12
IRB8700_SW6_475-420
1
16
0
6
0
0
0
1
0
0
NOPROGRAM
18
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
0
2
1
1
4
ABB S4
0
0.042
2500 2500 4500
210 150 210
570 570 570
0.5 0.5 0.5
0.04 0.04
1 2500 0 2 0.02 0.5 0
0 0 0 2 0 2 1 0
kin_abb_irb2000
none
none
6
1 1 1 1
Config_1
Config_2
Config_3
Config_4
0
mot_joint_abb_0
mot_straight_abb_0
mot_straight_abb_0
mot_joint_abb_0
mot_aux1_0
mot_aux2_0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
2
0 0 0 0 0 0
0 0 0 0 30 0
=dof(1)
=dof(2)
=dof(3)
=dof(4)
=dof(5)
=dof(6)
-99 -99 -99 -99 -99 -99
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
1 1 1
-4.371138828673793e-008 0 -1 0
0 1 0 0
1 0 -4.371138828673793e-008 0
505 0 0 1
1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1000 1580 2175 0 0 0
420 0 310 0 0 0
0 0 0 0 0 0 0 0
-2.96706
= inrange(dof(3),(-30*RAD),(2*RAD))*(-65*RAD) + inrange(dof(3),(2*RAD),(132*RAD))*(dof(3)-(67*RAD))
= inrange(dof(2),(-65*RAD),(30*RAD))*(-30*RAD) + inrange(dof(2),(30*RAD),(90*RAD))*(dof(2)-(60*RAD))
-5.23599
-2.0944
=low limit =0.0113 * dof(5)^4 + 0.0656 * dof(5)^3 + 0.0978 * dof(5)^2 + 0.0133 * dof(5) - 3.865
2.96706
= inrange(dof(3),(-30*RAD),(30*RAD))*(dof(3)+(60*RAD)) + inrange(dof(3),(30*RAD),(132*RAD))*(90*RAD)
= inrange(dof(2),(-65*RAD),(65*RAD))*(dof(2)+(67*RAD)) + inrange(dof(2),(65*RAD),(90*RAD))*(132*RAD)
5.23599
2.0944
=max limit =0.0112 * dof(5)^4 + 0.0785 * dof(5)^3 - 0.3023 * dof(5)^2 + 0.0426 * dof(5) + 3.8896
100 100 100 210 150 210
130 160 165 570 570 630
0.5 0.5 0.5 0.5 0.5 0.5
0.08 0.06 0.04 0.04 0.04 0.04
0.08 0.06 0.04 0.04 0.04 0.04
34
0
0 0
*
*
*
*
*
*
*
*
*
*
IRB6400
0
0
0
*
*
*
*
Home_0
Home_30
0
*
*
Joint 1
Joint 2
Joint 3
Joint 4
Joint 5
Joint 6
Utool 1
Uframe 1
0 0 0
0
0.1 0.00174533
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
1 1 1 1 1 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
0 0 0 0 0 0
0 0 0 0 0 0
11
*RAPID
*RAPID
1 1 1 1 1 1
1 1 1 1 1 1
0 0 0 0
*
*
*
*
*
*
0
0
no_app_file
3
no_par_file
0 1 1 1
1
6
13 1 1 262148 0 0 
-1 -1
-1 -1 -1
-1 -1 -1
-1 -1 -1
7
0
0 267 0
Device Sequence Information
2
*
0
*
-1 1 1 262145 0 
-1 0.25
0.25 0.25 0.25
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
IRB8700_all_irc5_rev00_base
0
0
0
10
0
*
*
*
*
*IRB8700_all_irc5_rev00_base
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
-1 1 1 262145 0 
-1 0.25
0.25 0.25 0.25
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
IRB8700_all_irc5_rev00_link1
2 5 18
1 1
0
10
0
*
*
*
*
*IRB8700_all_irc5_rev00_link1
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
-1 1 1 262145 0 
-1 0.25
0.25 0.25 0.25
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
420 0 1000 1
IRB8700_all_irc5_rev00_linkarm
2 5 17
1 3
0
10
0
*
*
*
*
*IRB8700_all_irc5_rev00_linkarm
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
01
-1 1 1 262145 0 
-1 0.25
0.25 0.25 0.25
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
420 0 1000 1
IRB8700_all_irc5_rev00_link2
2 5 17
1 2
0
10
0
*
*
*
*
*IRB8700_all_irc5_rev00_link2
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
-1 1 1 262145 0 
-1 0.25
0.25 0.25 0.25
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 1580 1
IRB8700_all_irc5_rev00_cyls
2 5 17
0
1
=sasa(330,DOF(2)-10*RAD,1580)+2.614*RAD
10
0
*
*
*
*
*IRB8700_all_irc5_rev00_cyls
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
21 1 1 262145 0 
-1 0.25
0.25 0.25 0.25
-1 -1 -1
-1 -1 -1
-1 0 1.509958025280866e-007 0
0 1 0 0
-1.509958025280866e-007 0 -1 0
57.3040885925293 0 -6.3284912109375 1
IRB8700_all_irc5_rev00_rods
2 5 15
0
1
=sass(330,10*RAD-dof(2),1580)
10
0
*
*
*
*
*IRB8700_all_irc5_rev00_rods
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 0.25
0.25 0.25 0.25
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 1580 1
IRB8700_all_irc5_rev00_link3
2 5 17
0
1
=dof(3)-dof(2)
10
0
*
*
*
*
*IRB8700_all_irc5_rev00_link3
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
-1 1 1 262145 0 
-1 0.25
0.25 0.25 0.25
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-600 0 0 1
