Rigid Body Tutorial

URDF_2rigid.xml

<?xml version="1.0"?>
<robot name="simple_two_link_arm">

  <!-- Base Link -->
  <link name="base_link">
    <visual>
      <geometry>
        <cylinder length="0.6" radius="0.1"/>
      </geometry>
      <material name="orange"/>
    </visual>
  </link>

  <!-- First Link -->
  <link name="link1">
    <visual>
      <geometry>
        <box size="0.4 0.1 0.1"/>
      </geometry>
      <material name="blue"/>
    </visual>
  </link>

  <!-- Second Link -->
  <link name="link2">
    <visual>
      <geometry>
        <box size="0.3 0.1 0.1"/>
      </geometry>
      <material name="green"/>
    </visual>
  </link>

  <!-- Base to First Link Joint -->
  <joint name="joint1" type="revolute">
    <parent link="base_link"/>
    <child link="link1"/>
    <origin xyz="0 0 0.3" rpy="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-1.57" upper="1.57" effort="100.0" velocity="0.5"/>
  </joint>

  <!-- First Link to Second Link Joint -->
  <joint name="joint2" type="revolute">
    <parent link="link1"/>
    <child link="link2"/>
    <origin xyz="0.4 0 0" rpy="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-1.57" upper="1.57" effort="100.0" velocity="0.5"/>
  </joint>

  <!-- Material Definitions -->
  <material name="orange">
    <color rgba="1.0 0.423 0.039 1"/>
  </material>
  <material name="blue">
    <color rgba="0 0 1 1"/>
  </material>
  <material name="green">
    <color rgba="0 1 0 1"/>
  </material>

</robot>