drake-tutorials/Lesson-5/DP-2.urdf at main · logdog/drake-tutorials · GitHub

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<?xml version="1.0"?>
<robot name="DoublePendulum2">

  <link name="upper_arm">
    <!-- add a point mass 1 meter below the frame -->
    <inertial>
      <origin xyz="0 0 -1" rpy="0 0 0" />
      <mass value="1" />
      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial>
  </link>

  <link name="lower_arm">
    <inertial>
      <origin xyz="0 0 -1" rpy="0 0 0" />
      <mass value="1" />
      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial>
  </link>

  <joint name="shoulder" type="revolute">
    <parent link="world"/>
    <child link="upper_arm" />
    <axis xyz="0 1 0" />S
    <origin xyz="0 0 0" />
  </joint>

  <joint name="elbow" type="revolute">
    <parent link="upper_arm"/>
    <child link="lower_arm" />
    <axis xyz="0 1 0" />
    <origin xyz="0 0 -1" />
  </joint>

</robot>