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mercury_b1.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" />
<!-- base -->
<link name="base">
<visual>
<geometry>
<mesh filename="package://mercury_description/urdf/mercury_b1/base.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
</visual>
<collision>
<origin xyz = "0 0 0.09 " rpy = " 0 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.043"/>
</geometry>
</collision>
</link>
<!-- body -->
<link name="link_body">
<visual>
<geometry>
<mesh filename="package://mercury_description/urdf/mercury_b1/body.dae"/>
</geometry>
<origin xyz = "0 0 -0.11 " rpy = " 0 0 0"/>
</visual>
<collision>
<origin xyz = "0 0 0.0 " rpy = " 0 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.033"/>
</geometry>
</collision>
</link>
<!-- screen head -->
<link name="link_head">
<visual>
<geometry>
<mesh filename="package://mercury_description/urdf/mercury_b1/head.dae"/>
</geometry>
<origin xyz = "0 0 -0.1 " rpy = " 0 0 0"/>
</visual>
<collision>
<origin xyz = "0 0 -0.07 " rpy = " 0 0 0"/>
<geometry>
<cylinder length="0.05" radius="0.023"/>
</geometry>
</collision>
</link>
<!-- camera -->
<link name="link_eye">
<visual>
<geometry>
<mesh filename="package://mercury_description/urdf/mercury_b1/head_eye.dae"/>
</geometry>
<origin xyz = "0 0 0.0 " rpy = " 0 0 -0.6981"/>
</visual>
<collision>
<origin xyz = "0 0 0.0 " rpy = " 0 0 -0.6981"/>
<geometry>
<cylinder length="0.08" radius="0.003"/>
</geometry>
</collision>
</link>
<link name="link1_L">
<visual>
<geometry>
<mesh filename="package://mercury_description/urdf/mercury_b1/joint1_L.dae"/>
</geometry>
<origin xyz = "0 0 -0.084 " rpy = " 0 0 0"/>
</visual>
<collision>
<origin xyz = "0 0 -0.084 " rpy = " 0 0 0"/>
<geometry>
<cylinder length="0.035" radius="0.023"/>
</geometry>
</collision>
</link>
<link name="link2_L">
<visual>
<geometry>
<mesh filename="package://mercury_description/urdf/mercury_b1/joint2_L.dae"/>
</geometry>
<origin xyz = "0 0 0.0 " rpy = " 3.14159 0 -1.5708"/>
</visual>
<collision>
<origin xyz = "0 0 0.0 " rpy = " 3.14159 0 -1.5708"/>
<geometry>
<cylinder length="0.035" radius="0.023"/>
</geometry>
</collision>
</link>
<link name="link3_L">
<visual>
<geometry>
<mesh filename="package://mercury_description/urdf/mercury_b1/joint3_L.dae"/>
</geometry>
<origin xyz = "0 0 0.038 " rpy = " 0 0 0"/>
</visual>
<collision>
<origin xyz = "0 0 0.038 " rpy = " 0 0 0"/>
<geometry>
<cylinder length="0.03" radius="0.023"/>
</geometry>
</collision>
</link>
<link name="link4_L">
<visual>
<geometry>
<mesh filename="package://mercury_description/urdf/mercury_b1/joint4_L.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<origin xyz = "0 0 0 " rpy = " 0 0 -1.5708"/>
<geometry>
<cylinder length="0.035" radius="0.023"/>
</geometry>
</collision>
</link>
<link name="link5_L">
<visual>
<geometry>
<mesh filename="package://mercury_description/urdf/mercury_b1/joint5_L.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="link6_L">
<visual>
<geometry>
<mesh filename="package://mercury_description/urdf/mercury_b1/joint6_L.dae"/>
</geometry>
<origin xyz = "0 0 -0.025 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<origin xyz = "0 0 0.0 " rpy = " 0 0 -1.5708"/>
<geometry>
<cylinder length="0.05" radius="0.023"/>
</geometry>
</collision>
</link>
<link name="link7_L">
<visual>
<geometry>
<mesh filename="package://mercury_description/urdf/mercury_b1/joint7_L.dae"/>
</geometry>
<origin xyz = "0 0 -0.002 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<origin xyz = "0 0 -0.002 " rpy = " 0 0 -1.5708"/>
<geometry>
<cylinder length="0.004" radius="0.023"/>
</geometry>
</collision>
</link>
<link name="link1_R">
<visual>
<geometry>
<mesh filename="package://mercury_description/urdf/mercury_b1/joint1_R.dae"/>
</geometry>
<origin xyz = "0 0 -0.084 " rpy = " 0 0 0"/>
</visual>
<collision>
<origin xyz = "0 0 -0.084 " rpy = " 0 0 0"/>
<geometry>
<cylinder length="0.035" radius="0.023"/>
</geometry>
</collision>
</link>
<link name="link2_R">
<visual>
<geometry>
<mesh filename="package://mercury_description/urdf/mercury_b1/joint2_R.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 3.14159 0 -1.5708"/>
</visual>
<collision>
<origin xyz = "0 0 0 " rpy = " 3.14159 0 -1.5708"/>
<geometry>
<cylinder length="0.035" radius="0.023"/>
</geometry>
</collision>
</link>
<link name="link3_R">
<visual>
<geometry>
<mesh filename="package://mercury_description/urdf/mercury_b1/joint3_R.dae"/>
</geometry>
<origin xyz = "0 0 0.038 " rpy = " 0 0 0"/>
</visual>
<collision>
<origin xyz = "0 0 0.038 " rpy = " 0 0 0"/>
<geometry>
<cylinder length="0.03" radius="0.023"/>
</geometry>
</collision>
</link>
<link name="link4_R">
<visual>
<geometry>
