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acrobot.urdf
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acrobot.urdf
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<?xml version="1.0"?>
<robot name="DoublePendulum">
<link name="base_link">
<visual>
<geometry>
<box size=".2 .2 .2" />
</geometry>
<material name="green">
<color rgba="0 1 0 1" />
</material>
</visual>
</link>
<link name="upper_link">
<inertial>
<origin xyz="0 0 -.5" rpy="0 0 0" />
<mass value="1" />
<inertia ixx="1" ixy="0" ixz="0" iyy="0.083" iyz="0" izz="1" />
</inertial>
<visual>
<origin xyz="0 0 -.5" rpy="0 0 0" />
<geometry>
<cylinder length="1.1" radius=".05" />
</geometry>
<material name="red">
<color rgba="1 0 0 1" />
</material>
</visual>
</link>
<link name="lower_link">
<inertial>
<origin xyz="0 0 -1" rpy="0 0 0" />
<mass value="1" />
<inertia ixx="1" ixy="0" ixz="0" iyy="0.33" iyz="0" izz="1" />
</inertial>
<visual>
<origin xyz="0 0 -1" rpy="0 0 0" />
<geometry>
<cylinder length="2.1" radius=".05" />
</geometry>
<material name="blue">
<color rgba="0 0 1 1" />
</material>
</visual>
</link>
<joint name="shoulder" type="continuous">
<parent link="base_link" />
<child link="upper_link" />
<origin xyz="0 .15 0" />
<axis xyz="0 1 0" />
<dynamics damping="0.1" />
</joint>
<joint name="elbow" type="continuous">
<parent link="upper_link" />
<child link="lower_link" />
<origin xyz="0 .1 -1" />
<axis xyz="0 1 0" />
<dynamics damping="0.1" />
</joint>
</robot>