I am trying to build an XML file for the ABB IRB120 arm. I am new to this and would appreciate some help. My problem is in the forth joint and link 3 of the arm where there is translation in two directions. When I write the xml as follows, because of the translation <149.6 0 70>, the rotation about the x-axis in joint 4 is with a radius of 70 (not supposed to be). Basically, I need the rotation about the x-axis of the translated frame and not the previous one. I tried using an anchor in joint 4 at <149.6 0 70> but it fails to produce a solution (error).
I hope my problem is understood. Also added the scheme of the arm.