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unimation-puma560.xml
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unimation-puma560.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>Unimation</manufacturer>
<name>Puma 560</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">
<cm>
<x>0</x>
<y>0</y>
<z>0</z>
</cm>
<i>
<xx>0</xx>
<yy>0.35</yy>
<zz>0</zz>
<yz>0</yz>
<xz>0</xz>
<xy>0</xy>
</i>
<ignore idref="body0"/>
<ignore idref="body2"/>
<m>0</m>
</body>
<frame id="frame2"/>
<body id="body2">
<cm>
<x>-0.3638</x>
<y>0.006</y>
<z>0.2275</z>
</cm>
<i>
<xx>0.13</xx>
<yy>0.524</yy>
<zz>0.539</zz>
<yz>0</yz>
<xz>0</xz>
<xy>0</xy>
</i>
<ignore idref="body1"/>
<ignore idref="body3"/>
<ignore idref="body4"/>
<m>17.4</m>
</body>
<frame id="frame3"/>
<body id="body3">
<cm>
<x>-0.0203</x>
<y>-0.0141</y>
<z>0.07</z>
</cm>
<i>
<xx>0.066</xx>
<yy>0.086</yy>
<zz>0.0125</zz>
<yz>0</yz>
<xz>0</xz>
<xy>0</xy>
</i>
<ignore idref="body2"/>
<ignore idref="body4"/>
<m>4.8</m>
</body>
<frame id="frame4"/>
<body id="body4">
<cm>
<x>0</x>
<y>0.019</y>
<z>0</z>
</cm>
<i>
<xx>1.8e-3</xx>
<yy>1.3e-3</yy>
<zz>1.8e-3</zz>
<yz>0</yz>
<xz>0</xz>
<xy>0</xy>
</i>
<ignore idref="body2"/>
<ignore idref="body3"/>
<ignore idref="body5"/>
<ignore idref="body6"/>
<m>0.82</m>
</body>
<frame id="frame5"/>
<body id="body5">
<cm>
<x>0</x>
<y>0</y>
<z>0</z>
</cm>
<i>
<xx>0.3e-3</xx>
<yy>0.4e-3</yy>
<zz>0.3e-3</zz>
<yz>0</yz>
<xz>0</xz>
<xy>0</xy>
</i>
<ignore idref="body4"/>
<ignore idref="body6"/>
<m>0.34</m>
</body>
<frame id="frame6"/>
<body id="body6">
<cm>
<x>0</x>
<y>0</y>
<z>0.032</z>
</cm>
<i>
<xx>0.15e-3</xx>
<yy>0.15e-3</yy>
<zz>0.04e-3</zz>
<yz>0</yz>
<xz>0</xz>
<xy>0</xy>
</i>
<ignore idref="body4"/>
<ignore idref="body5"/>
<m>0.09</m>
</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</z>
</translation>
</fixed>
<revolute id="joint0">
<frame>
<a idref="frame0"/>
<b idref="frame1"/>
</frame>
<max>160</max>
<min>-160</min>
<speed>320</speed>
</revolute>
<fixed id="fixed2">
<frame>
<a idref="frame1"/>
<b idref="body1"/>
</frame>
<rotation>
<x>-90</x>
<y>0</y>
<z>0</z>
</rotation>
<translation>
<x>0</x>
<y>0</y>
<z>0.6604</z>
</translation>
</fixed>
<revolute id="joint1">
<frame>
<a idref="body1"/>
<b idref="frame2"/>
</frame>
<max>45</max>
<min>-225</min>
<speed>250</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>0.4318</x>
<y>0</y>
<z>0.1291</z>
</translation>
</fixed>
<revolute id="joint2">
<frame>
<a idref="body2"/>
<b idref="frame3"/>
</frame>
<max>225</max>
<min>-45</min>
<speed>270</speed>
</revolute>
<fixed id="fixed4">
<frame>
<a idref="frame3"/>
<b idref="body3"/>
</frame>
<rotation>
<x>90</x>
<y>0</y>
<z>0</z>
</rotation>
<translation>
<x>-0.0203</x>
<y>0</y>
<z>0</z>
</translation>
</fixed>
<revolute id="joint3">
<frame>
<a idref="body3"/>
<b idref="frame4"/>
</frame>
<max>170</max>
<min>-110</min>
<speed>300</speed>
</revolute>
<fixed id="fixed5">
<frame>
<a idref="frame4"/>
<b idref="body4"/>
</frame>
<rotation>
<x>-90</x>
<y>0</y>
<z>0</z>
</rotation>
<translation>
<x>0</x>
<y>0</y>
<z>0.4331</z>
</translation>
</fixed>
<revolute id="joint4">
<frame>
<a idref="body4"/>
<b idref="frame5"/>
</frame>
<max>100</max>
<min>-100</min>
<speed>200</speed>
</revolute>
<fixed id="fixed6">
<frame>
<a idref="frame5"/>
<b idref="body5"/>
</frame>
<rotation>
<x>90</x>
<y>0</y>
<z>0</z>
</rotation>
<translation>
<x>0</x>
<y>0</y>
<z>0</z>
</translation>
</fixed>
<revolute id="joint5">
<frame>
<a idref="body5"/>
<b idref="frame6"/>
</frame>
<max>266</max>
<min>-266</min>
<speed>532</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>0.04125</z>
</translation>
</fixed>
</model>
</rlmdl>