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  1. <?xml version="1.0" ?>
  2. <!-- =================================================================================== -->
  3. <!-- |    This document was autogenerated by xacro from irb14000.xacro                 | -->
  4. <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
  5. <!-- =================================================================================== -->
  6. <!--======================================================================================
  7. =
  8. =  NOTE: This xacro file has NOT been validated for a physical robot as of September 2015
  9. =
  10. ==========================================================================================
  11. =
  12. =  Copyright (c) 2015, ABB
  13. =  All rights reserved.
  14. =
  15. =  Redistribution and use in source and binary forms, with
  16. =  or without modification, are permitted provided that
  17. =  the following conditions are met:
  18. =
  19. =     * Redistributions of source code must retain the
  20. =       above copyright notice, this list of conditions
  21. =       and the following disclaimer.
  22. =     * Redistributions in binary form must reproduce the
  23. =       above copyright notice, this list of conditions
  24. =       and the following disclaimer in the documentation
  25. =       and/or other materials provided with the
  26. =       distribution.
  27. =     * Neither the name of ABB nor the names of its
  28. =       contributors may be used to endorse or promote
  29. =       products derived from this software without
  30. =       specific prior written permission.
  31. =
  32. = THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  33. = AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  34. = IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
  35. = ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
  36. = LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  37. = DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  38. = SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  39. = CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  40. = OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
  41. = THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  42. =
  43. =======================================================================================-->
  44. <robot name="abb_irb14000" xmlns:xacro="http://www.ros.org/wiki/xacro">
  45.   <!-- Files containing macros and properties for the robot -->
  46.   <!--============================================================================================
  47.  = Main macros
  48.  =============================================================================================-->
  49.   <!-- Basic link macro-->
  50.   <!-- Basic joint macro -->
  51.   <!--============================================
  52.  = Macro for a irb14000 arm
  53.  =============================================-->
  54.   <!--============================================
  55.  = Macro for constructing the IRB14000 robot
  56.  =============================================-->
  57.   <!--============================================================================================
  58.  = Auxiliary macros
  59.  =============================================================================================-->
  60.   <!-- Calculate limit (with conversion from degrees to radians) -->
  61.   <!--============================================
  62.  = Setup all the joints in the left arm
  63.  =============================================-->
  64.   <!--============================================
  65.  = Setup all the joints in the right arm
  66.  =============================================-->
  67.   <!--============================================================================================
  68.  = Properties for the joints in the left arm. Origin, axis and limit values for each joint.
  69.  =============================================================================================-->
  70.   <!-- left_joint_1 -->
  71.   <!-- Length of rotational axis [mm] (for normalization) -->
  72.   <!-- left_joint_2 -->
  73.   <!-- Length of rotational axis [mm] (for normalization) -->
  74.   <!-- left_joint_3 -->
  75.   <!-- Length of rotational axis [mm] (for normalization) -->
  76.   <!-- left_joint_4 -->
  77.   <!-- Length of rotational axis [mm] (for normalization) -->
  78.   <!-- left_joint_5 -->
  79.   <!-- Length of rotational axis [mm] (for normalization) -->
  80.   <!-- left_joint_6 -->
  81.   <!-- Length of rotational axis [mm] (for normalization) -->
  82.   <!-- left_joint_7 -->
  83.   <!-- Length of rotational axis [mm] (for normalization) -->
  84.   <!--============================================================================================
  85.  = Properties for the joints in the right arm. Origin, axis and limit values for each joint.
  86.  =============================================================================================-->
  87.   <!-- right_joint_1 -->
  88.   <!-- Length of rotational axis [mm] (for normalization) -->
  89.    