IRB8700_all_irc5_rev00_linkbar
2 5 17
0
1
=DOF(2)-dof(3)
10
0
*
*
*
*
*IRB8700_all_irc5_rev00_linkbar
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
01
-1 1 1 262145 0 
-1 0.25
0.25 0.25 0.25
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
2175 0 310 1
IRB8700_550-415_irc5_rev00_link4
2 5 16
1 4
0
10
0
*
*
*
*
*IRB8700_550-415_irc5_rev00_link4
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
-1 1 1 262145 0 
-1 0.25
0.25 0.25 0.25
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
IRB8700_std_irc5_rev00_link5
2 5 17
1 5
0
10
0
*
*
*
*
*IRB8700_std_irc5_rev00_link5
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
21 1 1 262145 0 
-1 0.25
0.25 0.25 0.25
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
IRB8700_mh6sw6_irc5_rev00_link6
2 5 16
1 6
0
10
0
*
*
*
*
*IRB8700_mh6sw6_irc5_rev00_link6
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
01
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
65.813720703125 381.0039978027344 1.88720703125 1
dyn_cab/box.1
2 5 16
0
1
=dof(6)*0.00
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -381.0039978027344 0 1
*box.1
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.1
2 5 14
0
1
=-abs(dof(6)*0)
10
0
*
*
*
*
*ball.1
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
82.463623046875 386.7510070800781 2.697265625 1
dyn_cab/box.2
2 5 16
0
1
=dof(6)*0.01
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -386.7510070800781 0 1
*box.2
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.2
2 5 14
0
1
=-abs(dof(6)*13)
10
0
*
*
*
*
*ball.2
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
99.123291015625 392.5790100097656 3.56689453125 1
dyn_cab/box.3
2 5 16
0
1
=dof(6)*0.0688
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -392.5790100097656 0 1
*box.3
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.3
2 5 14
0
1
=-abs(dof(6)*20)
10
0
*
*
*
*
*ball.3
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
115.763427734375 398.2569885253906 4.51708984375 1
dyn_cab/box.4
2 5 16
0
1
=dof(6)*0.1032
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -398.2569885253906 0 1
*box.4
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.4
2 5 14
0
1
=-abs(dof(6)*25)
10
0
*
*
*
*
*ball.4
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
132.343505859375 403.5339965820313 5.546875 1
dyn_cab/box.5
2 5 16
0
1
=dof(6)*0.1376
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -403.5339965820313 0 1
*box.5
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.5
2 5 14
0
1
=-abs(dof(6)*30)
10
0
*
*
*
*
*ball.5
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
148.853271484375 408.1619873046875 6.63720703125 1
dyn_cab/box.6
2 5 16
0
1
=dof(6)*0.1720
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -408.1619873046875 0 1
*box.6
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.6
2 5 14
0
1
=-abs(dof(6)*33)
10
0
*
*
*
*
*ball.6
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
165.263427734375 411.89599609375 7.796875 1
dyn_cab/box.7
2 5 16
0
1
=dof(6)*0.2064
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -411.89599609375 0 1
*box.7
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.7
2 5 14
0
1
=-abs(dof(6)*36)
10
0
*
*
*
*
*ball.7
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
181.523193359375 414.5589904785156 9.01708984375 1
dyn_cab/box.8
2 5 16
0
1
=dof(6)*0.2408
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -414.5589904785156 0 1
*box.8
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.8
2 5 14
0
1
=-abs(dof(6)*38)
10
0
*
*
*
*
*ball.8
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
197.593505859375 416.0570068359375 10.26708984375 1
dyn_cab/box.9
2 5 16
0
1
=dof(6)*0.2752
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -416.0570068359375 0 1
*box.9
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.9
2 5 14
0
1
=-abs(dof(6)*40)
10
0
*
*
*
*
*ball.9
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
213.393310546875 416.2929992675781 11.546875 1
dyn_cab/box.10
2 5 16
0
1
