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1140 lines
4.9 MiB
1140 lines
4.9 MiB
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<asset>
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<contributor>
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<authoring_tool>URDF Collada Writer</authoring_tool>
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</contributor>
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<created>2017-08-28T02:20:50.000000</created>
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<modified>2017-08-28T02:20:50.000000</modified>
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<unit/>
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</asset>
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4821 4822 4823 4824 4825 4826 4827 4828 4829 4830 4831 4832 4833 4834 4835 4836 4837 4838 4839 4840 4841 4842 4843 4844 4845 4846 4847 4848 4849 4850 4851 4852 4853 4854 4855 4856 4857 4858 4859 4860 4861 4862 4863 4864 4865 4866 4867 4868 4869 4870 4871 4872 4873 4874 4875 4876 4877 4878 4879 4880 4881 4882 4883 4884 4885 4886 4887 4888 4889 4890 4891 4892 4893 4894 4895 4896 4897 4898 4899 4900 4901 4902 4903 4904 4905 4906 4907 4908 4909 4910 4911 4912 4913 4914 4915 4916 4917 4918 4919 4920 4921 4922 4923 4924 4925 4926 4927 4928 4929 4930 4931 4932 4933 4934 4935 4936 4937 4938 4939 4940 4941 4942 4943 4944 4945 4946 4947 4948 4949 4950 4951 4952 4953 4954 4955 4956 4957 4958 4959 4960 4961 4962 4963 4964 4965 4966 4967 4968 4969 4970 4971 4972 4973 4974 4975 4976 4977 4978 4979 4980 4981 4982 4983 4984 4985 4986 4987 4988 4989 4990 4991 4992 4993 4994 4995 4996 4997 4998 4999 5000 5001 5002 5003 5004 5005 5006 5007 5008 5009 5010 5011 5012 5013 5014 5015 5016 5017 5018 5019 5020 5021 5022 5023 5024 5025 5026 5027 5028 5029 5030 5031 5032 5033 5034 5035 5036 5037 5038 5039 5040 5041 5042 5043 5044 5045 5046 5047 5048 5049 5050 5051 5052 5053 5054 5055 5056 5057 5058 5059 5060 5061 5062 5063 5064 5065 5066 5067 5068 5069 5070 5071 5072 5073 5074 5075 5076 5077 5078 5079 5080 5081 5082 5083 5084 5085 5086 5087 5088 5089 5090 5091 5092 5093 5094 5095 5096 5097 5098 5099 5100 5101 5102 5103 5104 5105 5106 5107 5108 5109 5110 5111 5112 5113 5114 5115 5116 5117 5118 5119 5120 5121 5122 5123 5124 5125 5126 5127 5128 5129 5130 5131 5132 5133 5134 5135 5136 5137 5138 5139 5140 5141 5142 5143 5144 5145 5146 5147 5148 5149 5150 5151 5152 5153 5154 5155 5156 5157 5158 5159 5160 5161 5162 5163 5164 5165 5166 5167 5168 5169 5170 5171 5172 5173 5174 5175 5176 5177 5178 5179 5180 5181 5182 5183 5184 5185 5186 5187 5188 5189 5190 5191 5192 5193 5194 5195 5196 5197 5198 5199 5200 5201 5202 5203 5204 5205 5206 5207 5208 5209 5210 5211 5212 5213 5214 5215 5216 5217 5218 5219 5220 5221 5222 5223 5224 5225 5226 5227 5228 5229 5230 5231 5232 5233 5234 5235 5236 5237 5238 5239 5240 5241 5242 5243 5244 5245 5246 5247 5248 5249 5250 5251 5252 5253 5254 5255</p>
|
|
</triangles>
|
|
</mesh>
|
|
</geometry>
|
|
</library_geometries>
|
|
<library_effects id="effects">
|
|
<effect id="gkmodel0_base_link_geom0">
|
|
<profile_COMMON>
|
|
<technique sid="">
|
|
<phong>
|
|
<ambient>
|
|
<color>0.7372549176216125 0.3490195870399475 0.1607843041419983 1</color>
|
|
</ambient>
|
|
<diffuse>
|
|
<color>0.7372549176216125 0.3490195870399475 0.1607843041419983 1</color>
|
|
</diffuse>
|
|
</phong>
|
|
</technique>
|
|
</profile_COMMON>
|
|
</effect>
|
|
<effect id="gkmodel0_base_link_geom0_eff">
|
|
<profile_COMMON>
|
|
<technique sid="">
|
|
<phong>
|
|
<ambient>
|
|
<color>0.7372549176216125 0.3490195870399475 0.1607843041419983 1</color>
|
|
</ambient>
|
|
<diffuse>
|
|
<color>0.7372549176216125 0.3490195870399475 0.1607843041419983 1</color>
|
|
</diffuse>
|
|
</phong>
|
|