<mesh filename="package://mercury_description/urdf/mercury_b1/joint4_R.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<origin xyz = "0 0 0 " rpy = " 0 0 -1.5708"/>
<geometry>
<cylinder length="0.035" radius="0.023"/>
</geometry>
</collision>
</link>
<link name="link5_R">
<visual>
<geometry>
<mesh filename="package://mercury_description/urdf/mercury_b1/joint5_R.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="link6_R">
<visual>
<geometry>
<mesh filename="package://mercury_description/urdf/mercury_b1/joint6_R.dae"/>
</geometry>
<origin xyz = "0 0 -0.025 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<origin xyz = "0 0 0.0 " rpy = " 0 0 -1.5708"/>
<geometry>
<cylinder length="0.05" radius="0.023"/>
</geometry>
</collision>
</link>
<link name="link7_R">
<visual>
<geometry>
<mesh filename="package://mercury_description/urdf/mercury_b1/joint7_R.dae"/>
</geometry>
<origin xyz = "0 0 -0.002 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<origin xyz = "0 0 -0.002 " rpy = " 0 0 -1.5708"/>
<geometry>
<cylinder length="0.004" radius="0.023"/>
</geometry>
</collision>
</link>
<joint name="joint1_L" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.879" upper = "2.879" velocity = "0"/>
<parent link="link_body"/>
<child link="link1_L"/>
<origin xyz= " 0.075 0.186 0.085 " rpy = "-1.5708 0 -0.5235"/>
</joint>
<joint name="joint2_L" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-0.959" upper = "1.658" velocity = "0"/>
<parent link="link1_L"/>
<child link="link2_L"/>
<origin xyz= " 0 0 0 " rpy = "-1.5708 0 0"/>
</joint>
<joint name="joint3_L" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.879" upper = "2.879" velocity = "0"/>
<parent link="link2_L"/>
<child link="link3_L"/>
<origin xyz= " 0 -0.11 0 " rpy = "1.5708 0 0"/>
</joint>
<joint name="joint4_L" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.019" upper = "0.087" velocity = "0"/>
<parent link="link3_L"/>
<child link="link4_L"/>
<origin xyz= " 0.03 0 0.095" rpy = "-1.5708 0 3.14159"/>
</joint>
<joint name="joint5_L" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.879" upper = "2.879" velocity = "0"/>
<parent link="link4_L"/>
<child link="link5_L"/>
<origin xyz= " 0.03 -0.126 0" rpy = "1.5708 3.14159 0"/>
</joint>
<joint name="joint6_L" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-0.3490" upper = "4.6251" velocity = "0"/>
<parent link="link5_L"/>
<child link="link6_L"/>
<origin xyz= " 0 0 0.08" rpy = "1.5708 0 0"/>
</joint>
<joint name="joint7_L" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="link6_L"/>
<child link="link7_L"/>
<origin xyz= " 0.038 -0.046 0" rpy = "1.5708 0 0"/>
</joint>
<joint name="joint1_R" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.879" upper = "2.879" velocity = "0"/>
<parent link="link_body"/>
<child link="link1_R"/>
<origin xyz= " 0.075 -0.186 0.085 " rpy = "1.5708 0 0.5235"/>
</joint>
<joint name="joint2_R" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-0.959" upper = "1.658" velocity = "0"/>
<parent link="link1_R"/>
<child link="link2_R"/>
<origin xyz= " 0 0 0 " rpy = "-1.5708 0 0"/>
</joint>
<joint name="joint3_R" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.879" upper = "2.879" velocity = "0"/>
<parent link="link2_R"/>
<child link="link3_R"/>
<origin xyz= " 0 -0.11 0 " rpy = "1.5708 0 0"/>
</joint>
<joint name="joint4_R" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.019" upper = "0.087" velocity = "0"/>
<parent link="link3_R"/>
<child link="link4_R"/>
<origin xyz= " 0.03 0 0.095" rpy = "-1.5708 0 3.14159"/>
</joint>
<joint name="joint5_R" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.879" upper = "2.879" velocity = "0"/>
<parent link="link4_R"/>
<child link="link5_R"/>
<origin xyz= " 0.03 -0.126 0" rpy = "1.5708 3.14159 0"/>
</joint>
<joint name="joint6_R" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-0.3490" upper = "4.6251" velocity = "0"/>
<parent link="link5_R"/>
<child link="link6_R"/>
<origin xyz= " 0 0 0.08" rpy = "1.5708 0 0"/>
</joint>
<joint name="joint7_R" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="link6_R"/>
<child link="link7_R"/>
<origin xyz= " 0.038 -0.046 0" rpy = "1.5708 0 0"/>
</joint>
<joint name="eye" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-1.04" upper = "0" velocity = "0"/>
<parent link="link_head"/>
<child link="link_eye"/>
<origin xyz= " 0.03 0 -0.08 " rpy = "1.5708 0 0"/>
</joint>
<joint name="head" type="revolute">
<axis xyz=" 0 0 -1"/>
<limit effort = "1000.0" lower = "-2.408" upper = "3.2812" velocity = "0"/>
<parent link="link_body"/>
<child link="link_head"/>
<origin xyz= " 0 0 0.22 " rpy = "0 0 0"/>
</joint>
<joint name="body" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.059" upper = "2.0594" velocity = "0"/>
<parent link="base"/>
<child link="link_body"/>
<origin xyz= " 0 0 0.231 " rpy = "0 0 0"/>
</joint>
</robot>