urdf_collada_example.urdf

gistfile1.txt

<?xml verison="1.0"?>
<robot name="one_link">
  <link name="link1">
    <inertial>
      <mass value="1"/>
      <inertia ixx="1" iyy="1" izz="1" ixy="0" ixz="0" iyz="0"/>
    </inertial>
    <visual>
      <geometry>
        <box size="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="1 1 1"/>
      </geometry>
    </collision>
  </link>
  <link name="link2">
    <inertial>
      <origin xyz="1 0 0"/>
      <mass value="1"/>
      <inertia ixx="1" iyy="1" izz="1" ixy="0" ixz="0" iyz="0"/>
    </inertial>
    <visual>
      <origin xyz="1 0 0"/>
      <geometry>
        <sphere radius="1"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="1 0 0"/>
      <geometry>
        <sphere radius="1"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint12" type="fixed">
    <parent link="link1"/>
    <child link="link2"/>
  </joint>

</robot>