</technique>
|
|
</profile_COMMON>
|
|
</effect>
|
|
<effect id="gkmodel0_link_1_geom0">
|
|
<profile_COMMON>
|
|
<technique sid="">
|
|
<phong>
|
|
<ambient>
|
|
<color>0.7372549176216125 0.3490195870399475 0.1607843041419983 1</color>
|
|
</ambient>
|
|
<diffuse>
|
|
<color>0.7372549176216125 0.3490195870399475 0.1607843041419983 1</color>
|
|
</diffuse>
|
|
</phong>
|
|
</technique>
|
|
</profile_COMMON>
|
|
</effect>
|
|
<effect id="gkmodel0_link_1_geom0_eff">
|
|
<profile_COMMON>
|
|
<technique sid="">
|
|
<phong>
|
|
<ambient>
|
|
<color>0.7372549176216125 0.3490195870399475 0.1607843041419983 1</color>
|
|
</ambient>
|
|
<diffuse>
|
|
<color>0.7372549176216125 0.3490195870399475 0.1607843041419983 1</color>
|
|
</diffuse>
|
|
</phong>
|
|
</technique>
|
|
</profile_COMMON>
|
|
</effect>
|
|
<effect id="gkmodel0_link_2_geom0">
|
|
<profile_COMMON>
|
|
<technique sid="">
|
|
<phong>
|
|
<ambient>
|
|
<color>0.7372549176216125 0.3490195870399475 0.1607843041419983 1</color>
|
|
</ambient>
|
|
<diffuse>
|
|
<color>0.7372549176216125 0.3490195870399475 0.1607843041419983 1</color>
|
|
</diffuse>
|
|
</phong>
|
|
</technique>
|
|
</profile_COMMON>
|
|
</effect>
|
|
<effect id="gkmodel0_link_2_geom0_eff">
|
|
<profile_COMMON>
|
|
<technique sid="">
|
|
<phong>
|
|
<ambient>
|
|
<color>0.7372549176216125 0.3490195870399475 0.1607843041419983 1</color>
|
|
</ambient>
|
|
<diffuse>
|
|
<color>0.7372549176216125 0.3490195870399475 0.1607843041419983 1</color>
|
|
</diffuse>
|
|
</phong>
|
|
</technique>
|
|
</profile_COMMON>
|
|
</effect>
|
|
<effect id="gkmodel0_link_3_geom0">
|
|
<profile_COMMON>
|
|
<technique sid="">
|
|
<phong>
|
|
<ambient>
|
|
<color>0.7372549176216125 0.3490195870399475 0.1607843041419983 1</color>
|
|
</ambient>
|
|
<diffuse>
|
|
<color>0.7372549176216125 0.3490195870399475 0.1607843041419983 1</color>
|
|
</diffuse>
|
|
</phong>
|
|
</technique>
|
|
</profile_COMMON>
|
|
</effect>
|
|
<effect id="gkmodel0_link_3_geom0_eff">
|
|
<profile_COMMON>
|
|
<technique sid="">
|
|
<phong>
|
|
<ambient>
|
|
<color>0.7372549176216125 0.3490195870399475 0.1607843041419983 1</color>
|
|
</ambient>
|
|
<diffuse>
|
|
<color>0.7372549176216125 0.3490195870399475 0.1607843041419983 1</color>
|
|
</diffuse>
|
|
</phong>
|
|
</technique>
|
|
</profile_COMMON>
|
|
</effect>
|
|
<effect id="gkmodel0_link_4_geom0">
|
|
<profile_COMMON>
|
|
<technique sid="">
|
|
<phong>
|
|
<ambient>
|
|
<color>0.7372549176216125 0.3490195870399475 0.1607843041419983 1</color>
|
|
</ambient>
|
|
<diffuse>
|
|
<color>0.7372549176216125 0.3490195870399475 0.1607843041419983 1</color>
|
|
</diffuse>
|
|
</phong>
|
|
</technique>
|
|
</profile_COMMON>
|
|
</effect>
|
|
<effect id="gkmodel0_link_4_geom0_eff">
|
|
<profile_COMMON>
|
|
<technique sid="">
|
|
<phong>
|
|
<ambient>
|
|
<color>0.7372549176216125 0.3490195870399475 0.1607843041419983 1</color>
|
|
</ambient>
|
|
<diffuse>
|
|
<color>0.7372549176216125 0.3490195870399475 0.1607843041419983 1</color>
|
|
</diffuse>
|
|
</phong>
|
|
</technique>
|
|
</profile_COMMON>
|
|
</effect>
|
|
<effect id="gkmodel0_link_5_geom0">
|
|
<profile_COMMON>
|
|
<technique sid="">
|
|
<phong>
|
|
<ambient>
|
|
<color>0.7372549176216125 0.3490195870399475 0.1607843041419983 1</color>
|
|
</ambient>
|
|
<diffuse>
|
|
<color>0.7372549176216125 0.3490195870399475 0.1607843041419983 1</color>
|
|
</diffuse>
|
|
</phong>
|
|
</technique>
|
|
</profile_COMMON>
|
|
</effect>
|
|
<effect id="gkmodel0_link_5_geom0_eff">
|
|
<profile_COMMON>
|
|
<technique sid="">
|
|
<phong>
|
|
<ambient>
|
|
<color>0.7372549176216125 0.3490195870399475 0.1607843041419983 1</color>
|
|
</ambient>
|
|
<diffuse>
|
|
<color>0.7372549176216125 0.3490195870399475 0.1607843041419983 1</color>
|
|
</diffuse>
|
|
</phong>
|
