forked from pz4kybsvg/Conception
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66 lines
1.7 KiB
66 lines
1.7 KiB
2 years ago
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<?xml version="1.0"?>
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<robot name="Acrobot">
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<link name="base_link">
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<visual>
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<geometry>
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<box size="0.2 0.2 0.2"/>
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</geometry>
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<material name="green">
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<color rgba="0 1 0 1"/>
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</material>
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</visual>
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</link>
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<link name="upper_link">
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<inertial>
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<origin xyz="0 0 -.5" rpy="0 0 0"/>
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<mass value="1"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="0.083" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin xyz="0 0 -0.5" rpy="0 0 0"/>
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<geometry>
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<cylinder length="1.1" radius="0.05"/>
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</geometry>
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<material name="red">
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<color rgba="1 0 0 1"/>
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</material>
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</visual>
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</link>
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<link name="lower_link">
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<inertial>
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<origin xyz="0 0 -1" rpy="0 0 0"/>
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<mass value="1"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="0.33" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin xyz="0 0 -1" rpy="0 0 0"/>
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<geometry>
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<cylinder length="2.1" radius=".05"/>
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</geometry>
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<material name="blue">
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<color rgba="0 0 1 1"/>
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</material>
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</visual>
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</link>
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<joint name="shoulder" type="continuous">
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<parent link="base_link"/>
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<child link="upper_link"/>
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<origin xyz="0 0.15 0"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="0.1"/>
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</joint>
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<joint name="elbow" type="continuous">
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<parent link="upper_link"/>
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<child link="lower_link"/>
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<origin xyz="0 0.1 -1"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="0.1"/>
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</joint>
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<transmission type="SimpleTransmission" name="elbow_trans">
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<actuator name="elbow"/>
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<joint name="elbow"/>
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<mechanicalReduction>1</mechanicalReduction>
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</transmission>
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<frame name="hand" link="lower_link" xyz="0 0 -2.1" rpy="0 0 0"/>
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</robot>
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