test_robot.urdf
<?xml version="1.0" ?> <robot name="test_robot"> <material name="black"> <color rgba="0.0 0.0 0.0 1.0" /> </material> <material name="orange"> <color rgba="1.0 0.4 0.0 1.0" /> </material> <link name="base"/> <joint name="fixed" type="fixed"> <parent link="base" /> <child link="link1" /> </joint> <link name="link1"> <collision> <origin rpy="0 0 0" xyz="0 0 0.25" /> <geometry> <box size="0.1 0.1 0.5" /> </geometry> </collision> <visual> <origin rpy="0 0 0" xyz="0 0 0.25" /> <geometry> <box size="0.1 0.1 0.5"/> </geometry> <material name="balck" /> </visual> <inertial> <origin rpy="0 0 0" xyz="0 0 0.25" /> <mass value="1" /> <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" /> </inertial> </link> <joint name="joint1" type="revolute"> <parent link="link1"/> <child link="link2"/> <origin rpy="0 0 0" xyz="0 0 0.5"/> <axis xyz="0 0 1"/> <limit effort="30" lower="-2.617" upper="2.617" velocity="1.571" /> </joint> <link name="link2"> <collision> <origin rpy="0 0 0" xyz="0 0 0.25"/> <geometry> <box size="0.1 0.1 0.5"/> </geometry> </collision> <visual> <origin rpy="0 0 0" xyz="0 0 0.25"/> <geometry> <box size="0.1 0.1 0.5" /> </geometry> <material name="orange"/> </visual> <inertial> <origin rpy="0 0 0" xyz="0 0 0.25" /> <mass value="1"/> <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" /> </inertial> </link> <joint name="joint2" type="revolute"> <parent link="link2"/> <child link="link3" /> <origin rpy="0 0 0" xyz="0 0 0.5"/> <axis xyz="0 1 0" /> <limit effort="30" lower="-2.617" upper="2.617" velocity="1.571" /> </joint> <link name="link3"> <collision> <origin rpy="0 0 0" xyz="0 0 0.5"/> <geometry> <box size="0.1 0.1 1"/> </geometry> </collision> <visual> <origin rpy="0 0 0" xyz="0 0 0.5" /> <geometry> <box size="0.1 0.1 1"/> </geometry> <material name="black"/> </visual> <inertial> <origin rpy="0 0 0" xyz="0 0 0.5" /> <mass value="1" /> <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" /> </inertial> </link> <joint name="joint3" type="revolute" > <parent link="link3"/> <child link="link4"/> <origin rpy="0 0 0" xyz="0 0 1.0"/> <axis xyz="0 1 0"/> <limit effort="30" lower="-2.617" upper="2.617" velocity="1.571"/> </joint> <link name="link4"> <collision> <origin rpy="0 0 0" xyz="0 0 0.25"/> <geometry> <box size="0.1 0.1 0.5"/> </geometry> </collision> <visual> <origin rpy="0 0 0" xyz="0 0 0.25" /> <geometry> <box size="0.1 0.1 0.5" /> </geometry> <material name="orange" /> </visual> <inertial> <origin rpy="0 0 0" xyz="0 0 0.25" /> <mass value="1" /> <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> </inertial> </link> </robot>