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Copy pathStuttgart.xml
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Stuttgart.xml
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<RobotSystems>
<RobotCell name="Stuttgart-3xIRB2600" manufacturer="ABB">
<Mechanisms group="0">
<RobotArm model="IRB2600-165" manufacturer="ABB" payload="20">
<Base x="0.000" y="0.000" z="0.000" q1="0.000" q2="1.000" q3="0.000" q4="0.000"/>
<Joints>
<Revolute number="1" a ="150" d ="445" minrange = "-180" maxrange ="180" maxspeed ="175"/>
<Revolute number="2" a ="700" d ="0" minrange = "-95" maxrange ="155" maxspeed ="175"/>
<Revolute number="3" a ="115" d ="0" minrange = "-180" maxrange ="75" maxspeed ="175"/>
<Revolute number="4" a ="0" d ="795" minrange = "-400" maxrange ="400" maxspeed ="360"/>
<Revolute number="5" a ="0" d ="0" minrange = "-120" maxrange ="120" maxspeed ="360"/>
<Revolute number="6" a ="0" d ="85" minrange = "-400" maxrange ="400" maxspeed ="500"/>
</Joints>
</RobotArm>
</Mechanisms>
<Mechanisms group="1">
<RobotArm model="IRB2600-165" manufacturer="ABB" payload="20">
<Base x="0.000" y="0.000" z="0.000" q1="0.000" q2="1.000" q3="0.000" q4="0.000"/>
<Joints>
<Revolute number="1" a ="150" d ="445" minrange = "-180" maxrange ="180" maxspeed ="175"/>
<Revolute number="2" a ="700" d ="0" minrange = "-95" maxrange ="155" maxspeed ="175"/>
<Revolute number="3" a ="115" d ="0" minrange = "-180" maxrange ="75" maxspeed ="175"/>
<Revolute number="4" a ="0" d ="795" minrange = "-400" maxrange ="400" maxspeed ="360"/>
<Revolute number="5" a ="0" d ="0" minrange = "-120" maxrange ="120" maxspeed ="360"/>
<Revolute number="6" a ="0" d ="85" minrange = "-400" maxrange ="400" maxspeed ="500"/>
</Joints>
</RobotArm>
</Mechanisms>
<Mechanisms group="2">
<RobotArm model="IRB2600-165" manufacturer="ABB" payload="20">
<Base x="0.000" y="0.000" z="0.000" q1="0.000" q2="1.000" q3="0.000" q4="0.000"/>
<Joints>
<Revolute number="1" a ="150" d ="445" minrange = "-180" maxrange ="180" maxspeed ="175"/>
<Revolute number="2" a ="700" d ="0" minrange = "-95" maxrange ="155" maxspeed ="175"/>
<Revolute number="3" a ="115" d ="0" minrange = "-180" maxrange ="75" maxspeed ="175"/>
<Revolute number="4" a ="0" d ="795" minrange = "-400" maxrange ="400" maxspeed ="360"/>
<Revolute number="5" a ="0" d ="0" minrange = "-120" maxrange ="120" maxspeed ="360"/>
<Revolute number="6" a ="0" d ="85" minrange = "-400" maxrange ="400" maxspeed ="500"/>
</Joints>
</RobotArm>
</Mechanisms>
<IO>
<DO names="DO01,DO02"/>
<DI names="DI01,DI02"/>
</IO>
</RobotCell>
<RobotCell name="Stuttgart-IRB4600" manufacturer="ABB">
<Mechanisms group="0">
<RobotArm model="IRB4600-255" manufacturer="ABB" payload="40">
<Base x="0.000" y="0.000" z="0.000" q1="0.000" q2="1.000" q3="0.000" q4="0.000"/>
<Joints>
<Revolute number="1" a ="175" d ="495" minrange = "-180" maxrange ="180" maxspeed ="175"/>
<Revolute number="2" a ="1095" d ="0" minrange = "-90" maxrange ="150" maxspeed ="175"/>
<Revolute number="3" a ="175" d ="0" minrange = "-180" maxrange ="75" maxspeed ="175"/>
<Revolute number="4" a ="0" d ="1270" minrange = "-400" maxrange ="400" maxspeed ="250"/>
<Revolute number="5" a ="0" d ="0" minrange = "-125" maxrange ="120" maxspeed ="250"/>
<Revolute number="6" a ="0" d ="135" minrange = "-400" maxrange ="400" maxspeed ="360"/>
</Joints>
</RobotArm>
</Mechanisms>
<IO>
<DO names="DO01,DO02"/>
<DI names="DI01,DI02"/>
</IO>
</RobotCell>
</RobotSystems>