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irb5400.urdf
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irb5400.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from irb5400.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="abb_irb5400" xmlns:xacro="http://ros.org/wiki/xacro">
<!-- Conversion were obtained from http://www.e-paint.co.uk/Lab_values.asp
unless otherwise stated. -->
<!-- Actual colors -->
<!-- NCS 2070-Y60R orange, standard robot color 1974 - May 2014 -->
<!-- RAL 7035 light grey (abb graphite white), standard robot color May 2014 - current -->
<!-- RAL 9003 signal white (abb white), cleanroom robot color -->
<!-- RAL 7032 pebble gray, controller -->
<!-- RAL 7012 basalt gray (abb dark gray) , robot primer -->
<!-- RAL 7021 black gray (abb black) , robot with dark link color -->
<!-- Other robot colours availble, but not limited too. -->
<!-- RAL 3001 signal red -->
<!-- RAL 3002 carmine red -->
<!-- RAL 5002 ultramarine blue -->
<!-- RAL 5015 sky blue -->
<!-- RAL 6002 leaf green -->
<!-- RAL 9002 gray white -->
<!-- RAL 9010 pure white -->
<!-- approximations -->
<!-- yellow, collision model -->
<!-- link list -->
<link name="base_link">
<visual>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/visual/base_link.dae"/>
</geometry>
<material name="">
<color rgba="0.7372549 0.3490196 0.1607843 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/collision/base_link.stl"/>
</geometry>
<material name="">
<color rgba="1 1 0 1"/>
</material>
</collision>
</link>
<link name="link_1">
<visual>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/visual/link_1.dae"/>
</geometry>
<material name="">
<color rgba="0.7372549 0.3490196 0.1607843 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/collision/link_1.stl"/>
</geometry>
<material name="">
<color rgba="1 1 0 1"/>
</material>
</collision>
</link>
<link name="link_2">
<visual>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/visual/link_2.dae"/>
</geometry>
<material name="">
<color rgba="0.3450980 0.3647059 0.3686275 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/collision/link_2.stl"/>
</geometry>
<material name="">
<color rgba="1 1 0 1"/>
</material>
</collision>
</link>
<link name="link_3">
<visual>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/visual/link_3.dae"/>
</geometry>
<material name="">
<color rgba="0.7372549 0.3490196 0.1607843 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/collision/link_3.stl"/>
</geometry>
<material name="">
<color rgba="1 1 0 1"/>
</material>
</collision>
</link>
<link name="link_4">
<visual>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/visual/link_4.dae"/>
</geometry>
<material name="">
<color rgba="0.3450980 0.3647059 0.3686275 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/collision/link_4.stl"/>
</geometry>
<material name="">
<color rgba="1 1 0 1"/>
</material>
</collision>
</link>
<link name="link_5">
<visual>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/visual/link_5.dae"/>
</geometry>
<material name="">
<color rgba="0.3450980 0.3647059 0.3686275 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/collision/link_5.stl"/>
</geometry>
<material name="">
<color rgba="1 1 0 1"/>
</material>
</collision>
</link>
<link name="link_5b">
<visual>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/visual/link_5b.dae"/>
</geometry>
<material name="">
<color rgba="0.3450980 0.3647059 0.3686275 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/collision/link_5b.stl"/>
</geometry>
<material name="">
<color rgba="1 1 0 1"/>
</material>
</collision>
</link>
<link name="link_6">
<visual>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/visual/link_6.dae"/>
</geometry>
<material name="">
<color rgba="0.1882353 0.1960784 0.2039216 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/collision/link_6.stl"/>
</geometry>
<material name="">
<color rgba="1 1 0 1"/>
</material>
</collision>
</link>
<link name="tool0"/>
<!-- end of link list -->
<!-- joint list -->
<joint name="joint1" type="revolute">
<parent link="base_link"/>
<child link="link_1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="100" lower="-2.617" upper="2.617" velocity="2.3911"/>
</joint>
<joint name="joint2" type="revolute">
<parent link="link_1"/>
<child link="link_2"/>
<origin rpy="0 0 0" xyz="0.300 0 0.660"/>
<axis xyz="0 1 0"/>
<limit effort="100" lower="-1.396" upper="1.396" velocity="2.3911"/>
</joint>
<joint name="joint3" type="revolute">
<parent link="link_2"/>
<child link="link_3"/>
<origin rpy="0 0 0" xyz="0 0 1.200"/>
<axis xyz="0 1 0"/>
<limit effort="100" lower="-1.308" upper="1.308" velocity="2.3911"/>
</joint>
<joint name="joint4" type="revolute">
<parent link="link_3"/>
<child link="link_4"/>
<origin rpy="0 0 0" xyz="1.339 0 0.186"/>
<axis xyz="1 0 0"/>
<limit effort="100" lower="-6.0" upper="6.0" velocity="8.1157"/>
</joint>
<joint name="joint5" type="revolute">
<parent link="link_4"/>
<child link="link_5"/>
<origin rpy="0 0.6109 0" xyz="0.0693 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="100" lower="-6.0" upper="6.0" velocity="6.1086"/>
</joint>
<joint name="joint5b" type="revolute">
<parent link="link_5"/>
<child link="link_5b"/>
<origin rpy="0 -1.2217 0" xyz=".106246 0 0.074394"/>
<axis xyz="1 0 0"/>
<limit effort="100" lower="-6.0" upper="6.0" velocity="6.1086"/>
<mimic joint="joint5" multiplier="-1.0" offset="0"/>
</joint>
<joint name="joint6" type="revolute">
<parent link="link_5b"/>
<child link="link_6"/>
<origin rpy="0 0.6109 0" xyz="0.0672 0 -0.0470"/>
<axis xyz="1 0 0"/>
<limit effort="100" lower="-6.0" upper="6.0" velocity="9.3375"/>
</joint>
<joint name="joint_6-tool0" type="fixed">
<parent link="link_6"/>
<child link="tool0"/>
<origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
</joint>
<!-- end of joint list -->
<!-- ROS base_link to ABB World Coordinates transform -->
<link name="base"/>
<joint name="base_link-base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="base"/>
</joint>
</robot>