fanuc_two_joints

fanuc_two_joints.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 ="0 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="300" 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="300" 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>
    <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="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>
</robot>