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zhouqh
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hrbench

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hrbench
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33956db
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)

     Commit Version: 1.5.1-0-g916b5db  Build Version: 1.5.7152.31018

     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot

  name="2dof_planar">
  <link

    name="base_link">
    <inertial>
      <origin

        xyz="0.0030299 2.6279E-13 0.02912"

        rpy="0 0 0" />
      <mass

        value="0.10159" />
      <inertia

        ixx="2.636E-05"

        ixy="-1.007E-16"

        ixz="-2.3835E-06"

        iyy="1.8042E-05"

        iyz="-4.6617E-09"

        izz="1.8795E-05" />
    </inertial>
    <visual>
      <origin

        xyz="0 0 0"

        rpy="0 0 0" />
      <geometry>
        <mesh

          filename="package://example-robot-data/robots/double_pendulum_description/meshes/base_link.stl" />
      </geometry>
      <material

        name="">
        <color

          rgba="0.96078 1 0 1" />
      </material>
    </visual>
    <collision>
      <origin

        xyz="0 0 0"

        rpy="0 0 0" />
      <geometry>
        <mesh

          filename="package://example-robot-data/robots/double_pendulum_description/meshes/base_link.stl" />
      </geometry>
    </collision>
  </link>
  <link

    name="link1">
    <inertial>
      <origin

        xyz="0.0086107 2.1727E-06 0.036012"

        rpy="0 0 0" />
      <mass

        value="0.26703" />
      <inertia

        ixx="0.00040827"

        ixy="1.2675E-09"

        ixz="1.8738E-05"

        iyy="0.00038791"

        iyz="3.5443E-08"

        izz="3.6421E-05" />
    </inertial>
    <visual>
      <origin

        xyz="0 0 0"

        rpy="0 0 0" />
      <geometry>
        <mesh

          filename="package://example-robot-data/robots/double_pendulum_description/meshes/link1.stl" />
      </geometry>
      <material

        name="">
        <color

          rgba="0.64706 0.61961 0.58824 1" />
      </material>
    </visual>
    <collision>
      <origin

        xyz="0 0 0"

        rpy="0 0 0" />
      <geometry>
        <mesh

          filename="package://example-robot-data/robots/double_pendulum_description/meshes/link1.stl" />
      </geometry>
    </collision>
  </link>
  <joint

    name="joint1"

    type="revolute">
    <origin

      xyz="0.0060872 0 0.035"

      rpy="0 0 0" />
    <parent

      link="base_link" />
    <child

      link="link1" />
    <axis

      xyz="1 0 0" />
    <limit

      lower="0"

      upper="0"

      effort="0"

      velocity="0" />
    <dynamics

      damping="0.05" />
  </joint>
  <link

    name="link2">
    <inertial>
      <origin

        xyz="-0.0050107 1.9371E-10 0.10088"

        rpy="0 0 0" />
      <mass

        value="0.33238" />
      <inertia

        ixx="0.0011753"

        ixy="-3.854E-13"

        ixz="-2.9304E-08"

        iyy="0.0011666"

        iyz="-5.2365E-12"

        izz="1.4553E-05" />
    </inertial>
    <visual>
      <origin

        xyz="0 0 0"

        rpy="0 0 0" />
      <geometry>
        <mesh

          filename="package://example-robot-data/robots/double_pendulum_description/meshes/link2.stl" />
      </geometry>
      <material

        name="">
        <color

          rgba="0.64706 0.61961 0.58824 1" />
      </material>
    </visual>
    <collision>
      <origin

        xyz="0 0 0"

        rpy="0 0 0" />
      <geometry>
        <mesh

          filename="package://example-robot-data/robots/double_pendulum_description/meshes/link2.stl" />
      </geometry>
    </collision>
  </link>
  <joint

    name="joint2"

    type="revolute">
    <origin

      xyz="0.023 0 0.1"

      rpy="0 0 0" />
    <parent

      link="link1" />
    <child

      link="link2" />
    <axis

      xyz="1 0 0" />
    <limit

      lower="0"

      upper="0"

      effort="0"

      velocity="0" />
    <dynamics

      damping="0.05" />
  </joint>
</robot>