left_link_5"/>
- <child link="left_link_6"/>
- <origin xyz="0.05912 -0.0626 -0.11428"/>
- <axis xyz="0.106863251721 0.706797296472 -0.699298120913"/>
- <limit effort="0.0" lower="-1.53588974176" upper="2.40855436776" velocity="400.0"/>
- </joint>
- <joint name="left_joint_7" type="revolute">
- <parent link="left_link_6"/>
- <child link="left_link_7"/>
- <origin xyz="0.01635 -0.01921 0.04313"/>
- <axis xyz="0.571210480579 -0.619367006179 -0.538612217096"/>
- <limit effort="0.0" lower="-3.99680398708" upper="3.99680398708" velocity="400.0"/>
- </joint>
- <!-- Links -->
- <link name="right_link_1">
- <visual>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/right_arm/right_link_1.dae"/>
- </geometry>
- <origin xyz="0 0 0"/>
- <material name="gray">
- <color rgba="0.5 0.5 0.5 1.0"/>
- <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
- <!-- transparent used for comparing visual and collision meshes -->
- </material>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/right_arm/right_link_1.stl"/>
- </geometry>
- <origin xyz="0 0 0"/>
- </collision>
- </link>
- <link name="right_link_2">
- <visual>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/right_arm/right_link_2.dae"/>
- </geometry>
- <origin xyz="0 0 0"/>
- <material name="gray">
- <color rgba="0.5 0.5 0.5 1.0"/>
- <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
- <!-- transparent used for comparing visual and collision meshes -->
- </material>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/right_arm/right_link_2.stl"/>
- </geometry>
- <origin xyz="0 0 0"/>
- </collision>
- </link>
- <link name="right_link_3">
- <visual>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/right_arm/right_link_3.dae"/>
- </geometry>
- <origin xyz="0 0 0"/>
- <material name="gray">
- <color rgba="0.5 0.5 0.5 1.0"/>
- <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
- <!-- transparent used for comparing visual and collision meshes -->
- </material>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/right_arm/right_link_3.stl"/>
- </geometry>
- <origin xyz="0 0 0"/>
- </collision>
- </link>
- <link name="right_link_4">
- <visual>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/right_arm/right_link_4.dae"/>
- </geometry>
- <origin xyz="0 0 0"/>
- <material name="gray">
- <color rgba="0.5 0.5 0.5 1.0"/>
- <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
- <!-- transparent used for comparing visual and collision meshes -->
- </material>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/right_arm/right_link_4.stl"/>
- </geometry>
- <origin xyz="0 0 0"/>
- </collision>
- </link>
- <link name="right_link_5">
- <visual>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/right_arm/right_link_5.dae"/>
- </geometry>
- <origin xyz="0 0 0"/>
- <material name="gray">
- <color rgba="0.5 0.5 0.5 1.0"/>
- <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
- <!-- transparent used for comparing visual and collision meshes -->
- </material>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/right_arm/right_link_5.stl"/>
- </geometry>
- <origin xyz="0 0 0"/>
- </collision>
- </link>
- <link name="right_link_6">
- <visual>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/right_arm/right_link_6.dae"/>
- </geometry>
- <origin xyz="0 0 0"/>
- <material name="gray">
- <color rgba="0.5 0.5 0.5 1.0"/>
- <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
- <!-- transparent used for comparing visual and collision meshes -->
- </material>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/right_arm/right_link_6.stl"/>
- </geometry>
- <origin xyz="0 0 0"/>
- </collision>
- </link>
- <link name="right_link_7">
- <visual>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/right_arm/right_link_7.dae"/>
- </geometry>
- <origin xyz="0 0 0"/>
- <material name="gray">
- <color rgba="0.5 0.5 0.5 1.0"/>
- <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
- <!-- transparent used for comparing visual and collision meshes -->
- </material>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/right_arm/right_link_7.stl"/>
- </geometry>
- <origin xyz="0 0 0"/>
- </collision>
- </link>
- <!-- Joints -->
- <joint name="right_joint_1" type="revolute">
- <parent link="base_link"/>
- <child link="right_link_1"/>
- <origin xyz="0.02767 -0.06163 0.39997"/>
- <axis xyz="0.813781891 -0.342033376804 0.469864032781"/>
- <limit effort="0.0" lower="-2.94087978962" upper="2.94087978962" velocity="180.0"/>
- </joint>
- <joint name="right_joint_2" type="revolute">
- <parent link="right_link_1"/>
- <child link="right_link_2"/>
- <origin xyz="0.08697 -0.04182 0.09986"/>
- <axis xyz="-0.107005805065 0.706538329704 0.699537949934"/>
- <limit effort="0.0" lower="-2.50454747662" upper="0.75921822462" velocity="180.0"/>
- </joint>
- <joint name="right_joint_3" type="revolute">
- <parent link="right_link_2"/>
- <child link="right_link_3"/>
- <origin xyz="0.12136 -0.04574 0.02043"/>
- <axis xyz="0.813781605313 -0.342122959735 0.469799281666"/>
- <limit effort="0.0" lower="-2.94087978962" upper="2.94087978962" velocity="180.0"/>
- </joint>
- <joint name="right_joint_4" type="revolute">
- <parent link="right_link_3"/>
- <child link="right_link_4"/>
- <origin xyz="0.12282 0.00844 0.06476"/>
- <axis xyz="-0.106857471368 0.706733207183 0.699363726399"/>
- <limit effort="0.0" lower="-2.15548162622" upper="1.3962634016" velocity="180.0"/>
- </joint>
- <joint name="right_joint_5" type="revolute">
- <parent link="right_link_4"/>
- <child link="right_link_5"/>
- <origin xyz="0.11181 0.04026 -0.07815"/>
- <axis xyz="0.571257473841 0.619307167902 -0.538631138367"/>
- <limit effort="0.0" lower="-5.0614548308" upper="5.0614548308" velocity="400.0"/>
- </joint>
- <joint name="right_joint_6" type="revolute">
- <parent link="right_link_5"/>
- <child link="right_link_6"/>
- <origin xyz="0.04951 0.12621 -0.05134"/>
- <axis xyz="-0.106661912593 0.706635170928 0.699492632138"/>
- <limit effort="0.0" lower="-1.53588974176" upper="2.40855436776" velocity="400.0"/>
- </joint>
- <joint name="right_joint_7" type="revolute">
- <parent link="right_link_6"/>
- <child link="right_link_7"/>
- <origin xyz="0.02596 -0.0444 -0.01981"/>
- <axis xyz="0.571392949531 0.619383958415 -0.538399130923"/>
- <limit effort="0.0" lower="-3.99680398708" upper="3.99680398708" velocity="400.0"/>
- </joint>
- </robot>
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