|
</technique>
|
|
</profile_COMMON>
|
|
</effect>
|
|
<effect id="gkmodel0_link_6_geom0">
|
|
<profile_COMMON>
|
|
<technique sid="">
|
|
<phong>
|
|
<ambient>
|
|
<color>0.1882352977991104 0.1960784047842026 0.2039216011762619 1</color>
|
|
</ambient>
|
|
<diffuse>
|
|
<color>0.1882352977991104 0.1960784047842026 0.2039216011762619 1</color>
|
|
</diffuse>
|
|
</phong>
|
|
</technique>
|
|
</profile_COMMON>
|
|
</effect>
|
|
<effect id="gkmodel0_link_6_geom0_eff">
|
|
<profile_COMMON>
|
|
<technique sid="">
|
|
<phong>
|
|
<ambient>
|
|
<color>0.1882352977991104 0.1960784047842026 0.2039216011762619 1</color>
|
|
</ambient>
|
|
<diffuse>
|
|
<color>0.1882352977991104 0.1960784047842026 0.2039216011762619 1</color>
|
|
</diffuse>
|
|
</phong>
|
|
</technique>
|
|
</profile_COMMON>
|
|
</effect>
|
|
</library_effects>
|
|
<library_materials id="materials">
|
|
<material id="gkmodel0_base_link_geom0_mat">
|
|
<instance_effect url="#gkmodel0_base_link_geom0_eff"/>
|
|
</material>
|
|
<material id="gkmodel0_base_link_geom0_mat">
|
|
<instance_effect url="#gkmodel0_base_link_geom0"/>
|
|
</material>
|
|
<material id="gkmodel0_link_1_geom0_mat">
|
|
<instance_effect url="#gkmodel0_link_1_geom0_eff"/>
|
|
</material>
|
|
<material id="gkmodel0_link_1_geom0_mat">
|
|
<instance_effect url="#gkmodel0_link_1_geom0"/>
|
|
</material>
|
|
<material id="gkmodel0_link_2_geom0_mat">
|
|
<instance_effect url="#gkmodel0_link_2_geom0_eff"/>
|
|
</material>
|
|
<material id="gkmodel0_link_2_geom0_mat">
|
|
<instance_effect url="#gkmodel0_link_2_geom0"/>
|
|
</material>
|
|
<material id="gkmodel0_link_3_geom0_mat">
|
|
<instance_effect url="#gkmodel0_link_3_geom0_eff"/>
|
|
</material>
|
|
<material id="gkmodel0_link_3_geom0_mat">
|
|
<instance_effect url="#gkmodel0_link_3_geom0"/>
|
|
</material>
|
|
<material id="gkmodel0_link_4_geom0_mat">
|
|
<instance_effect url="#gkmodel0_link_4_geom0_eff"/>
|
|
</material>
|
|
<material id="gkmodel0_link_4_geom0_mat">
|
|
<instance_effect url="#gkmodel0_link_4_geom0"/>
|
|
</material>
|
|
<material id="gkmodel0_link_5_geom0_mat">
|
|
<instance_effect url="#gkmodel0_link_5_geom0_eff"/>
|
|
</material>
|
|
<material id="gkmodel0_link_5_geom0_mat">
|
|
<instance_effect url="#gkmodel0_link_5_geom0"/>
|
|
</material>
|
|
<material id="gkmodel0_link_6_geom0_mat">
|
|
<instance_effect url="#gkmodel0_link_6_geom0_eff"/>
|
|
</material>
|
|
<material id="gkmodel0_link_6_geom0_mat">
|
|
<instance_effect url="#gkmodel0_link_6_geom0"/>
|
|
</material>
|
|
</library_materials>
|
|
<library_kinematics_models id="kmodels">
|
|
<kinematics_model id="kmodel0" name="abb_irb52_7_120">
|
|
<technique_common>
|
|
<joint name="base_link-base" sid="base_link-base">
|
|
<revolute sid="axis0">
|
|
<axis>0 0 0</axis>
|
|
<limits>
|
|
<min>0</min>
|
|
<max>0</max>
|
|
</limits>
|
|
</revolute>
|
|
</joint>
|
|
<joint name="joint_1" sid="joint_1">
|
|
<revolute sid="axis0">
|
|
<axis>0 0 1</axis>
|
|
<limits>
|
|
<min>-180.0000000000119</min>
|
|
<max>180.0000000000119</max>
|
|
</limits>
|
|
</revolute>
|
|
</joint>
|
|
<joint name="joint_2" sid="joint_2">
|
|
<revolute sid="axis0">
|
|
<axis>0 1 0</axis>
|
|
<limits>
|
|
<min>-63.00000000020469</min>
|
|
<max>109.9999999997844</max>
|
|
</limits>
|
|
</revolute>
|
|
</joint>
|
|
<joint name="joint_3" sid="joint_3">
|
|
<revolute sid="axis0">
|
|
<axis>0 1 0</axis>
|
|
<limits>
|
|
<min>-235.0000000001906</min>
|
|
<max>55.00000000000681</max>
|
|
</limits>
|
|
</revolute>
|
|
</joint>
|
|
<joint name="joint_4" sid="joint_4">
|
|
<revolute sid="axis0">
|
|
<axis>1 0 0</axis>
|
|
<limits>
|
|
<min>-200.0000000000769</min>
|
|
<max>200.0000000000769</max>
|
|
</limits>
|
|
</revolute>
|
|
</joint>
|
|
<joint name="joint_5" sid="joint_5">
|
|
<revolute sid="axis0">
