fanuc.urdf

<?xml version="1.0" ?>
<robot name="R-2000iC 165F w RTU" xmlns:xacro="http://www.ros.org/wiki/xacro">
    <joint name="base_to_slide_base" type="fixed">
        <origin xyz="0 0 0" rpy ="3.14 0 0"/>
        <parent link="base"/>
        <child link="fanuc_base"/>
    </joint>
    <joint name="joint_1" type="revolute">
        <axis xyz="0 0 1" />
        <limit lower="-3.228859" upper="3.228859" effort="1" velocity="2.268928" acceleration="4.419994" jerk="17.220745" />
        <origin xyz="0 0 0.67" rpy="0 -0 0" />
        <parent link="fanuc_base" />
        <child link="link_1" />
    </joint>
    <joint name="joint_2" type="revolute">
        <axis xyz="0 1 0" />
        <limit lower="-1.0472" upper="1.32645" effort="1" velocity="2.007129" acceleration="3.909991" jerk="15.233740" />
        <origin xyz="0.312 0 0" rpy="0 -0 0" />
        <parent link="link_1" />
        <child link="link_2" />
    </joint>
    <joint name="joint_3" type="revolute">
        <axis xyz="0 -1 0" />
        <limit lower="-2.30" upper="3.14" effort="1" velocity="2.181662" acceleration="4.249999" jerk="16.558409" />
        <origin xyz="0 0 1.075" rpy="0 -0 0" />
        <parent link="link_2" />
        <child link="link_3" />
    </joint>
    <joint name="joint_4" type="revolute">
        <axis xyz="-1 0 0" />
        <limit lower="-6.283185" upper="6.283185" effort="1" velocity="3.141593" acceleration="6.119979" jerk="23.844095" />
        <origin xyz="0 0 0.225" rpy="0 -0 0" />
        <parent link="link_3" />
        <child link="link_4" />
    </joint>
    <joint name="joint_5" type="revolute">
        <axis xyz="0 -1 0" />
        <limit lower="-2.181662" upper="2.181662" effort="1" velocity="3.141593" acceleration="6.119979" jerk="23.844095" />
        <origin xyz="1.28 0 0" rpy="0 -0 0" />
        <parent link="link_4" />
        <child link="link_5" />
    </joint>
    <joint name="joint_6" type="revolute">
        <axis xyz="-1 0 0" />
        <limit lower="-6.283185" upper="6.283185" effort="1" velocity="4.537856" acceleration="8.839971" jerk="34.441471" />
        <!-- <limit lower="-3.1415925" upper="3.1415925" effort="1" velocity="4.537856" acceleration="8.839971" jerk="34.441471" /> -->
        <origin xyz="0.215 0 0" rpy="0 -0 0" />
        <parent link="link_5" />
        <child link="link_6" />
    </joint>
    <joint name="link_6-to-default_tcp" type="fixed">
        <origin xyz="0 0 0" rpy="-3.14159 1.5708 3.14159" />
        <parent link="link_6" />
        <child link="default_tcp" />
    </joint>
    <link name="base" />
    <link name="fanuc_base">
        <visual>
            <geometry>
                <mesh filename="package://urdf/geometry/visual/base.dae" />
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://urdf/geometry/collision/base.dae" />
            </geometry>
        </collision>
    </link>
    <link name="default_tcp" />
    <link name="link_1">
        <visual>
            <geometry>
                <mesh filename="package://urdf/geometry/visual/link_1.dae" />
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://urdf/geometry/collision/link_1.dae" />
            </geometry>
        </collision>
    </link>
    <link name="link_2">
        <visual>
            <geometry>
                <mesh filename="package://urdf/geometry/visual/link_2.dae" />
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://urdf/geometry/collision/link_2.dae" />
            </geometry>
        </collision>
    </link>
    <link name="link_3">
        <visual>
            <geometry>
                <mesh filename="package://urdf/geometry/visual/link_3.dae" />
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://urdf/geometry/collision/link_3.dae" />
            </geometry>
        </collision>
    </link>
    <link name="link_4">
        <visual>
            <geometry>
                <mesh filename="package://urdf/geometry/visual/link_4.dae" />
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://urdf/geometry/collision/link_4.dae" />
            </geometry>
        </collision>
    </link>
    <link name="link_5">
        <visual>
            <geometry>
                <mesh filename="package://urdf/geometry/visual/link_5.dae" />
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://urdf/geometry/collision/link_5.dae" />
            </geometry>
        </collision>
    </link>
    <link name="link_6">
        <visual>
            <geometry>
                <mesh filename="package://urdf/geometry/visual/link_6.dae" />
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://urdf/geometry/collision/link_6.dae" />
            </geometry>
        </collision>
    </link>
</robot>