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comau-smart5-nj4-220-27.xml
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comau-smart5-nj4-220-27.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>Comau</manufacturer>
<name>SMART5 NJ4 220 2.7</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"/>
<ignore idref="body4"/>
</body>
<frame id="frame3"/>
<body id="body3">
<ignore idref="body2"/>
<ignore idref="body4"/>
</body>
<frame id="frame4"/>
<body id="body4">
<ignore idref="body2"/>
<ignore idref="body3"/>
<ignore idref="body5"/>
<ignore idref="body6"/>
</body>
<frame id="frame5"/>
<body id="body5">
<ignore idref="body4"/>
<ignore idref="body6"/>
</body>
<frame id="frame6"/>
<body id="body6">
<ignore idref="body4"/>
<ignore idref="body5"/>
</body>
<frame id="frame7"/>
<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>0.83</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>180</max>
<min>-180</min>
<speed>100</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>0.4</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>95</max>
<min>-75</min>
<speed>90</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>1.175</z>
</translation>
</fixed>
<revolute id="joint2">
<frame>
<a idref="body2"/>
<b idref="frame3"/>
</frame>
<axis>
<x>0</x>
<y>-1</y>
<z>0</z>
</axis>
<max>-10</max>
<min>-256</min>
<offset>90</offset>
<speed>110</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>0.25</z>
</translation>
</fixed>
<revolute id="joint3">
<frame>
<a idref="body3"/>
<b idref="frame4"/>
</frame>
<axis>
<x>-1</x>
<y>0</y>
<z>0</z>
</axis>
<max>200</max>
<min>-200</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>1.165</x>
<y>0</y>
<z>0</z>
</translation>
</fixed>
<revolute id="joint4">
<frame>
<a idref="body4"/>
<b idref="frame5"/>
</frame>
<axis>
<x>0.5</x>
<y>0</y>
<z>0.86602540378443864676372317075294</z>
</axis>
<max>200</max>
<min>-200</min>
<speed>125</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>0.31</x>
<y>0</y>
<z>0.14722</z>
</translation>
</fixed>
<revolute id="joint5">
<frame>
<a idref="body5"/>
<b idref="frame6"/>
</frame>
<axis>
<x>-1</x>
<y>0</y>
<z>0</z>
</axis>
<max>200</max>
<min>-200</min>
<speed>170</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>
<fixed id="fixed8">
<frame>
<a idref="body6"/>
<b idref="frame7"/>
</frame>
<rotation>
<x>0</x>
<y>0</y>
<z>0</z>
</rotation>
<translation>
<x>0</x>
<y>0</y>
<z>0</z>
</translation>
</fixed>
<home>
<q unit="deg">0</q>
<q unit="deg">0</q>
<q unit="deg">-90</q>
<q unit="deg">0</q>
<q unit="deg">0</q>
<q unit="deg">0</q>
</home>
<gamma>
<row>
<col>1</col>
<col>0</col>
<col>0</col>
<col>0</col>
<col>0</col>
<col>0</col>
</row>
<row>
<col>0</col>
<col>1</col>
<col>0</col>
<col>0</col>
<col>0</col>
<col>0</col>
</row>
<row>
<col>0</col>
<col>1</col>
<col>1</col>
<col>0</col>
<col>0</col>
<col>0</col>
</row>
<row>
<col>0</col>
<col>0</col>
<col>0</col>
<col>1</col>
<col>0</col>
<col>0</col>
</row>
<row>
<col>0</col>
<col>0</col>
<col>0</col>
<col>0</col>
<col>1</col>
<col>0</col>
</row>
<row>
<col>0</col>
<col>0</col>
<col>0</col>
<col>0</col>
<col>0</col>
<col>1</col>
</row>
</gamma>
</model>
</rlmdl>