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mercury_a1.urdf
executable file
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mercury_a1.urdf
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
<xacro:property name="width" value=".2" />
<link name="base">
<visual>
<geometry>
<mesh filename="package://mercury_description/urdf/mercury_a1/base.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
</visual>
<collision>
<origin xyz = "0.0 0 0.04 " rpy = " 0 0 0"/>
<geometry>
<cylinder length="0.07" radius="0.043"/>
</geometry>
</collision>
</link>
<link name="joint1">
<visual>
<geometry>
<mesh filename="package://mercury_description/urdf/mercury_a1/joint1.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.08 " rpy = " 0 0 0"/>
</visual>
<collision>
<origin xyz = "0.0 0 -0.07 " rpy = " 0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.023"/>
</geometry>
</collision>
</link>
<link name="joint2">
<visual>
<geometry>
<mesh filename="package://mercury_description/urdf/mercury_a1/joint2.dae"/>
</geometry>
<origin xyz = "0.0 0 0.0 " rpy = " 3.14159 0 -1.5708 "/>
</visual>
<collision>
<origin xyz = "0.0 0 0.0 " rpy = " 3.14159 0 -1.5708"/>
<geometry>
<cylinder length="0.035" radius="0.023"/>
</geometry>
</collision>
</link>
<link name="joint3">
<visual>
<geometry>
<mesh filename="package://mercury_description/urdf/mercury_a1/joint3.dae"/>
</geometry>
<origin xyz = "0.0 0 0.038 " rpy = " 0 0 0"/>
</visual>
<collision>
<origin xyz = "0.0 0 0.046" rpy = " 0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.023"/>
</geometry>
</collision>
</link>
<link name="joint4">
<visual>
<geometry>
<mesh filename="package://mercury_description/urdf/mercury_a1/joint4.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
<geometry>
<cylinder length="0.035" radius="0.023"/>
</geometry>
</collision>
</link>
<link name="joint5">
<visual>
<geometry>
<mesh filename="package://mercury_description/urdf/mercury_a1/joint5.dae"/>
</geometry>
<origin xyz = "0 0 -0.069 " rpy = " 0 0 0"/>
</visual>
<collision>
<origin xyz = "0 0 -0.002 " rpy = " 0 0 0"/>
<geometry>
<cylinder length="0.06" radius="0.023"/>
</geometry>
</collision>
</link>
<link name="joint6">
<visual>
<geometry>
<mesh filename="package://mercury_description/urdf/mercury_a1/joint6.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.025 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<origin xyz = "0.0 0 0.0 " rpy = " 0 0 -1.5708"/>
<geometry>
<cylinder length="0.05" radius="0.023"/>
</geometry>
</collision>
</link>
<link name="joint7">
<visual>
<geometry>
<mesh filename="package://mercury_description/urdf/mercury_a1/joint7.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.002 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<origin xyz = "0.0 0 -0.002 " rpy = " 0 0 -1.5708"/>
<geometry>
<cylinder length="0.004" radius="0.023"/>
</geometry>
</collision>
</link>
<joint name="joint1_to_base" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.879" upper = "2.879" velocity = "0"/>
<parent link="base"/>
<child link="joint1"/>
<origin xyz= "0 0 0.175" rpy = "0 0 0"/>
</joint>
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.959" upper = "1.658" velocity = "0"/>
<parent link="joint1"/>
<child link="joint2"/>
<!-- <origin xyz= "0 0 0" rpy = "1.5708 3.14159 0"/> -->
<origin xyz= "0 0 0" rpy = "-1.5708 0 0"/>
</joint>
<joint name="joint3_to_joint2" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.879" upper = "2.879" velocity = "0"/>
<parent link="joint2"/>
<child link="joint3"/>
<origin xyz= "0 -0.11 0 " rpy = "1.5708 0 0"/>
</joint>
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.019" upper = "0.087" velocity = "0"/>
<parent link="joint3"/>
<child link="joint4"/>
<origin xyz= "0.03 0 0.095" rpy = "-1.5708 0 3.14159"/>
</joint>
<joint name="joint5_to_joint4" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.879" upper = "2.879" velocity = "0"/>
<parent link="joint4"/>
<child link="joint5"/>
<origin xyz= "0.03 -0.126 0" rpy = "1.5708 3.14159 0"/>
</joint>
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.0349" upper = "2.9321" velocity = "0"/>
<parent link="joint5"/>
<child link="joint6"/>
<origin xyz= "0 0.0 0.08" rpy = "1.5708 0 0"/>
</joint>
<joint name="joint7_to_joint6" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="joint6"/>
<child link="joint7"/>
<origin xyz= "0.038 -0.046 0" rpy = "1.5708 0 0"/>
</joint>
</robot>