forward_casadi/2link_robot.urdf at main · amithm1111/forward_casadi · GitHub

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<?xml version="1.0"?>
<robot name="2link_robot">

	<material name="black">
		<color rgba="0 0 0 0.7"/>
	</material>
	<material name="white">
		<color rgba="1 1 1 0.7"/>
	</material>

	<link name="base"/>

	<link name="arm1">
		<visual>
			<geometry>
				<box size="1 .05 .05"/>
			</geometry>
			<origin rpy="0 0 0" xyz="0.5 0 0"/>
			<material name="black"/>
		</visual>
	</link>

	<joint name="baseHinge" type="continuous">
		<axis rpy="0 0 0" xyz="0 0 1"/>
		<parent link="base"/>
		<child link="arm1"/>
	</joint>

	<link name="arm2">
		<visual>
			<geometry>
				<box size="1 .05 .05"/>
			</geometry>
			<origin rpy="0 0 0" xyz="0.5 0 0"/>
			<material name="white"/>
		</visual>
	</link>

	<joint name="interArm" type="continuous">
		<axis rpy="0 0 0" xyz="0 0 1"/>
		<parent link="arm1"/>
		<child link="arm2"/>
		<origin rpy="0 0 0" xyz="1 0 0"/>
	</joint>

	<link name="endEffector"/>

	<joint name="ee_joint" type="fixed">
		<parent link="arm2"/>
		<child link="endEffector"/>
		<origin rpy="0 0 0" xyz="1 0 0"/>
	</joint>

</robot>