284/Pendulum.urdf at master · ReganBell/284 · GitHub

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<?xml version="1.0"?>

<robot xmlns="http://drake.mit.edu"
 xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
 xsi:schemaLocation="http://drake.mit.edu ../../doc/drakeURDF.xsd" name="Pendulum">

  <link name="base_link">
    <visual>
      <geometry>
        <box size="0.2 0.2 0.2" />
      </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 -0.5" rpy="0 0 0" />
      <geometry>
        <cylinder length="1.1" radius="0.05" />
      </geometry>
      <material name="red">
        <color rgba="1 0 0 1" />
      </material>
    </visual>
  </link>

  <joint name="shoulder" type="continuous">
    <parent link="base_link" />
    <child link="upper_link" />
    <origin xyz="0 0.15 0" />
    <axis xyz="0 1 0" />
    <dynamics damping="0.1" />
  </joint>

  <transmission type="SimpleTransmission" name="shoulder_trans">
    <actuator name="shoulder" />
    <joint name="shoulder" />
    <mechanicalReduction>1</mechanicalReduction>
  </transmission>

  <frame name="hand" link="upper_link" xyz="0 0 -2.1" rpy="0 0 0" />
</robot>