192 lines
5.9 KiB
XML
192 lines
5.9 KiB
XML
<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from lrmate200ib.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="fanuc_lrmate200ib" xmlns:xacro="http://ros.org/wiki/xacro">
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<!-- links: main serial chain -->
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<link name="base_link">
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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="../meshes/lrmate200ib/visual/base_link.stl"/>
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</geometry>
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<material name="">
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<color rgba="0.96 0.76 0.13 1.0"/>
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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="../meshes/lrmate200ib/collision/base_link.stl"/>
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</geometry>
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</collision>
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</link>
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<link name="link_1">
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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="../meshes/lrmate200ib/visual/link_1.stl"/>
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</geometry>
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<material name="">
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<color rgba="0.96 0.76 0.13 1.0"/>
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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="../meshes/lrmate200ib/collision/link_1.stl"/>
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</geometry>
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</collision>
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</link>
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<link name="link_2">
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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="../meshes/lrmate200ib/visual/link_2.stl"/>
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</geometry>
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<material name="">
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<color rgba="0.96 0.76 0.13 1.0"/>
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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="../meshes/lrmate200ib/collision/link_2.stl"/>
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</geometry>
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</collision>
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</link>
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<link name="link_3">
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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="../meshes/lrmate200ib/visual/link_3.stl"/>
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</geometry>
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<material name="">
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<color rgba="0.96 0.76 0.13 1.0"/>
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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="../meshes/lrmate200ib/collision/link_3.stl"/>
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</geometry>
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</collision>
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</link>
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<link name="link_4">
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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="../meshes/lrmate200ib/visual/link_4.stl"/>
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</geometry>
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<material name="">
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<color rgba="0.96 0.76 0.13 1.0"/>
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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="../meshes/lrmate200ib/collision/link_4.stl"/>
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</geometry>
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</collision>
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</link>
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<link name="link_5">
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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="../meshes/lrmate200ib/visual/link_5.stl"/>
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</geometry>
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<material name="">
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<color rgba="0.96 0.76 0.13 1.0"/>
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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="../meshes/lrmate200ib/collision/link_5.stl"/>
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</geometry>
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</collision>
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</link>
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<link name="link_6">
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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="../meshes/lrmate200ib/visual/link_6.stl"/>
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</geometry>
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<material name="">
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<color rgba="0.15 0.15 0.15 1.0"/>
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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="../meshes/lrmate200ib/collision/link_6.stl"/>
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</geometry>
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</collision>
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</link>
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<!-- joints: main serial chain -->
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<joint name="joint_1" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.350"/>
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<parent link="base_link"/>
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<child link="link_1"/>
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<axis xyz="0 0 1"/>
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<limit effort="0" lower="-2.7925" upper="2.7925" velocity="3.1415"/>
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</joint>
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<joint name="joint_2" type="revolute">
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<origin rpy="0 0 0" xyz="0.150 0 0"/>
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<parent link="link_1"/>
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<child link="link_2"/>
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<axis xyz="0 1 0"/>
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<limit effort="0" lower="-0.5759" upper="2.6529" velocity="3.1415"/>
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</joint>
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<joint name="joint_3" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.250"/>
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<parent link="link_2"/>
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<child link="link_3"/>
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<axis xyz="0 -1 0"/>
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<limit effort="0" lower="-2.6145" upper="2.8797" velocity="3.9269"/>
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</joint>
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<joint name="joint_4" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.075"/>
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<parent link="link_3"/>
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<child link="link_4"/>
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<axis xyz="-1 0 0"/>
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<limit effort="0" lower="-3.3161" upper="3.3161" velocity="6.9813"/>
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</joint>
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<joint name="joint_5" type="revolute">
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<origin rpy="0 0 0" xyz="0.290 0 0"/>
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<parent link="link_4"/>
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<child link="link_5"/>
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<axis xyz="0 -1 0"/>
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<limit effort="0" lower="-2.0943" upper="2.0943" velocity="5.7595"/>
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</joint>
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<joint name="joint_6" type="revolute">
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<origin rpy="0 0 0" xyz="0.080 0 0"/>
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<parent link="link_5"/>
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<child link="link_6"/>
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<axis xyz="-1 0 0"/>
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<limit effort="0" lower="-6.2831" upper="6.2831" velocity="8.3775"/>
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</joint>
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<!-- ROS base_link to Fanuc World Coordinates transform -->
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<link name="base"/>
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<joint name="base_link-base" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0.350"/>
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<parent link="base_link"/>
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<child link="base"/>
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</joint>
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<!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
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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 0 0" xyz="0 0 0"/>
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<parent link="link_6"/>
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<child link="flange"/>
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</joint>
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<!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
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<link name="tool0"/>
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<joint name="link_6-tool0" type="fixed">
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<origin rpy="3.14159265359 -1.57079632679 0" xyz="0 0 0"/>
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<parent link="link_6"/>
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<child link="tool0"/>
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</joint>
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</robot>
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