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Modify ABB IRB 120 URDF Model

asked 2020-04-24 13:41:47 -0500

whitecatshiro gravatar image

I want to add a gripper-like model to the end of the IRB 120 robot URDF so that the end of the robot isn't just a flange as seen in moveit!

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Basically, the IRB 120 model looks like the left image with just an open-end flange that rotates when I play with it in moveit!. I want to model a 3D cylindrical part to attach to the end of this flange which looks similar to the right image. How do I go about editing the irb120_3_58 xacro or urdf file to make this change?

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answered 2020-04-25 07:37:32 -0500

gvdhoorn gravatar image

How do I go about editing the irb120_3_58.xacro or urdf file to make this change?

You don't.

Those files are not meant to be edited.

Instead, you should create a new .xacro file yourself, which combines your end-effector model and the base robot model.

Such a composite xacro is a recurring construct which you can also use to create other structures (such as entire work cells).

For a simple example, you could take a look at Working with ROS-Industrial Robot Support Packages: Example: adding an end-effector to a robot.

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Asked: 2020-04-24 13:41:47 -0500

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Last updated: Apr 25