GoFa is ABB’s single-arm collaborative robot — a 5 kg payload, 950 mm reach cobot built to work directly next to people, with torque sensors in every one of its six joints so it stops on unexpected contact instead of relying on external fencing.
The mechanism
Six revolute joints in series give the arm its six degrees of freedom, all independently actuated — no mimic joints or closed kinematic loops are part of this description.
About these files — read before importing
ABB does not publish a URDF for GoFa directly. This links to ros-industrial/abb, the ROS-Industrial community project that maintains description and driver packages for industrial robots ROS needs to talk to. It’s a careful third-party engineering model, not a file ABB itself ships or verifies — treat it as accurate enough to visualize and plan around, and check ABB’s own data sheets before relying on it for anything load-bearing.
ARMOR links directly to that repository rather than re-hosting anything, so what you get is exactly what ROS-Industrial publishes, unmodified.