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