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iaac.xml
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<RobotSystems>
<RobotCell name="iaac-KR150-2_110" manufacturer="KUKA">
<Mechanisms>
<RobotArm model="KR150-2_110" manufacturer="KUKA" payload="110">
<Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/>
<Joints>
<Revolute number="1" a ="350" d ="750" minrange = "-185" maxrange ="185" maxspeed ="105"/>
<Revolute number="2" a ="1250" d ="0" minrange = "-146" maxrange ="0" maxspeed ="110"/>
<Revolute number="3" a ="-55" d ="0" minrange = "-119" maxrange ="155" maxspeed ="93"/>
<Revolute number="4" a ="0" d ="1500" minrange = "-350" maxrange ="350" maxspeed ="170"/>
<Revolute number="5" a ="0" d ="0" minrange = "-125" maxrange ="125" maxspeed ="170"/>
<Revolute number="6" a ="0" d ="230" minrange = "-350" maxrange ="350" maxspeed ="238"/>
</Joints>
</RobotArm>
</Mechanisms>
<IO>
<DO names="1,2,3,4"/>
<DI names="1,2,3,4"/>
<AO names="1,2"/>
<AI names="1,2"/>
</IO>
</RobotCell>
<RobotCell name="iaac-IRB140" manufacturer="ABB">
<Mechanisms group="0">
<RobotArm model="IRB140" manufacturer="ABB" payload="10">
<Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/>
<Joints>
<Revolute number="1" a ="70" d ="352" minrange = "-180" maxrange ="180" maxspeed ="200"/>
<Revolute number="2" a ="360" d ="0" minrange = "-90" maxrange ="110" maxspeed ="200"/>
<Revolute number="3" a ="0" d ="0" minrange = "-230" maxrange ="50" maxspeed ="260"/>
<Revolute number="4" a ="0" d ="380" minrange = "-200" maxrange ="200" maxspeed ="360"/>
<Revolute number="5" a ="0" d ="0" minrange = "-115" maxrange ="115" maxspeed ="360"/>
<Revolute number="6" a ="0" d ="65" minrange = "-400" maxrange ="400" maxspeed ="450"/>
</Joints>
</RobotArm>
</Mechanisms>
<IO>
<DO names="DO10_1,DO10_2,DO10_3,DO10_4,DO10_5,DO10_6,DO10_7,DO10_8,DO10_9,DO10_10,DO10_11,DO10_12,DO10_13,DO10_14,DO10_15,DO10_16"/>
<DI names="DI10_1,DI10_2,DI10_3,DI10_4,DI10_5,DI10_6,DI10_7,DI10_8,DI10_9,DI10_10,DI10_11,DI10_12,DI10_13,DI10_14,DI10_15,DO10_16"/>
</IO>
</RobotCell>
<RobotCell name="iaac-IRB120" manufacturer="ABB">
<Mechanisms>
<RobotArm model="IRB120" manufacturer="ABB" payload="3">
<Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/>
<Joints>
<Revolute number="1" a ="0" d ="290" minrange = "-165" maxrange ="165" maxspeed ="250"/>
<Revolute number="2" a ="270" d ="0" minrange = "-110" maxrange ="110" maxspeed ="250"/>
<Revolute number="3" a ="70" d ="0" minrange = "-110" maxrange ="70" maxspeed ="250"/>
<Revolute number="4" a ="0" d ="302" minrange = "-160" maxrange ="160" maxspeed ="320"/>
<Revolute number="5" a ="0" d ="0" minrange = "-120" maxrange ="120" maxspeed ="320"/>
<Revolute number="6" a ="0" d ="72" minrange = "-400" maxrange ="400" maxspeed ="420"/>
</Joints>
</RobotArm>
</Mechanisms>
<IO>
<DO names="DO10_1,DO10_2,DO10_3,DO10_4,DO10_5,DO10_6,DO10_7,DO10_8,DO10_9,DO10_10,DO10_11,DO10_12,DO10_13,DO10_14,DO10_15,DO10_16"/>
<DI names="DI10_1,DI10_2,DI10_3,DI10_4,DI10_5,DI10_6,DI10_7,DI10_8,DI10_9,DI10_10,DI10_11,DI10_12,DI10_13,DI10_14,DI10_15,DO10_16"/>
</IO>
</RobotCell>
</RobotSystems>