Created
March 11, 2024 19:17
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Rigid Body Tutorial
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<?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> |
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