The IRB 6700 is ABB’s current heavy-payload industrial arm, built for automotive body assembly, heavy material handling, and general industrial work where earlier heavy-class lines like the IRB 6600/7600 used to serve. This configuration is the 200 kg-payload, 2.6 m-reach variant (ABB also sells a 235 kg / 2.65 m version; ROS-Industrial’s package covers both, this entry uses the first).
The mechanism
Six revolute joints in series give the arm its six degrees of freedom. The real
robot’s shoulder axis (joint 2) is mechanically assisted by a gas-spring counterbalance
cylinder — visible in the render as a piston-and-cylinder assembly bolted to the upper
arm — which this description models as two extra joints (cylinder_joint, piston_joint)
each <mimic>-constrained to follow joint 2’s motion rather than driven by their own
motor. The robot’s real actuated DOF is still six.
A caveat worth knowing: this package’s <link> elements carry no <inertial> blocks
at all — every link is effectively zero mass. This is a visualization model, not a
simulation-ready one; geometry and kinematics are complete, but there’s no inertial data
for a physics engine to act on.
About these files — read before importing
ABB does not publish a URDF for the IRB 6700. This links directly 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.