|
|
<axis>0 1 0</axis>
|
|
<limits>
|
|
<min>-114.9999999998007</min>
|
|
<max>114.9999999998007</max>
|
|
</limits>
|
|
</revolute>
|
|
</joint>
|
|
<joint name="joint_6" sid="joint_6">
|
|
<revolute sid="axis0">
|
|
<axis>1 0 0</axis>
|
|
<limits>
|
|
<min>-400.0000000001537</min>
|
|
<max>400.0000000001537</max>
|
|
</limits>
|
|
</revolute>
|
|
</joint>
|
|
<joint name="joint_6-tool0" sid="joint_6-tool0">
|
|
<revolute sid="axis0">
|
|
<axis>0 0 0</axis>
|
|
<limits>
|
|
<min>0</min>
|
|
<max>0</max>
|
|
</limits>
|
|
</revolute>
|
|
</joint>
|
|
<link sid="base_link" name="base_link">
|
|
<attachment_full joint="kmodel0/base_link-base">
|
|
<translate>0 0 0</translate>
|
|
<rotate>1 0 0 0</rotate>
|
|
<link sid="base" name="base"/>
|
|
</attachment_full>
|
|
<attachment_full joint="kmodel0/joint_1">
|
|
<translate>0 0 0.4865</translate>
|
|
<rotate>1 0 0 0</rotate>
|
|
<link sid="link_1" name="link_1">
|
|
<attachment_full joint="kmodel0/joint_2">
|
|
<translate>0.15 0 0</translate>
|
|
<rotate>1 0 0 0</rotate>
|
|
<link sid="link_2" name="link_2">
|
|
<attachment_full joint="kmodel0/joint_3">
|
|
<translate>0 0 0.475</translate>
|
|
<rotate>1 0 0 0</rotate>
|
|
<link sid="link_3" name="link_3">
|
|
<attachment_full joint="kmodel0/joint_4">
|
|
<translate>0 0 0</translate>
|
|
<rotate>1 0 0 0</rotate>
|
|
<link sid="link_4" name="link_4">
|
|
<attachment_full joint="kmodel0/joint_5">
|
|
<translate>0.6 0 0</translate>
|
|
<rotate>1 0 0 0</rotate>
|
|
<link sid="link_5" name="link_5">
|
|
<attachment_full joint="kmodel0/joint_6">
|
|
<translate>0.065 0 0</translate>
|
|
<rotate>1 0 0 0</rotate>
|
|
<link sid="link_6" name="link_6">
|
|
<attachment_full joint="kmodel0/joint_6-tool0">
|
|
<translate>0 0 0</translate>
|
|
<rotate>0 1 0 89.99999999971946</rotate>
|
|
<link sid="tool0" name="tool0"/>
|
|
</attachment_full>
|
|
</link>
|
|
</attachment_full>
|
|
</link>
|
|
</attachment_full>
|
|
</link>
|
|
</attachment_full>
|
|
</link>
|
|
</attachment_full>
|
|
</link>
|
|
</attachment_full>
|
|
</link>
|
|
</attachment_full>
|
|
</link>
|
|
</technique_common>
|
|
</kinematics_model>
|
|
</library_kinematics_models>
|
|
<library_articulated_systems id="asystems">
|
|
<articulated_system id="robot0_motion">
|
|
<motion>
|
|
<instance_articulated_system url="#robot0_kinematics">
|
|
<newparam sid="robot0_motion_kmodel0_inst">
|
|
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst</SIDREF>
|
|
</newparam>
|
|
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_base_link-base_axis0">
|
|
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_base_link-base_axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_base_link-base_axis0_value">
|
|
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_base_link-base_axis0_value</SIDREF>
|
|
</newparam>
|
|
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_joint_1_axis0">
|
|
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_joint_1_axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_joint_1_axis0_value">
|
|
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_joint_1_axis0_value</SIDREF>
|
|
</newparam>
|
|
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_joint_2_axis0">
|
|
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_joint_2_axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_joint_2_axis0_value">
|
|
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_joint_2_axis0_value</SIDREF>
|
|
</newparam>
|
|
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_joint_3_axis0">
|
|
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_joint_3_axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_joint_3_axis0_value">
|
|
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_joint_3_axis0_value</SIDREF>
|
|
</newparam>
|
|