=dof(6)*0.3096
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -416.2929992675781 0 1
*box.10
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.10
2 5 14
0
1
=-abs(dof(6)*41)
10
0
*
*
*
*
*ball.10
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
228.893310546875 415.1759948730469 12.8369140625 1
dyn_cab/box.11
2 5 16
0
1
=dof(6)*0.3440
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -415.1759948730469 0 1
*box.11
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.11
2 5 14
0
1
=-abs(dof(6)*41)
10
0
*
*
*
*
*ball.11
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
244.043212890625 412.5889892578125 14.1171875 1
dyn_cab/box.12
2 5 16
0
1
=dof(6)*0.3784
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -412.5889892578125 0 1
*box.12
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.12
2 5 14
0
1
=-abs(dof(6)*40)
10
0
*
*
*
*
*ball.12
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
258.863525390625 408.3320007324219 15.376953125 1
dyn_cab/box.13
2 5 16
0
1
=dof(6)*0.4128
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -408.3320007324219 0 1
*box.13
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.13
2 5 14
0
1
=-abs(dof(6)*38)
10
0
*
*
*
*
*ball.13
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
273.353271484375 402.2040100097656 16.64697265625 1
dyn_cab/box.14
2 5 16
0
1
=dof(6)*0.4472
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -402.2040100097656 0 1
*box.14
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.14
2 5 14
0
1
=-abs(dof(6)*35.5)
10
0
*
*
*
*
*ball.14
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
287.423583984375 394.2449951171875 17.89697265625 1
dyn_cab/box.15
2 5 16
0
1
=dof(6)*0.4816
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -394.2449951171875 0 1
*box.15
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.15
2 5 14
0
1
=-abs(dof(6)*32.5)
10
0
*
*
*
*
*ball.15
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
300.953369140625 384.635986328125 19.126953125 1
dyn_cab/box.16
2 5 16
0
1
=dof(6)*0.5160
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -384.635986328125 0 1
*box.16
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.16
2 5 14
0
1
=-abs(dof(6)*30)
10
0
*
*
*
*
*ball.16
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
313.863525390625 373.5960083007813 20.3271484375 1
dyn_cab/box.17
2 5 16
0
1
=dof(6)*0.5504
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -373.5960083007813 0 1
*box.17
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.17
2 5 14
0
1
=-abs(dof(6)*28)
10
0
*
*
*
*
*ball.17
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
326.053466796875 361.3389892578125 21.4970703125 1
dyn_cab/box.18
2 5 16
0
1
=dof(6)*0.5848
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -361.3389892578125 0 1
*box.18
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.18
2 5 14
0
1
=-abs(dof(6)*26)
10
0
*
*
*
*
*ball.18
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
337.413330078125 348.0690002441406 22.626953125 1
dyn_cab/box.19
2 5 16
0
1
=dof(6)*0.6192
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -348.0690002441406 0 1
*box.19
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.19
2 5 14
0
1
=-abs(dof(6)*23)
10
0
*
*
*
*
*ball.19
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
347.803466796875 333.9869995117188 23.71728515625 1
dyn_cab/box.20
2 5 16
0
1
=dof(6)*0.6536
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -333.9869995117188 0 1
*box.20
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.20
2 5 14
0
1
=-abs(dof(6)*21)
10
0
*
*
*
*
*ball.20
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
357.113525390625 319.2990112304688 24.7470703125 1
dyn_cab/box.21
2 5 16
0
1
=dof(6)*0.6880
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -319.2990112304688 0 1
*box.21
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.21
2 5 14
0
1
=-abs(dof(6)*18)
10
0
*
*
*
*
*ball.21
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
