/
block0.urdf
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block0.urdf
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<robot name="block">
<link name="block1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
<geometry>
<box size="0.021034317667567002 0.05 0.05"/>
</geometry>
<material name="dark_yellow">
<color rgba="0.5 0.5 0.1 1"/>
</material>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
<geometry>
<box size="0.021034317667567002 0.05 0.05"/>
</geometry>
</collision>
<inertial>
<mass value="0.13460818654061035"/>
<inertia ixx="5.608674439192099e-05" ixy="0" ixz="0" iyy="3.300640429851682e-05" iyz="0" izz="3.300640429851682e-05"/>
</inertial>
</link>
<link name="block2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
<geometry>
<box size="0.021034317667567002 0.05 0.05"/>
</geometry>
<material name="dark_yellow">
<color rgba="0.5 0.5 0.1 1"/>
</material>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
<geometry>
<box size="0.021034317667567002 0.05 0.05"/>
</geometry>
</collision>
<inertial>
<mass value="0.13460818654061035"/>
<inertia ixx="5.608674439192099e-05" ixy="0" ixz="0" iyy="3.300640429851682e-05" iyz="0" izz="3.300640429851682e-05"/>
</inertial>
</link>
<link name="block3">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
<geometry>
<box size="0.107931364664866 0.05 0.05"/>
</geometry>
<material name="dark_yellow">
<color rgba="0.5 0.5 0.1 1"/>
</material>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
<geometry>
<box size="0.107931364664866 0.05 0.05"/>
</geometry>
</collision>
<inertial>
<mass value="0.13460818654061035"/>
<inertia ixx="5.608674439192099e-05" ixy="0" ixz="0" iyy="0.00015871628255231446" iyz="0" izz="0.00015871628255231446"/>
</inertial>
</link>
<joint name="block_link1" type="fixed">
<parent link="block1"/>
<child link="block2"/>
<origin xyz="0.021034317667567002 0.0 0.0"/>
</joint>
<joint name="block_link2" type="fixed">
<parent link="block2"/>
<child link="block3"/>
<origin xyz="0.0644828411662165 0.0 0.0"/>
</joint>
</robot>