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_joint_4_axis0">
|
|
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_joint_4_axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_joint_4_axis0_value">
|
|
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_joint_4_axis0_value</SIDREF>
|
|
</newparam>
|
|
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_joint_5_axis0">
|
|
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_joint_5_axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_joint_5_axis0_value">
|
|
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_joint_5_axis0_value</SIDREF>
|
|
</newparam>
|
|
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_joint_6_axis0">
|
|
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_joint_6_axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_joint_6_axis0_value">
|
|
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_joint_6_axis0_value</SIDREF>
|
|
</newparam>
|
|
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_joint_6-tool0_axis0">
|
|
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_joint_6-tool0_axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_joint_6-tool0_axis0_value">
|
|
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_joint_6-tool0_axis0_value</SIDREF>
|
|
</newparam>
|
|
</instance_articulated_system>
|
|
<technique_common>
|
|
<axis_info axis="robot0_kinematics/axis_info_inst0"/>
|
|
<axis_info axis="robot0_kinematics/axis_info_inst1">
|
|
<speed>
|
|
<float>3.14159265359</float>
|
|
</speed>
|
|
<acceleration>
|
|
<float>0</float>
|
|
</acceleration>
|
|
</axis_info>
|
|
<axis_info axis="robot0_kinematics/axis_info_inst2">
|
|
<speed>
|
|
<float>3.14159265359</float>
|
|
</speed>
|
|
<acceleration>
|
|
<float>0</float>
|
|
</acceleration>
|
|
</axis_info>
|
|
<axis_info axis="robot0_kinematics/axis_info_inst3">
|
|
<speed>
|
|
<float>3.14159265359</float>
|
|
</speed>
|
|
<acceleration>
|
|
<float>0</float>
|
|
</acceleration>
|
|
</axis_info>
|
|
<axis_info axis="robot0_kinematics/axis_info_inst4">
|
|
<speed>
|
|
<float>3.14159265359</float>
|
|
</speed>
|
|
<acceleration>
|
|
<float>0</float>
|
|
</acceleration>
|
|
</axis_info>
|
|
<axis_info axis="robot0_kinematics/axis_info_inst5">
|
|
<speed>
|
|
<float>3.14159265359</float>
|
|
</speed>
|
|
<acceleration>
|
|
<float>0</float>
|
|
</acceleration>
|
|
</axis_info>
|
|
<axis_info axis="robot0_kinematics/axis_info_inst6">
|
|
<speed>
|
|
<float>3.14159265359</float>
|
|
</speed>
|
|
<acceleration>
|
|
<float>0</float>
|
|
</acceleration>
|
|
</axis_info>
|
|
<axis_info axis="robot0_kinematics/axis_info_inst7"/>
|
|
</technique_common>
|
|
</motion>
|
|
</articulated_system>
|
|
<articulated_system id="robot0_kinematics">
|
|
<kinematics>
|
|
<instance_kinematics_model url="#kmodel0" sid="kmodel0_inst">
|
|
<newparam sid="robot0_kinematics_kmodel0_inst">
|
|
<SIDREF>robot0_kinematics/kmodel0_inst</SIDREF>
|
|
</newparam>
|
|
<newparam sid="robot0_kinematics_kmodel0_inst_base_link-base_axis0">
|
|
<SIDREF>robot0_kinematics/kmodel0_inst/base_link-base/axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="robot0_kinematics_kmodel0_inst_base_link-base_axis0_value">
|
|
<float>0</float>
|
|
</newparam>
|
|
<newparam sid="robot0_kinematics_kmodel0_inst_joint_1_axis0">
|
|
<SIDREF>robot0_kinematics/kmodel0_inst/joint_1/axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="robot0_kinematics_kmodel0_inst_joint_1_axis0_value">
|
|
<float>0</float>
|
|
</newparam>
|
|
<newparam sid="robot0_kinematics_kmodel0_inst_joint_2_axis0">
|
|
<SIDREF>robot0_kinematics/kmodel0_inst/joint_2/axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="robot0_kinematics_kmodel0_inst_joint_2_axis0_value">
|
|
<float>0</float>
|
|
</newparam>
|
|