365.263427734375 304.2160034179688 25.71728515625 1
dyn_cab/box.22
2 5 16
0
1
=dof(6)*0.7224
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -304.2160034179688 0 1
*box.22
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.22
2 5 14
0
1
=-abs(dof(6)*15)
10
0
*
*
*
*
*ball.22
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
372.253662109375 288.8340148925781 26.63720703125 1
dyn_cab/box.23
2 5 16
0
1
=dof(6)*0.7568
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -288.8340148925781 0 1
*box.23
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.23
2 5 14
0
1
=-abs(dof(6)*12)
10
0
*
*
*
*
*ball.23
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
378.163330078125 273.1780090332031 27.5068359375 1
dyn_cab/box.24
2 5 16
0
1
=dof(6)*0.7912
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -273.1780090332031 0 1
*box.24
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.24
2 5 14
0
1
=-abs(dof(6)*9)
10
0
*
*
*
*
*ball.24
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
383.013427734375 257.2749938964844 28.30712890625 1
dyn_cab/box.25
2 5 16
0
1
=dof(6)*0.8256
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -257.2749938964844 0 1
*box.25
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.25
2 5 14
0
1
=-abs(dof(6)*6)
10
0
*
*
*
*
*ball.25
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
386.853271484375 241.1519927978516 29.037109375 1
dyn_cab/box.26
2 5 16
0
1
=dof(6)*0.8600
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -241.1519927978516 0 1
*box.26
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.26
2 5 14
0
1
=-abs(dof(6)*3)
10
0
*
*
*
*
*ball.26
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
389.713623046875 224.8370056152344 29.70703125 1
dyn_cab/box.27
2 5 16
0
1
=dof(6)*0.8944
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -224.8370056152344 0 1
*box.27
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.27
2 5 14
0
1
=-abs(dof(6)*1)
10
0
*
*
*
*
*ball.27
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
391.653564453125 208.3580017089844 30.296875 1
dyn_cab/box.28
2 5 16
0
1
=dof(6)*0.9288
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -208.3580017089844 0 1
*box.28
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.28
2 5 14
0
1
=-abs(dof(6)*0)
10
0
*
*
*
*
*ball.28
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
392.693603515625 191.7400054931641 30.80712890625 1
dyn_cab/box.29
2 5 16
0
1
=dof(6)*0.9632
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -191.7400054931641 0 1
*box.29
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.29
2 5 14
0
1
=-abs(dof(6)*0)
10
0
*
*
*
*
*ball.29
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
392.953369140625 174.9989929199219 31.2373046875 1
dyn_cab/box.30
2 5 16
0
1
=dof(6)*0.9976
10
1
1 0 -0 0
0 1 0 0
0 -0 1 0
0 -174.9989929199219 0 1
*box.30
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
20 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
dyn_cab/ball.30
2 5 14
0
1
=-abs(dof(6)*0)
10
0
*
*
*
*
*ball.30
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
0001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-2595 0 -2890 1
IRB8700_mh6sw6_550_irc5_rev00_link4_cable
0
0
0
10
0
*
*
*
*
*IRB8700_mh6sw6_550_irc5_rev00_link4_cable
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-420 0 -2580 1
IRB8700_all_irc5_rev00_link3_cable
0
0
0
10
0
*
*
*
*
*IRB8700_all_irc5_rev00_link3_cable
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
01
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-420 0 -2580 1
IRB8700-SW6_550-420_IRC5_rev00_cbl3
0
0
0
10
0
*
*
*
*
*IRB8700-SW6_550-420_IRC5_rev00_cbl3
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-420 0 -1000 1
IRB8700-SW6_550-420_IRC5_rev00_cbl2
0
0
0
10
0
*
*
*
*
*IRB8700-SW6_550-420_IRC5_rev00_cbl2
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
000010
0
0
0
0
0
0
0
0
0
25
0
0
0
0
0
0
0
0
0
0
0
0
0
0
**BEGIN_ATTRIBUTES**
8
1
2
Robot Name
3 1 0 0
*IRB_6400_30_75
.UUID
3 1 0 0
*0_e5_39e38c20_78d
**END_ATTRIBUTES**
