Possible to have robots models/descriptions for new GoFa 10kgs and GoFa 12kgs?

[FLo-ABB]

CAD models available on the official website: https://new.abb.com/products/robotics/robots/collaborative-robots/crb-15000

Thank you!

[pandreuw]

Hello,
Is there something we can help to add the GoFa 10kg and 12kg? There is a URDF exporter wiki

[FLo-ABB]

There is the Denavit Hartenberg parameters if needed:

GoFa 10
Kinematics	𝜽 [rad]	𝒅 [m]	𝜶 [rad]	𝒂 [m]
Joint 1	0	0,4	−π/2	0,15
Joint 2	−π/2	0	0	0,707
Joint 3	0	0	−π/2	0.11
Joint 4	0	0,637	π/2	0
Joint 5	0	0	−π/2	0.08
Joint 6	π	0.101	0	0
GoFa 12
Kinematics	𝜽 [rad]	𝒅 [m]	𝜶 [rad]	𝒂 [m]
Joint 1	0	0,338	−π/2	0
Joint 2	−π/2	0	0	0,707
Joint 3	0	0	−π/2	0.11
Joint 4	0	0,534	π/2	0
Joint 5	0	0	−π/2	0.08
Joint 6	π	0.101	0	0