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TwoJointRobot_w_fixedJoints.urdf
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TwoJointRobot_w_fixedJoints.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from TwoJointRobot.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="TwoJointRobot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="blue">
<color rgba="0 0 0.8 1"/>
</material>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
<link name="base_link">
<visual>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.025"/>
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.025"/>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
</inertial>
</link>
<link name="link_01_cyl">
<visual>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="blue"/>
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
</inertial>
</link>
<link name="link_12_cyl">
<visual>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="blue"/>
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
</inertial>
</link>
<link name="link_21_cyl">
<visual>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
</inertial>
</link>
<link name="link_23_cyl">
<visual>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
</inertial>
</link>
<link name="link_1">
<visual>
<geometry>
<box size="1.0 0.1 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0.5 0 0"/>
<material name="blue"/>
</visual>
<collision>
<geometry>
<box size="1.0 0.1 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0.5 0 0"/>
</collision>
<inertial>
<mass value="0.5"/>
<inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
</inertial>
</link>
<link name="link_2">
<visual>
<geometry>
<box size="1.0 0.1 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0.5 0 0"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<box size="1.0 0.1 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0.5 0 0"/>
</collision>
<inertial>
<mass value="0.5"/>
<inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
</inertial>
</link>
<joint name="link_01" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="link_01_cyl"/>
<child link="link_1"/>
</joint>
<joint name="link_12" type="fixed">
<origin rpy="0 0 0" xyz="1.0 0 0"/>
<parent link="link_1"/>
<child link="link_12_cyl"/>
</joint>
<joint name="link_21" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="link_21_cyl"/>
<child link="link_2"/>
</joint>
<joint name="link_23" type="fixed">
<origin rpy="0 0 0" xyz="1.0 0 0"/>
<parent link="link_2"/>
<child link="link_23_cyl"/>
</joint>
<joint name="joint_1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="10000" lower="-3" upper="+3" velocity="5"/>
<dynamics damping="0" friction="0"/>
<origin rpy="0 0 0" xyz="0 0 0.075"/>
<parent link="base_link"/>
<child link="link_01_cyl"/>
</joint>
<joint name="joint_2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="10000" lower="-3" upper="+3" velocity="5"/>
<dynamics damping="0" friction="0"/>
<origin rpy="0 0 0" xyz="0.0 0. 0.05"/>
<parent link="link_12_cyl"/>
<child link="link_21_cyl"/>
</joint>
</robot>