175 lines
5.5 KiB
XML
175 lines
5.5 KiB
XML
<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from m16ib20.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="fanuc_m16ib20">
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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="../fanuc_m16ib_support/meshes/m16ib20/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="../fanuc_m16ib_support/meshes/m16ib20/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="../fanuc_m16ib_support/meshes/m16ib20/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="../fanuc_m16ib_support/meshes/m16ib20/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="../fanuc_m16ib_support/meshes/m16ib20/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="../fanuc_m16ib_support/meshes/m16ib20/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="../fanuc_m16ib_support/meshes/m16ib20/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="../fanuc_m16ib_support/meshes/m16ib20/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="../fanuc_m16ib_support/meshes/m16ib20/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="../fanuc_m16ib_support/meshes/m16ib20/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="../fanuc_m16ib_support/meshes/m16ib20/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="../fanuc_m16ib_support/meshes/m16ib20/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="../fanuc_m16ib_support/meshes/m16ib20/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="../fanuc_m16ib_support/meshes/m16ib20/collision/link_6.stl"/>
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</geometry>
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</collision>
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</link>
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<link name="tool0"/>
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<joint name="joint_1" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.245"/>
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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="-2.9671" upper="2.9671" velocity="2.8798"/>
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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="0.15 0.18759 0.28"/>
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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="-1.5708" upper="2.7925" velocity="2.8798"/>
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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 -0.18759 0.77"/>
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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="-2.9671" upper="5.0615" velocity="3.0543"/>
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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="0.18425 0 0.1"/>
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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="-3.4907" upper="3.4907" velocity="6.1087"/>
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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="0.55575 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="-2.4435" upper="2.4435" velocity="5.9341"/>
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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="0.1 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="-7.8540" upper="7.8540" velocity="9.0757"/>
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</joint>
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<joint name="joint_6-tool0" type="fixed">
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<parent link="link_6"/>
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<child link="tool0"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</joint>
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</robot>
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