fanuc_IK.world
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3 [INCLUDE]
4 
5  // import the model of the robot
6  robot: "fanuc_m430ia2p.world"
7 
8 [LINKS]
9  reference: box (0,0,0)+(0.1,0.1,0.1) green
10 
11 [JOINTS]
12 
13  // fix pose of the end effector
14  fix: robot::base_link robot::tool0 Txyz(0.5,0,0.25)*Ry(0.75)
15  fix: robot::base_link reference Txyz(0.5,0,0.25)*Ry(0.75)
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