  90.   <!-- right_joint_2 -->
  91.   <!-- Length of rotational axis [mm] (for normalization) -->
  92.   <!-- right_joint_3 -->
  93.   <!-- Length of rotational axis [mm] (for normalization) -->
  94.   <!-- right_joint_4 -->
  95.   <!-- Length of rotational axis [mm] (for normalization) -->
  96.   <!-- right_joint_5 -->
  97.   <!-- Length of rotational axis [mm] (for normalization) -->
  98.   <!-- right_joint_6 -->
  99.   <!-- Length of rotational axis [mm] (for normalization) -->
  100.   <!-- right_joint_7 -->
  101.   <!-- Length of rotational axis [mm] (for normalization) -->
  102.   <!-- Setup the robot -->
  103.   <link name="base_link">
  104.     <visual>
  105.       <geometry>
  106.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/base_link.dae"/>
  107.       </geometry>
  108.       <origin xyz="0 0 0"/>
  109.       <material name="gray">
  110.         <color rgba="0.5 0.5 0.5 1.0"/>
  111.         <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
  112.         <!-- transparent used for comparing visual and collision meshes -->
  113.       </material>
  114.     </visual>
  115.     <collision>
  116.       <geometry>
  117.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/base_link.stl"/>
  118.       </geometry>
  119.       <origin xyz="0 0 0"/>
  120.     </collision>
  121.   </link>
  122.   <!-- Links -->
  123.   <link name="left_link_1">
  124.     <visual>
  125.       <geometry>
  126.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/left_arm/left_link_1.dae"/>
  127.       </geometry>
  128.       <origin xyz="0 0 0"/>
  129.       <material name="gray">
  130.         <color rgba="0.5 0.5 0.5 1.0"/>
  131.         <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
  132.         <!-- transparent used for comparing visual and collision meshes -->
  133.       </material>
  134.     </visual>
  135.     <collision>
  136.       <geometry>
  137.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/left_arm/left_link_1.stl"/>
  138.       </geometry>
  139.       <origin xyz="0 0 0"/>
  140.     </collision>
  141.   </link>
  142.   <link name="left_link_2">
  143.     <visual>
  144.       <geometry>
  145.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/left_arm/left_link_2.dae"/>
  146.       </geometry>
  147.       <origin xyz="0 0 0"/>
  148.       <material name="gray">
  149.         <color rgba="0.5 0.5 0.5 1.0"/>
  150.         <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
  151.         <!-- transparent used for comparing visual and collision meshes -->
  152.       </material>
  153.     </visual>
  154.     <collision>
  155.       <geometry>
  156.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/left_arm/left_link_2.stl"/>
  157.       </geometry>
  158.       <origin xyz="0 0 0"/>
  159.     </collision>
  160.   </link>
  161.   <link name="left_link_3">
  162.     <visual>
  163.       <geometry>
  164.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/left_arm/left_link_3.dae"/>
  165.       </geometry>
  166.       <origin xyz="0 0 0"/>
  167.       <material name="gray">
  168.         <color rgba="0.5 0.5 0.5 1.0"/>
  169.         <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
  170.         <!-- transparent used for comparing visual and collision meshes -->
  171.       </material>
  172.     </visual>
  173.     <collision>
  174.       <geometry>
  175.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/left_arm/left_link_3.stl"/>
  176.       </geometry>
  177.       <origin xyz="0 0 0"/>
  178.     </collision>
  179.   </link>
  180.   <link name="left_link_4">
  181.     <visual>
  182.       <geometry>
  183.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/left_arm/left_link_4.dae"/>
  184.       </geometry>
  185.       <origin xyz="0 0 0"/>
  186.       <material name="gray">
  187.         <color rgba="0.5 0.5 0.5 1.0"/>
  188.         <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
  189.         <!-- transparent used for comparing visual and collision meshes -->
  190.       </material>
  191.     </visual>
  192.     <collision>
  193.       <geometry>
  194.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/left_arm/left_link_4.stl"/>
  195.       </geometry>
  196.       <origin xyz="0 0 0"/>
  197.     </collision>
  198.   </link>
  199.   <link name="left_link_5">
  200.     <visual>
  201.       <geometry>
  202.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/left_arm/left_link_5.dae"/>
  203.       </geometry>