<newparam sid="robot0_kinematics_kmodel0_inst_joint_3_axis0">
|
|
<SIDREF>robot0_kinematics/kmodel0_inst/joint_3/axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="robot0_kinematics_kmodel0_inst_joint_3_axis0_value">
|
|
<float>0</float>
|
|
</newparam>
|
|
<newparam sid="robot0_kinematics_kmodel0_inst_joint_4_axis0">
|
|
<SIDREF>robot0_kinematics/kmodel0_inst/joint_4/axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="robot0_kinematics_kmodel0_inst_joint_4_axis0_value">
|
|
<float>0</float>
|
|
</newparam>
|
|
<newparam sid="robot0_kinematics_kmodel0_inst_joint_5_axis0">
|
|
<SIDREF>robot0_kinematics/kmodel0_inst/joint_5/axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="robot0_kinematics_kmodel0_inst_joint_5_axis0_value">
|
|
<float>0</float>
|
|
</newparam>
|
|
<newparam sid="robot0_kinematics_kmodel0_inst_joint_6_axis0">
|
|
<SIDREF>robot0_kinematics/kmodel0_inst/joint_6/axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="robot0_kinematics_kmodel0_inst_joint_6_axis0_value">
|
|
<float>0</float>
|
|
</newparam>
|
|
<newparam sid="robot0_kinematics_kmodel0_inst_joint_6-tool0_axis0">
|
|
<SIDREF>robot0_kinematics/kmodel0_inst/joint_6-tool0/axis0</SIDREF>
|
|
</newparam>
|
|
<newparam sid="robot0_kinematics_kmodel0_inst_joint_6-tool0_axis0_value">
|
|
<float>0</float>
|
|
</newparam>
|
|
</instance_kinematics_model>
|
|
<technique_common>
|
|
<axis_info sid="axis_info_inst0" axis="kmodel0/base_link-base/axis0">
|
|
<active>
|
|
<bool>false</bool>
|
|
</active>
|
|
<locked>
|
|
<bool>false</bool>
|
|
</locked>
|
|
<limits>
|
|
<min>
|
|
<float>0</float>
|
|
</min>
|
|
<max>
|
|
<float>0</float>
|
|
</max>
|
|
</limits>
|
|
</axis_info>
|
|
<axis_info sid="axis_info_inst1" axis="kmodel0/joint_1/axis0">
|
|
<active>
|
|
<bool>true</bool>
|
|
</active>
|
|
<locked>
|
|
<bool>false</bool>
|
|
</locked>
|
|
<limits>
|
|
<min>
|
|
<float>-180.0000000000119</float>
|
|
</min>
|
|
<max>
|
|
<float>180.0000000000119</float>
|
|
</max>
|
|
</limits>
|
|
</axis_info>
|
|
<axis_info sid="axis_info_inst2" axis="kmodel0/joint_2/axis0">
|
|
<active>
|
|
<bool>true</bool>
|
|
</active>
|
|
<locked>
|
|
<bool>false</bool>
|
|
</locked>
|
|
<limits>
|
|
<min>
|
|
<float>-63.00000000020469</float>
|
|
</min>
|
|
<max>
|
|
<float>109.9999999997844</float>
|
|
</max>
|
|
</limits>
|
|
</axis_info>
|
|
<axis_info sid="axis_info_inst3" axis="kmodel0/joint_3/axis0">
|
|
<active>
|
|
<bool>true</bool>
|
|
</active>
|
|
<locked>
|
|
<bool>false</bool>
|
|
</locked>
|
|
<limits>
|
|
<min>
|
|
<float>-235.0000000001906</float>
|
|
</min>
|
|
<max>
|
|
<float>55.00000000000681</float>
|
|
</max>
|
|
</limits>
|
|
</axis_info>
|
|
<axis_info sid="axis_info_inst4" axis="kmodel0/joint_4/axis0">
|
|
<active>
|
|
<bool>true</bool>
|
|
</active>
|
|
<locked>
|
|
<bool>false</bool>
|
|
</locked>
|
|
<limits>
|
|
<min>
|
|
<float>-200.0000000000769</float>
|
|
</min>
|
|
<max>
|
|
<float>200.0000000000769</float>
|
|
</max>
|
|
</limits>
|
|
</axis_info>
|
|
<axis_info sid="axis_info_inst5" axis="kmodel0/joint_5/axis0">
|
|
<active>
|
|
<bool>true</bool>
|
|
</active>
|
|
<locked>
|
|
<bool>false</bool>
|
|
</locked>
|
|
<limits>
|
|
<min>
|
|
<float>-114.9999999998007</float>
|
|
</min>
|
|
<max>
|
|
<float>114.9999999998007</float>
|
|
</max>
|
|
</limits>
|
|
</axis_info>
|
|
<axis_info sid="axis_info_inst6" axis="kmodel0/joint_6/axis0">
|
|
<active>
|
|
<bool>true</bool>
|
|
</active>
|
|
<locked>
|
|
<bool>false</bool>
|
|
</locked>
|
|
<limits>
|
|
<min>
|
|
<float>-400.0000000001537</float>
|
|
</min>
|
|
<max>
|
|
<float>400.0000000001537</float>
|
|
</max>
|
|
</limits>
|
|
</axis_info>
|
|
<axis_info sid="axis_info_inst7" axis="kmodel0/joint_6-tool0/axis0">
|
|
<active>
|
|
<bool>false</bool>
|
|
</active>
|
|
<locked>
