49 lines
1.2 KiB
XML
49 lines
1.2 KiB
XML
<?xml version="1.0"?>
|
|
<robot name="physics">
|
|
<link name="base_link">
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="0.6" radius="0.2"/>
|
|
</geometry>
|
|
<material name="blue">
|
|
<color rgba="0 0 .8 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<cylinder length="0.6" radius="0.2"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="2"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<link name="sub_link">
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="0.8" radius="0.1"/>
|
|
</geometry>
|
|
<material name="red">
|
|
<color rgba=".8 0 0 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<cylinder length="0.8" radius="0.1"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="2"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="base_to_sub" type="revolute">
|
|
<parent link="base_link"/>
|
|
<child link="sub_link"/>
|
|
<axis xyz="1 0 0"/>
|
|
<limit effor="10" upper="0" lower="10" velocity="1"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0.6"/>
|
|
</joint>
|
|
</robot>
|