  204.       <origin xyz="0 0 0"/>
  205.       <material name="gray">
  206.         <color rgba="0.5 0.5 0.5 1.0"/>
  207.         <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
  208.         <!-- transparent used for comparing visual and collision meshes -->
  209.       </material>
  210.     </visual>
  211.     <collision>
  212.       <geometry>
  213.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/left_arm/left_link_5.stl"/>
  214.       </geometry>
  215.       <origin xyz="0 0 0"/>
  216.     </collision>
  217.   </link>
  218.   <link name="left_link_6">
  219.     <visual>
  220.       <geometry>
  221.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/left_arm/left_link_6.dae"/>
  222.       </geometry>
  223.       <origin xyz="0 0 0"/>
  224.       <material name="gray">
  225.         <color rgba="0.5 0.5 0.5 1.0"/>
  226.         <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
  227.         <!-- transparent used for comparing visual and collision meshes -->
  228.       </material>
  229.     </visual>
  230.     <collision>
  231.       <geometry>
  232.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/left_arm/left_link_6.stl"/>
  233.       </geometry>
  234.       <origin xyz="0 0 0"/>
  235.     </collision>
  236.   </link>
  237.   <link name="left_link_7">
  238.     <visual>
  239.       <geometry>
  240.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/left_arm/left_link_7.dae"/>
  241.       </geometry>
  242.       <origin xyz="0 0 0"/>
  243.       <material name="gray">
  244.         <color rgba="0.5 0.5 0.5 1.0"/>
  245.         <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
  246.         <!-- transparent used for comparing visual and collision meshes -->
  247.       </material>
  248.     </visual>
  249.     <collision>
  250.       <geometry>
  251.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/left_arm/left_link_7.stl"/>
  252.       </geometry>
  253.       <origin xyz="0 0 0"/>
  254.     </collision>
  255.   </link>
  256.   <!-- Joints -->
  257.   <joint name="left_joint_1" type="revolute">
  258.     <parent link="base_link"/>
  259.     <child link="left_link_1"/>
  260.     <origin xyz="0.02767                      0.06163                      0.39997"/>
  261.     <axis xyz="0.813781891                   0.342033376804                   0.469864032781"/>
  262.     <limit effort="0.0" lower="-2.94087978962" upper="2.94087978962" velocity="180.0"/>
  263.   </joint>
  264.   <joint name="left_joint_2" type="revolute">
  265.     <parent link="left_link_1"/>
  266.     <child link="left_link_2"/>
  267.     <origin xyz="0.09359                      0.08563                      0.0565"/>
  268.     <axis xyz="0.107005805065                   0.706538329704                   -0.699537949934"/>
  269.     <limit effort="0.0" lower="-2.50454747662" upper="0.75921822462" velocity="180.0"/>
  270.   </joint>
  271.   <joint name="left_joint_3" type="revolute">
  272.     <parent link="left_link_2"/>
  273.     <child link="left_link_3"/>
  274.     <origin xyz="0.11922                      0.00381                      0.06637"/>
  275.     <axis xyz="0.813771185903                   0.34206991743                   0.469855982337"/>
  276.     <limit effort="0.0" lower="-2.94087978962" upper="2.94087978962" velocity="180.0"/>
  277.   </joint>
  278.   <joint name="left_joint_4" type="revolute">
  279.     <parent link="left_link_3"/>
  280.     <child link="left_link_4"/>
  281.     <origin xyz="0.12649                      0.0436                      0.00883"/>
  282.     <axis xyz="0.106857471368                   0.706733207183                   -0.699363726399"/>
  283.     <limit effort="0.0" lower="-2.15548162622" upper="1.3962634016" velocity="180.0"/>
  284.   </joint>
  285.   <joint name="left_joint_5" type="revolute">
  286.     <parent link="left_link_4"/>
  287.     <child link="left_link_5"/>
  288.     <origin xyz="0.10366                      -0.09418                      -0.0248"/>
  289.     <axis xyz="0.571257473841                   -0.619307167902                   -0.538631138367"/>
  290.     <limit effort="0.0" lower="-5.0614548308" upper="5.0614548308" velocity="400.0"/>
  291.   </joint>
  292.   <joint name="left_joint_6" type="revolute">
  293.     <parent link="left_link_5"/>
  294.     <child link="left_link_6"/>
  295.     <origin xyz="0.05912                      -0.0626                      -0.11428"/>
  296.     <axis xyz="0.106863251721                   0.706797296472                   -0.699298120913"/>