|
|
<bool>false</bool>
|
|
</locked>
|
|
<limits>
|
|
<min>
|
|
<float>0</float>
|
|
</min>
|
|
<max>
|
|
<float>0</float>
|
|
</max>
|
|
</limits>
|
|
</axis_info>
|
|
</technique_common>
|
|
</kinematics>
|
|
</articulated_system>
|
|
</library_articulated_systems>
|
|
<library_kinematics_scenes id="kscenes">
|
|
<kinematics_scene id="kscene" name="URDF Kinematics Scene">
|
|
<instance_articulated_system sid="robot0_motion_inst" url="#robot0_motion" name="abb_irb52_7_120">
|
|
<bind symbol="kscene_kmodel0_inst">
|
|
<param ref="robot0_motion/robot0_motion_kmodel0_inst"/>
|
|
</bind>
|
|
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_base_link-base_axis0">
|
|
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_base_link-base_axis0"/>
|
|
</bind>
|
|
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_base_link-base_axis0_value">
|
|
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_base_link-base_axis0_value"/>
|
|
</bind>
|
|
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_1_axis0">
|
|
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_joint_1_axis0"/>
|
|
</bind>
|
|
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_1_axis0_value">
|
|
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_joint_1_axis0_value"/>
|
|
</bind>
|
|
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_2_axis0">
|
|
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_joint_2_axis0"/>
|
|
</bind>
|
|
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_2_axis0_value">
|
|
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_joint_2_axis0_value"/>
|
|
</bind>
|
|
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_3_axis0">
|
|
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_joint_3_axis0"/>
|
|
</bind>
|
|
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_3_axis0_value">
|
|
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_joint_3_axis0_value"/>
|
|
</bind>
|
|
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_4_axis0">
|
|
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_joint_4_axis0"/>
|
|
</bind>
|
|
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_4_axis0_value">
|
|
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_joint_4_axis0_value"/>
|
|
</bind>
|
|
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_5_axis0">
|
|
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_joint_5_axis0"/>
|
|
</bind>
|
|
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_5_axis0_value">
|
|
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_joint_5_axis0_value"/>
|
|
</bind>
|
|
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_6_axis0">
|
|
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_joint_6_axis0"/>
|
|
</bind>
|
|
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_6_axis0_value">
|
|
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_joint_6_axis0_value"/>
|
|
</bind>
|
|
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_6-tool0_axis0">
|
|
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_joint_6-tool0_axis0"/>
|
|
</bind>
|
|
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_6-tool0_axis0_value">
|
|
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_joint_6-tool0_axis0_value"/>
|
|
</bind>
|
|
</instance_articulated_system>
|
|
</kinematics_scene>
|
|
</library_kinematics_scenes>
|
|
<library_physics_scenes id="pscenes">
|
|
<physics_scene id="pscene" name="URDF Physics Scene">
|
|
<instance_physics_model url="#pmodel0" sid="pmodel0_inst" parent="#visual0">
|
|
<instance_rigid_body body="rigid0" target="#vkmodel0_node0"/>
|
|
<instance_rigid_body body="rigid1" target="#vkmodel0_node1"/>
|
|
<instance_rigid_body body="rigid2" target="#vkmodel0_node2"/>
|
|
<instance_rigid_body body="rigid3" target="#vkmodel0_node3"/>
|
|
