model.urdf

<?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>