  297.     <limit effort="0.0" lower="-1.53588974176" upper="2.40855436776" velocity="400.0"/>
  298.   </joint>
  299.   <joint name="left_joint_7" type="revolute">
  300.     <parent link="left_link_6"/>
  301.     <child link="left_link_7"/>
  302.     <origin xyz="0.01635                      -0.01921                      0.04313"/>
  303.     <axis xyz="0.571210480579                   -0.619367006179                   -0.538612217096"/>
  304.     <limit effort="0.0" lower="-3.99680398708" upper="3.99680398708" velocity="400.0"/>
  305.   </joint>
  306.   <!-- Links -->
  307.   <link name="right_link_1">
  308.     <visual>
  309.       <geometry>
  310.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/right_arm/right_link_1.dae"/>
  311.       </geometry>
  312.       <origin xyz="0 0 0"/>
  313.       <material name="gray">
  314.         <color rgba="0.5 0.5 0.5 1.0"/>
  315.         <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
  316.         <!-- transparent used for comparing visual and collision meshes -->
  317.       </material>
  318.     </visual>
  319.     <collision>
  320.       <geometry>
  321.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/right_arm/right_link_1.stl"/>
  322.       </geometry>
  323.       <origin xyz="0 0 0"/>
  324.     </collision>
  325.   </link>
  326.   <link name="right_link_2">
  327.     <visual>
  328.       <geometry>
  329.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/right_arm/right_link_2.dae"/>
  330.       </geometry>
  331.       <origin xyz="0 0 0"/>
  332.       <material name="gray">
  333.         <color rgba="0.5 0.5 0.5 1.0"/>
  334.         <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
  335.         <!-- transparent used for comparing visual and collision meshes -->
  336.       </material>
  337.     </visual>
  338.     <collision>
  339.       <geometry>
  340.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/right_arm/right_link_2.stl"/>
  341.       </geometry>
  342.       <origin xyz="0 0 0"/>
  343.     </collision>
  344.   </link>
  345.   <link name="right_link_3">
  346.     <visual>
  347.       <geometry>
  348.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/right_arm/right_link_3.dae"/>
  349.       </geometry>
  350.       <origin xyz="0 0 0"/>
  351.       <material name="gray">
  352.         <color rgba="0.5 0.5 0.5 1.0"/>
  353.         <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
  354.         <!-- transparent used for comparing visual and collision meshes -->
  355.       </material>
  356.     </visual>
  357.     <collision>
  358.       <geometry>
  359.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/right_arm/right_link_3.stl"/>
  360.       </geometry>
  361.       <origin xyz="0 0 0"/>
  362.     </collision>
  363.   </link>
  364.   <link name="right_link_4">
  365.     <visual>
  366.       <geometry>
  367.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/right_arm/right_link_4.dae"/>
  368.       </geometry>
  369.       <origin xyz="0 0 0"/>
  370.       <material name="gray">
  371.         <color rgba="0.5 0.5 0.5 1.0"/>
  372.         <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
  373.         <!-- transparent used for comparing visual and collision meshes -->
  374.       </material>
  375.     </visual>
  376.     <collision>
  377.       <geometry>
  378.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/right_arm/right_link_4.stl"/>
  379.       </geometry>
  380.       <origin xyz="0 0 0"/>
  381.     </collision>
  382.   </link>
  383.   <link name="right_link_5">
  384.     <visual>
  385.       <geometry>
  386.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/right_arm/right_link_5.dae"/>
  387.       </geometry>
  388.       <origin xyz="0 0 0"/>
  389.       <material name="gray">
  390.         <color rgba="0.5 0.5 0.5 1.0"/>
  391.         <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
  392.         <!-- transparent used for comparing visual and collision meshes -->
  393.       </material>
  394.     </visual>
  395.     <collision>
  396.       <geometry>
  397.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/right_arm/right_link_5.stl"/>
  398.       </geometry>
  399.       <origin xyz="0 0 0"/>
  400.     </collision>
  401.   </link>
  402.   <link name="right_link_6">
  403.     <visual>
  404.       <geometry>
  405.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/right_arm/right_link_6.dae"/>
  406.       </geometry>
