simplependul_dfki_pino_Modi.urdf

<?xml version="1.0"?>
<robot xmlns="https://drake.mit.edu" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" name="Acrobot">
  <link name="world" />
  <link name="base_link">
    <visual>
      <geometry>
        <box size="0.05 0.05 0.05"/>
      </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="0.6755"/>
      <inertia ixx="1" ixy="0" ixz="0" iyy="0.139625" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin xyz="0 0 -0.15" rpy="0 0 0"/>
      <geometry>
        <cylinder length="0.5" radius="0.01"/>
      </geometry>
      <material name="red">
        <color rgba="1 0 0 1"/>
      </material>
    </visual>
  </link>
  <joint name="base_weld" type="fixed">
    <parent link="world"/>
    <child link="base_link"/>
  </joint>
  <joint name="shoulder" type="revolute">
    <parent link="base_link"/>
    <child link="upper_link"/>
    <origin xyz="0 0.5 0"/>
    <axis xyz="0 1 0"/>
    <limit effort="2" lower="-3.1416" upper="3.1416" velocity="5"/>
    <dynamics damping="0.1"/>
  </joint>
  <transmission type="SimpleTransmission" name="elbow_trans">
    <actuator name="elbow"/>
    <joint name="elbow"/>
    <mechanicalReduction>1</mechanicalReduction>
  </transmission>
  <frame name="hand" link="lower_link" xyz="0 0 -0.3" rpy="0 0 0"/>
</robot>