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- <?xml version="0.0" ?>
- <robot name="urdf_robot">
- <link name="baseLink">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <mass value="0.0"/>
- <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <box size="0.1 .1 .1"/>
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <box size="0.1 .1 .1"/>
- </geometry>
- </collision>
- </link>
- <link name="childA">
- <inertial>
- <origin rpy="0 0 0" xyz="0 1 -1"/>
- <mass value="10.0"/>
- <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 1 -1"/>
- <geometry>
- <box size="0.1 .1 .1"/>
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 1 -1"/>
- <geometry>
- <box size="0.1 .1 .1"/>
- </geometry>
- </collision>
- </link>
- <joint name="joint_baseLink_childA" type="prismatic">
- <parent link="baseLink"/>
- <child link="childA"/>
- <origin xyz="0 0 1.0"/>
- <axis xyz="0 0 1"/>
- <limit lower="-0.1" upper="0.2" />
- </joint>
-
- </robot>
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