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irb6600_225_255_macro.xacro
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irb6600_225_255_macro.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find abb_resources)/urdf/common_materials.xacro"/>
<xacro:macro name="abb_irb6600_225_255" params="prefix">
<!-- link list -->
<link name="${prefix}base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://abb_irb6600_support/meshes/irb6600_225_255/visual/base_link.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://abb_irb6600_support/meshes/irb6600_225_255/collision/base_link.stl" />
</geometry>
<xacro:material_abb_yellow />
</collision>
</link>
<link name="${prefix}link_1">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://abb_irb6600_support/meshes/irb6600_225_255/visual/link_1.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://abb_irb6600_support/meshes/irb6600_225_255/collision/link_1.stl" />
</geometry>
<xacro:material_abb_yellow />
</collision>
</link>
<link name="${prefix}link_2">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://abb_irb6600_support/meshes/irb6600_225_255/visual/link_2.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://abb_irb6600_support/meshes/irb6600_225_255/collision/link_2.stl" />
</geometry>
<xacro:material_abb_yellow />
</collision>
</link>
<link name="${prefix}link_3">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://abb_irb6600_support/meshes/irb6600_225_255/visual/link_3.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://abb_irb6600_support/meshes/irb6600_225_255/collision/link_3.stl" />
</geometry>
<xacro:material_abb_yellow />
</collision>
</link>
<link name="${prefix}link_4">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://abb_irb6600_support/meshes/irb6600_225_255/visual/link_4.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://abb_irb6600_support/meshes/irb6600_225_255/collision/link_4.stl" />
</geometry>
<xacro:material_abb_yellow />
</collision>
</link>
<link name="${prefix}link_5">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://abb_irb6600_support/meshes/irb6600_225_255/visual/link_5.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://abb_irb6600_support/meshes/irb6600_225_255/collision/link_5.stl" />
</geometry>
<xacro:material_abb_yellow />
</collision>
</link>
<link name="${prefix}link_6">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://abb_irb6600_support/meshes/irb6600_225_255/visual/link_6.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://abb_irb6600_support/meshes/irb6600_225_255/collision/link_6.stl" />
</geometry>
<xacro:material_abb_yellow />
</collision>
</link>
<link name="${prefix}tool0" />
<!--Cylinder and piston -->
<link name="${prefix}link_cylinder">
<visual name="visual">
<geometry>
<mesh filename="package://abb_irb6600_support/meshes/irb6600_225_255/visual/link_cylinder.dae" />
</geometry>
</visual>
<collision name="collision">
<geometry>
<mesh filename="package://abb_irb6600_support/meshes/irb6600_225_255/collision/link_cylinder.stl" />
</geometry>
<xacro:material_abb_yellow />
</collision>
</link>
<link name="${prefix}link_piston">
<visual name="visual">
<geometry>
<mesh filename="package://abb_irb6600_support/meshes/irb6600_225_255/visual/link_piston.dae" />
</geometry>
</visual>
<collision name="collision">
<geometry>
<mesh filename="package://abb_irb6600_support/meshes/irb6600_225_255/collision/link_piston.stl" />
</geometry>
<xacro:material_abb_yellow />
</collision>
</link>
<!-- end of link list -->
<!-- joint list -->
<joint name="${prefix}joint_1" type="revolute">
<origin xyz="0 0 0.780" rpy="0 0 0" />
<parent link="${prefix}base_link" />
<child link="${prefix}link_1" />
<axis xyz="0 0 1" />
<limit lower="-3.14159265" upper="3.14159265" effort="0" velocity="1.74532925" />
</joint>
<joint name="${prefix}joint_2" type="revolute">
<origin xyz="0.320 0 0" rpy="0 0 0" />
<parent link="${prefix}link_1" />
<child link="${prefix}link_2" />
<axis xyz="0 1 0" />
<limit lower="-1.13446401" upper="1.3962634" effort="0" velocity="1.57079633" />
</joint>
<joint name="${prefix}joint_3" type="revolute">
<origin xyz="0 0 1.075" rpy="0 0 0" />
<parent link="${prefix}link_2" />
<child link="${prefix}link_3" />
<axis xyz="0 1 0" />
<limit lower="-3.14159265" upper="1.04719755" effort="0" velocity="1.57079633" />
</joint>
<joint name="${prefix}joint_4" type="revolute">
<origin xyz="0 0 0.2" rpy="0 0 0" />
<parent link="${prefix}link_3" />
<child link="${prefix}link_4" />
<axis xyz="1 0 0" />
<limit lower="-5.23598776" upper="5.23598776" effort="0" velocity="2.61799388" />
</joint>
<joint name="${prefix}joint_5" type="revolute">
<origin xyz="1.142 0 0" rpy="0 0 0" />
<parent link="${prefix}link_4" />
<child link="${prefix}link_5" />
<axis xyz="0 1 0" />
<limit lower="-2.0943951" upper="2.0943951" effort="0" velocity="2.0943951" />
</joint>
<joint name="${prefix}joint_6" type="revolute">
<origin xyz="0.2 0 0" rpy="0 0 0" />
<parent link="${prefix}link_5" />
<child link="${prefix}link_6" />
<axis xyz="1 0 0" />
<limit lower="-5.23598776" upper="5.23598776" effort="0" velocity="3.31612558" />
</joint>
<joint name="${prefix}joint_6-tool0" type="fixed">
<origin xyz="0 0 0" rpy="0 1.57079632679 0" />
<parent link="${prefix}link_6" />
<child link="${prefix}tool0" />
</joint>
<joint type="continuous" name="${prefix}joint_cylinder">
<origin xyz="-0.286 0 -0.13" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<parent link="${prefix}link_1"/>
<child link="${prefix}link_cylinder"/>
<mimic joint="${prefix}joint_2" multiplier="-0.165"/>
</joint>
<joint type="continuous" name="${prefix}joint_piston">
<origin xyz="-0.137 0 -0.025" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<parent link="${prefix}link_2"/>
<child link="${prefix}link_piston"/>
<mimic joint="${prefix}joint_2" multiplier="-1.165"/>
</joint>
<!-- end of joint list -->
<!-- ROS base_link to ABB base coordinate system transform -->
<link name="${prefix}base" />
<joint name="${prefix}base_link-base" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="${prefix}base_link"/>
<child link="${prefix}base"/>
</joint>
</xacro:macro>
</robot>