<instance_rigid_body body="rigid4" target="#vkmodel0_node4"/>
|
|
<instance_rigid_body body="rigid5" target="#vkmodel0_node5"/>
|
|
<instance_rigid_body body="rigid6" target="#vkmodel0_node6"/>
|
|
<instance_rigid_body body="rigid7" target="#vkmodel0_node7"/>
|
|
<instance_rigid_body body="rigid8" target="#vkmodel0_node8"/>
|
|
</instance_physics_model>
|
|
<technique_common>
|
|
<gravity>0 0 0</gravity>
|
|
</technique_common>
|
|
</physics_scene>
|
|
</library_physics_scenes>
|
|
<library_physics_models id="pmodels">
|
|
<physics_model id="pmodel0" name="abb_irb52_7_120">
|
|
<rigid_body sid="rigid0" name="base">
|
|
<technique_common/>
|
|
</rigid_body>
|
|
<rigid_body sid="rigid1" name="base_link">
|
|
<technique_common/>
|
|
</rigid_body>
|
|
<rigid_body sid="rigid2" name="link_1">
|
|
<technique_common/>
|
|
</rigid_body>
|
|
<rigid_body sid="rigid3" name="link_2">
|
|
<technique_common/>
|
|
</rigid_body>
|
|
<rigid_body sid="rigid4" name="link_3">
|
|
<technique_common/>
|
|
</rigid_body>
|
|
<rigid_body sid="rigid5" name="link_4">
|
|
<technique_common/>
|
|
</rigid_body>
|
|
<rigid_body sid="rigid6" name="link_5">
|
|
<technique_common/>
|
|
</rigid_body>
|
|
<rigid_body sid="rigid7" name="link_6">
|
|
<technique_common/>
|
|
</rigid_body>
|
|
<rigid_body sid="rigid8" name="tool0">
|
|
<technique_common/>
|
|
</rigid_body>
|
|
</physics_model>
|
|
</library_physics_models>
|
|
<scene>
|
|
<instance_physics_scene url="#pscene"/>
|
|
<instance_visual_scene url="#vscene"/>
|
|
<instance_kinematics_scene url="#kscene">
|
|
<bind_kinematics_model node="visual0/node1">
|
|
<param>kscene_kmodel0_inst</param>
|
|
</bind_kinematics_model>
|
|
<bind_joint_axis target="node0/node_base_link-base_axis0">
|
|
<axis>
|
|
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_base_link-base_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_base_link-base_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="node2/node_joint_1_axis0">
|
|
<axis>
|
|
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_1_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_1_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="node1/node3/node_joint_2_axis0">
|
|
<axis>
|
|
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_2_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_2_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="node1/node2/node4/node_joint_3_axis0">
|
|
<axis>
|
|
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_3_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_3_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="node1/node2/node3/node5/node_joint_4_axis0">
|
|
<axis>
|
|
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_4_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_4_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="node1/node2/node3/node4/node6/node_joint_5_axis0">
|
|
<axis>
|
|
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_5_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_5_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="node1/node2/node3/node4/node5/node7/node_joint_6_axis0">
|
|
<axis>
|
|
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_6_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_6_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
<bind_joint_axis target="node1/node2/node3/node4/node5/node6/node8/node_joint_6-tool0_axis0">
|
|
<axis>
|
|
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_6-tool0_axis0</param>
|
|
</axis>
|
|
<value>
|
|
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_6-tool0_axis0_value</param>
|
|
</value>
|
|
</bind_joint_axis>
|
|
</instance_kinematics_scene>
|
|
</scene>
|
|
<extra id="sensors" type="library_sensors">
|
|
<technique profile="OpenRAVE"/>
|
|
</extra>
|
|
</COLLADA>
|