URDF file

the Unified Robot Description Format (URDF) is an XML format for representing a robot model. You need to generate one specific to your robot.

You need to be care about joint_name, they should have exactly the same name inside the configuration file .

Then, check joint_limits (hard and soft), changes it if needed.

Below an URDF example of a 3 DoF robot arm

<robot name="dummy_robot">
  <link name="base_link">
    <visual>
      <origin xyz="0 0 0.03" rpy="0 0 0"/>
      <geometry>
        <cylinder length="0.06" radius="0.04"/>
      </geometry>
    </visual>
  </link>
  <link name="middle_link">
    <visual>
      <origin xyz="0 0 0.13" rpy="0 0 0 "/>
      <geometry>
        <cylinder length="0.26" radius="0.04"/>
      </geometry>
    </visual>
  </link>
  <link name="second_middle_link">
    <visual>
      <origin xyz="0 0 0.13" rpy="0 0 0 "/>
      <geometry>
        <cylinder length="0.26" radius="0.04"/>
      </geometry>
    </visual>
  </link>
  <link name="end_link">
    <visual>
      <origin xyz="0 0 0.075" rpy="0 0 0 "/>
      <geometry>
        <cylinder length="0.15" radius="0.04"/>
      </geometry>
    </visual>
  </link>

  <joint name="arm_joint_1" type="revolute">
    <parent link="base_link"/>
    <child link="middle_link"/>
    <origin xyz="0 0 0.06" rpy="0 0 0"/>
    <axis xyz="1 0 0"/>

    <!-- Joint limits -->
    <limit lower="-10.1415" upper="10.1415" velocity="10" effort="100"/>
    <!-- Soft limits -->
    <safety_controller k_position="3"
                    k_velocity="1000"
                    soft_lower_limit="-10.1415"
                    soft_upper_limit="10.1415" />
  </joint>

  <joint name="arm_joint_2" type="revolute">
    <parent link="middle_link"/>
    <child link="second_middle_link"/>
    <origin xyz="0 0 0.26" rpy="0 0 0"/>
    <axis xyz="1 0 0"/>

    <!-- Joint limits -->
    <limit lower="-3.1415" upper="3.1415" velocity="10" effort="100"/>
    <!-- Soft limits -->
    <safety_controller k_position="3"
                    k_velocity="1000"
                    soft_lower_limit="-3.1415"
                    soft_upper_limit="3.1415" />
  </joint>

  <joint name="arm_joint_3" type="revolute">
    <parent link="second_middle_link"/>
    <child link="end_link"/>
    <origin xyz="0 0 0.26" rpy="0 0 0"/>
    <axis xyz="1 0 0"/>

    <!-- Joint limits -->
    <limit lower="-3.1415" upper="3.1415" velocity="10" effort="100"/>
    <!-- Soft limits -->
    <safety_controller k_position="3"
                    k_velocity="1000"
                    soft_lower_limit="-3.1415"
                    soft_upper_limit="3.1415" />
  </joint>
</robot>