feat: Added robot models abb irb 1010 and yaskawa GP8/AR700 (#153)

wandelbotsgmbh · Nov 28, 2024 · 0ee316a · 0ee316a
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diff --git a/public/models/ABB_1010.glb b/public/models/ABB_1010.glb
diff --git a/public/models/Yaskawa_AR700.glb b/public/models/Yaskawa_AR700.glb
diff --git a/public/models/Yaskawa_GP8.glb b/public/models/Yaskawa_GP8.glb
diff --git a/stories/robots/robotConfig/jsonV2/ABB/1010.json b/stories/robots/robotConfig/jsonV2/ABB/1010.json
@@ -0,0 +1,102 @@
+{
+  "dof": 6,
+  "dhParameters": [
+    {
+      "a": "0",
+      "d": "190",
+      "alpha": "-1.5707963267948966",
+      "theta": "0",
+      "reverseRotationDirection": "0"
+    },
+    {
+      "a": "185",
+      "d": "0",
+      "alpha": "0",
+      "theta": "-1.5707963267948966",
+      "reverseRotationDirection": "0"
+    },
+    {
+      "a": "0",
+      "d": "0",
+      "alpha": "-1.5707963267948966",
+      "theta": "0",
+      "reverseRotationDirection": "0"
+    },
+    {
+      "a": "0",
+      "d": "185",
+      "alpha": "1.5707963267948966",
+      "theta": "0",
+      "reverseRotationDirection": "0"
+    },
+    {
+      "a": "0",
+      "d": "0",
+      "alpha": "-1.5707963267948966",
+      "theta": "0",
+      "reverseRotationDirection": "0"
+    },
+    {
+      "a": "0",
+      "d": "45",
+      "alpha": "0",
+      "theta": "-3.1415926535897931",
+      "reverseRotationDirection": "0"
+    }
+  ],
+  "limits": {
+    "joints": [
+      {
+        "position": {
+          "lower": "-2.9670597283903604",
+          "upper": "2.9670597283903604"
+        },
+        "velocity": "5.5850536063818546",
+        "acceleration": "5.5850536063818546"
+      },
+      {
+        "position": {
+          "lower": "-1.7453292519943295",
+          "upper": "2.3561944901923448"
+        },
+        "velocity": "5.5850536063818546",
+        "acceleration": "5.5850536063818546"
+      },
+      {
+        "position": {
+          "lower": "-3.4906585039886591",
+          "upper": "1.2217304763960306"
+        },
+        "velocity": "6.4577182323790194",
+        "acceleration": "6.4577182323790194"
+      },
+      {
+        "position": {
+          "lower": "-4.7123889803846897",
+          "upper": "4.7123889803846897"
+        },
+        "velocity": "8.7266462599716478",
+        "acceleration": "8.7266462599716478"
+      },
+      {
+        "position": {
+          "lower": "-2.2689280275926285",
+          "upper": "2.2689280275926285"
+        },
+        "velocity": "8.2030474843733490",
+        "acceleration": "8.2030474843733490"
+      },
+      {
+        "position": {
+          "lower": "-6.9813170079773181",
+          "upper": "6.9813170079773181"
+        },
+        "velocity": "8.7266462599716478",
+        "acceleration": "8.7266462599716478"
+      }
+    ],
+    "tcp": {
+        "velocity": "1500"
+      }
+  }
+}