  407.       <origin xyz="0 0 0"/>
  408.       <material name="gray">
  409.         <color rgba="0.5 0.5 0.5 1.0"/>
  410.         <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
  411.         <!-- transparent used for comparing visual and collision meshes -->
  412.       </material>
  413.     </visual>
  414.     <collision>
  415.       <geometry>
  416.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/right_arm/right_link_6.stl"/>
  417.       </geometry>
  418.       <origin xyz="0 0 0"/>
  419.     </collision>
  420.   </link>
  421.   <link name="right_link_7">
  422.     <visual>
  423.       <geometry>
  424.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/visual/right_arm/right_link_7.dae"/>
  425.       </geometry>
  426.       <origin xyz="0 0 0"/>
  427.       <material name="gray">
  428.         <color rgba="0.5 0.5 0.5 1.0"/>
  429.         <!-- <color rgba="1.0 0.0 0.0 0.9"/> -->
  430.         <!-- transparent used for comparing visual and collision meshes -->
  431.       </material>
  432.     </visual>
  433.     <collision>
  434.       <geometry>
  435.         <mesh filename="package://abb_irb14000_support/meshes/irb14000/collision/right_arm/right_link_7.stl"/>
  436.       </geometry>
  437.       <origin xyz="0 0 0"/>
  438.     </collision>
  439.   </link>
  440.   <!-- Joints -->
  441.   <joint name="right_joint_1" type="revolute">
  442.     <parent link="base_link"/>
  443.     <child link="right_link_1"/>
  444.     <origin xyz="0.02767                      -0.06163                      0.39997"/>
  445.     <axis xyz="0.813781891                   -0.342033376804                   0.469864032781"/>
  446.     <limit effort="0.0" lower="-2.94087978962" upper="2.94087978962" velocity="180.0"/>
  447.   </joint>
  448.   <joint name="right_joint_2" type="revolute">
  449.     <parent link="right_link_1"/>
  450.     <child link="right_link_2"/>
  451.     <origin xyz="0.08697                      -0.04182                      0.09986"/>
  452.     <axis xyz="-0.107005805065                   0.706538329704                   0.699537949934"/>
  453.     <limit effort="0.0" lower="-2.50454747662" upper="0.75921822462" velocity="180.0"/>
  454.   </joint>
  455.   <joint name="right_joint_3" type="revolute">
  456.     <parent link="right_link_2"/>
  457.     <child link="right_link_3"/>
  458.     <origin xyz="0.12136                      -0.04574                      0.02043"/>
  459.     <axis xyz="0.813781605313                   -0.342122959735                   0.469799281666"/>
  460.     <limit effort="0.0" lower="-2.94087978962" upper="2.94087978962" velocity="180.0"/>
  461.   </joint>
  462.   <joint name="right_joint_4" type="revolute">
  463.     <parent link="right_link_3"/>
  464.     <child link="right_link_4"/>
  465.     <origin xyz="0.12282                      0.00844                      0.06476"/>
  466.     <axis xyz="-0.106857471368                   0.706733207183                   0.699363726399"/>
  467.     <limit effort="0.0" lower="-2.15548162622" upper="1.3962634016" velocity="180.0"/>
  468.   </joint>
  469.   <joint name="right_joint_5" type="revolute">
  470.     <parent link="right_link_4"/>
  471.     <child link="right_link_5"/>
  472.     <origin xyz="0.11181                      0.04026                      -0.07815"/>
  473.     <axis xyz="0.571257473841                   0.619307167902                   -0.538631138367"/>
  474.     <limit effort="0.0" lower="-5.0614548308" upper="5.0614548308" velocity="400.0"/>
  475.   </joint>
  476.   <joint name="right_joint_6" type="revolute">
  477.     <parent link="right_link_5"/>
  478.     <child link="right_link_6"/>
  479.     <origin xyz="0.04951                      0.12621                      -0.05134"/>
  480.     <axis xyz="-0.106661912593                   0.706635170928                   0.699492632138"/>
  481.     <limit effort="0.0" lower="-1.53588974176" upper="2.40855436776" velocity="400.0"/>
  482.   </joint>
  483.   <joint name="right_joint_7" type="revolute">
  484.     <parent link="right_link_6"/>
  485.     <child link="right_link_7"/>
  486.     <origin xyz="0.02596                      -0.0444                      -0.01981"/>
  487.     <axis xyz="0.571392949531                   0.619383958415                   -0.538399130923"/>
  488.     <limit effort="0.0" lower="-3.99680398708" upper="3.99680398708" velocity="400.0"/>
  489.   </joint>
  490. </robot>
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