#VRML_SIM R2022b utf8
# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
# license url: https://cyberbotics.com/webots_assets_license
# documentation url: https://www.cyberbotics.com/doc/guide/irb4600-40
# The "IRB 4600/40" is a 6 DOF arm developed by ABB: https://new.abb.com/products/robotics/industrial-robots/irb-4600
# It has a payload of 40kg.
# template language: javascript
EXTERNPROTO "webots://projects/appearances/protos/BrushedAluminium.proto"
PROTO Irb4600-40 [
field SFVec3f translation 0 0 0 # Is `Transform.translation`.
field SFRotation rotation 0 0 1 0 # Is `Transform.rotation`.
field SFString name "IRB 4600/40" # Is `Solid.name`.
field SFString controller "inverse_kinematics" # Is `Robot.controller`.
field MFString controllerArgs [] # Is `Robot.controllerArgs`.
field SFString window "<generic>" # Is `Robot.window`.
field SFString customData "" # Is `Robot.customData`.
field SFBool supervisor FALSE # Is `Robot.supervisor`.
field SFBool synchronization TRUE # Is `Robot.synchronization`.
field SFColor color 1 0.45 0 # Is `PBRAppearance.baseColor`.
field MFNode handSlot [] # Extends the arm with new nodes in the hand slot.
field SFBool staticBase FALSE # Defines if the robot base should be pinned to the static environment.
]
{
Robot {
translation IS translation
rotation IS rotation
name IS name
children [
Shape {
appearance DEF IRB_APPEARANCE PBRAppearance {
baseColor IS color
metalness 0
roughness 0.1
}
geometry Mesh {
url "Irb4600-40/meshes/base.obj"
}
}
DEF LINK1_TRANSFORM HingeJoint {
jointParameters HingeJointParameters {
axis 0 0 1
anchor 0 0 0.159498
}
device [
RotationalMotor {
name "A motor"
maxTorque 10000
minPosition -3.1415
maxPosition 3.1415
}
PositionSensor {
name "A sensor"
}
]
endPoint Solid {
translation 0 0 0.159498
children [
Shape {
appearance USE IRB_APPEARANCE
geometry Mesh {
url "Irb4600-40/meshes/link_1.obj"
}
}
DEF LINK2_TRANSFORM HingeJoint {
jointParameters HingeJointParameters {
axis 0 1 0
anchor 0.178445 -0.122498 0.334888
}
device [
RotationalMotor {
name "B motor"
minPosition -1.5708
maxPosition 2.61799
maxTorque 10000
}
PositionSensor {
name "B sensor"
}
]
endPoint Solid {
translation 0.178445 -0.122498 0.334888
children [
Shape {
appearance USE IRB_APPEARANCE
geometry Mesh {
url "Irb4600-40/meshes/link_2.obj"
}
}
DEF LINK3_TRANSFORM HingeJoint {
jointParameters HingeJointParameters {
axis 0 1 0
anchor -0.003447 -0.0267 1.095594
}
device [
RotationalMotor {
name "C motor"
minPosition -3.1415
maxPosition 1.309
maxTorque 10000
}
PositionSensor {
name "C sensor"
}
]
endPoint Solid {
translation -0.003447 -0.0267 1.095594
children [
Shape {
appearance USE IRB_APPEARANCE
geometry Mesh {
url "Irb4600-40/meshes/link_3.obj"
}
}
DEF LINK4_TRANSFORM HingeJoint {
jointParameters HingeJointParameters {
anchor 0.340095 0.149198 0.174998
}
device [
RotationalMotor {
name "D motor"
minPosition -6.98132
maxPosition 6.98132
maxTorque 10000
}
PositionSensor {
name "D sensor"
}
]
endPoint Solid {
translation 0.340095 0.149198 0.174998
children [
Shape {
appearance USE IRB_APPEARANCE
geometry Mesh {
url "Irb4600-40/meshes/link_4.obj"
}
}
DEF LINK5_TRANSFORM HingeJoint {
jointParameters HingeJointParameters {
axis 0 1 0
anchor 0.929888 0 0
}
device [
RotationalMotor {
name "E motor"
minPosition -2.18166
maxPosition 2.0944
maxTorque 10000
}
PositionSensor {
name "E sensor"
}
]
endPoint Solid {
translation 0.929888 0 0
children [
Shape {
appearance USE IRB_APPEARANCE
geometry Mesh {
url "Irb4600-40/meshes/link_5.obj"
}
}
DEF LINK6_TRANSFORM HingeJoint {
jointParameters HingeJointParameters {
anchor 0.125 0 0
}
device [
RotationalMotor {
name "F motor"
minPosition -6.98132
maxPosition 6.98132
maxTorque 10000
}
PositionSensor {
name "F sensor"
}
]
endPoint Solid {
translation 0.125 0 0
children [
Transform {
translation 0.06 0 0
rotation 0.5773502691896257 0.5773502691896257 0.5773502691896257 2.094399693899575
children IS handSlot
}
Shape {
appearance BrushedAluminium {
}
geometry Mesh {
url "Irb4600-40/meshes/link_6.obj"
}
}
]
boundingObject Transform {
translation -0.025004 0.002215 -0.000958
children [
Box {
size 0.069993 0.125817 0.125113
}
]
}
physics Physics {
density 100
}
}
}
]
boundingObject Transform {
translation 0 -0.0015 0
children [
Box {
size 0.159731 0.130998 0.160194
}
]
}
physics Physics {
density 200
}
}
}
]
boundingObject Transform {
translation 0.511874 0.003021 0
children [
Box {
size 1.040973 0.228038 0.195956
}
]
}
physics Physics {
density 300
}
}
}
]
boundingObject Transform {
translation 0.085806 0.199325 0.094072
children [
Box {
size 0.533578 0.398651 0.472912
}
]
}
physics Physics {
density 400
}
}
}
]
boundingObject Transform {
translation -0.003447 -0.061473 0.529095
children [
Box {
size 0.279997 0.256948 1.335994
}
]
}
physics Physics {
density 500
}
}
}
]
boundingObject Transform {
translation 0.046699 0.049037 0.270246
children [
Box {
size 0.621392 0.540918 0.552493
}
]
}
physics Physics {
density 1150
}
}
}
]
boundingObject Transform {
translation -0.063119 0 0.106497
children [
Box {
size 0.676133 0.514411 0.213001
}
]
}
%< if (!fields.staticBase.value) { >%
physics Physics {
density 1500
}
%< } >%
controller IS controller
controllerArgs IS controllerArgs
window IS window
customData IS customData
supervisor IS supervisor
synchronization IS synchronization
}
}