30 lines
939 B
XML
30 lines
939 B
XML
<?xml version="1.0" ?>
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<robot name="testInertialRPYmodel2">
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<link name="base_link" />
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<joint name="base_fixed_joint" type="fixed">
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<origin xyz="0 0 0" rpy="0 -0 0" />
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<axis xyz="0 0 0" />
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<parent link="base_link" />
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<child link="link1" />
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</joint>
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<link name="link1">
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<inertial>
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<mass value="1" />
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<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
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</inertial>
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</link>
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<joint name="joint_1_2" type="continuous">
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<origin xyz="0 0 0" rpy="0 -0 0" />
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<axis xyz="0 0 1" />
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<parent link="link1" />
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<child link="link2" />
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</joint>
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<link name="link2">
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<inertial>
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<mass value="100" />
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<origin xyz="1 2 3" rpy="3.141592653589793 0 0" />
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<inertia ixx="5" ixy="0.0" ixz="0.0" iyy="15" iyz="0.0" izz="25" />
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</inertial>
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</link>
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</robot>
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