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I've tested gvdhoorn's method and it worked!

<robot file="irb6600_with_linear_track_workspace.dae">
  <Manipulator name="framefab_irb6600_workspace">
    <base>linear_axis_base_link</base>
    <effector>robot_tool0</effector>
  </Manipulator>
</robot>

To complement gvdhoorn's answer, here is an example xml file for Collada wrapper [1].

[1] https://github.com/yijiangh/Choreo/blob/52ccda118bace51281b9a5cbfca4c6f2a0656f95/framefab_robot/abb/framefab_irb6600/framefab_irb6600_support/urdf/irb6600_with_linear_track_workspace.xml

I've tested gvdhoorn's method and it worked!

To complement gvdhoorn's answer, here is an example xml file for Collada wrapper [1]:

<robot file="irb6600_with_linear_track_workspace.dae">
  <Manipulator name="framefab_irb6600_workspace">
    <base>linear_axis_base_link</base>
    <effector>robot_tool0</effector>
  </Manipulator>
</robot>

To complement gvdhoorn's answer, here is an example xml file for Collada wrapper [1].

[1] https://github.com/yijiangh/Choreo/blob/52ccda118bace51281b9a5cbfca4c6f2a0656f95/framefab_robot/abb/framefab_irb6600/framefab_irb6600_support/urdf/irb6600_with_linear_track_workspace.xml