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kuka-lbr-iiwa-7-r800.xml
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kuka-lbr-iiwa-7-r800.xml
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<?xml version="1.0" encoding="UTF-8"?>
<rlmdl xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="rlmdl.xsd">
<model>
<manufacturer>Kuka</manufacturer>
<name>LBR iiwa 7 R800</name>
<world id="world">
<rotation>
<x>0</x>
<y>0</y>
<z>0</z>
</rotation>
<translation>
<x>0</x>
<y>0</y>
<z>0</z>
</translation>
<g>
<x>0</x>
<y>0</y>
<z>9.86055</z>
</g>
</world>
<body id="body0">
<ignore/>
<ignore idref="body1"/>
</body>
<frame id="frame0"/>
<frame id="frame1"/>
<body id="body1">
<ignore idref="body0"/>
<ignore idref="body2"/>
</body>
<frame id="frame2"/>
<body id="body2">
<ignore idref="body1"/>
<ignore idref="body3"/>
</body>
<frame id="frame3"/>
<body id="body3">
<ignore idref="body2"/>
<ignore idref="body4"/>
</body>
<frame id="frame4"/>
<frame id="frame5"/>
<body id="body4">
<ignore idref="body3"/>
<ignore idref="body5"/>
</body>
<frame id="frame6"/>
<body id="body5">
<ignore idref="body4"/>
<ignore idref="body6"/>
</body>
<frame id="frame7"/>
<body id="body6">
<ignore idref="body5"/>
<ignore idref="body7"/>
</body>
<frame id="frame8"/>
<body id="body7">
<ignore idref="body6"/>
</body>
<fixed id="fixed0">
<frame>
<a idref="world"/>
<b idref="body0"/>
</frame>
<rotation>
<x>0</x>
<y>0</y>
<z>0</z>
</rotation>
<translation>
<x>0</x>
<y>0</y>
<z>0</z>
</translation>
</fixed>
<fixed id="fixed1">
<frame>
<a idref="body0"/>
<b idref="frame0"/>
</frame>
<rotation>
<x>0</x>
<y>0</y>
<z>0</z>
</rotation>
<translation>
<x>0</x>
<y>0</y>
<z>0.34</z>
</translation>
</fixed>
<revolute id="joint0">
<frame>
<a idref="frame0"/>
<b idref="frame1"/>
</frame>
<axis>
<x>0</x>
<y>0</y>
<z>1</z>
</axis>
<max>170</max>
<min>-170</min>
<speed>98</speed>
</revolute>
<fixed id="fixed2">
<frame>
<a idref="frame1"/>
<b idref="body1"/>
</frame>
<rotation>
<x>0</x>
<y>0</y>
<z>0</z>
</rotation>
<translation>
<x>0</x>
<y>0</y>
<z>0</z>
</translation>
</fixed>
<revolute id="joint1">
<frame>
<a idref="body1"/>
<b idref="frame2"/>
</frame>
<axis>
<x>0</x>
<y>1</y>
<z>0</z>
</axis>
<max>120</max>
<min>-120</min>
<speed>98</speed>
</revolute>
<fixed id="fixed3">
<frame>
<a idref="frame2"/>
<b idref="body2"/>
</frame>
<rotation>
<x>0</x>
<y>0</y>
<z>0</z>
</rotation>
<translation>
<x>0</x>
<y>0</y>
<z>0</z>
</translation>
</fixed>
<revolute id="joint2">
<frame>
<a idref="body2"/>
<b idref="frame3"/>
</frame>
<axis>
<x>0</x>
<y>0</y>
<z>1</z>
</axis>
<max>170</max>
<min>-170</min>
<speed>100</speed>
</revolute>
<fixed id="fixed4">
<frame>
<a idref="frame3"/>
<b idref="body3"/>
</frame>
<rotation>
<x>0</x>
<y>0</y>
<z>0</z>
</rotation>
<translation>
<x>0</x>
<y>0</y>
<z>0.4</z>
</translation>
</fixed>
<revolute id="joint3">
<frame>
<a idref="body3"/>
<b idref="frame4"/>
</frame>
<axis>
<x>0</x>
<y>-1</y>
<z>0</z>
</axis>
<max>120</max>
<min>-120</min>
<speed>130</speed>
</revolute>
<fixed id="fixed5">
<frame>
<a idref="frame4"/>
<b idref="body4"/>
</frame>
<rotation>
<x>0</x>
<y>0</y>
<z>0</z>
</rotation>
<translation>
<x>0</x>
<y>0</y>
<z>0</z>
</translation>
</fixed>
<revolute id="joint4">
<frame>
<a idref="body4"/>
<b idref="frame5"/>
</frame>
<axis>
<x>0</x>
<y>0</y>
<z>1</z>
</axis>
<max>170</max>
<min>-170</min>
<speed>140</speed>
</revolute>
<fixed id="fixed6">
<frame>
<a idref="frame5"/>
<b idref="body5"/>
</frame>
<rotation>
<x>0</x>
<y>0</y>
<z>0</z>
</rotation>
<translation>
<x>0</x>
<y>0</y>
<z>0.4</z>
</translation>
</fixed>
<revolute id="joint5">
<frame>
<a idref="body5"/>
<b idref="frame6"/>
</frame>
<axis>
<x>0</x>
<y>1</y>
<z>0</z>
</axis>
<max>120</max>
<min>-120</min>
<speed>180</speed>
</revolute>
<fixed id="fixed7">
<frame>
<a idref="frame6"/>
<b idref="body6"/>
</frame>
<rotation>
<x>0</x>
<y>0</y>
<z>0</z>
</rotation>
<translation>
<x>0</x>
<y>0</y>
<z>0</z>
</translation>
</fixed>
<revolute id="joint6">
<frame>
<a idref="body6"/>
<b idref="frame7"/>
</frame>
<axis>
<x>0</x>
<y>0</y>
<z>1</z>
</axis>
<max>175</max>
<min>-175</min>
<speed>180</speed>
</revolute>
<fixed id="fixed8">
<frame>
<a idref="frame7"/>
<b idref="body7"/>
</frame>
<rotation>
<x>0</x>
<y>0</y>
<z>0</z>
</rotation>
<translation>
<x>0</x>
<y>0</y>
<z>0.126</z>
</translation>
</fixed>
<fixed id="fixed9">
<frame>
<a idref="body7"/>
<b idref="frame8"/>
</frame>
<rotation>
<x>0</x>
<y>0</y>
<z>0</z>
</rotation>
<translation>
<x>0</x>
<y>0</y>
<z>0</z>
</translation>
</fixed>
</model>
</rlmdl>