1 
   2 <robot name="r2d2">
   3 
   4 <link name="axis">
   5   <inertial>
   6     <mass value="1"/>
   7     <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
   8     <origin/>
   9   </inertial>
  10   <visual>
  11     <origin xyz="0 0 0" rpy="1.57 0 0" />
  12     <geometry>
  13       <cylinder radius="0.01" length=".5" />
  14     </geometry>
  15     <material name="gray">
  16       <color rgba=".2 .2 .2 1" />
  17     </material>
  18   </visual>
  19 
  20   <collision>
  21     <origin xyz="0 0 0" rpy="1.57 0 0" />
  22     <geometry>
  23       <cylinder radius="0.01" length=".5" />
  24     </geometry>
  25     <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  26   </collision>
  27 </link>
  28 
  29 <link name="leg1">
  30   <inertial>
  31     <mass value="1"/>
  32     <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
  33     <origin/>
  34   </inertial>
  35 
  36   <visual>
  37     <origin xyz="0 0 -.3" />
  38     <geometry>
  39       <box size=".20 .10 .8" />
  40     </geometry>
  41     <material name="white">
  42       <color rgba="1 1 1 1"/>
  43     </material>
  44   </visual>
  45 
  46   <collision>
  47     <origin xyz="0 0 -.3" />
  48     <geometry>
  49       <box size=".20 .10 .8" />
  50     </geometry>
  51     <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  52   </collision>
  53 </link>
  54 
  55 <joint name="leg1connect" type="fixed">
  56   <origin xyz="0 .30 0" />
  57   <parent link="axis"/>
  58   <child link="leg1"/>
  59 </joint>
  60 
  61 <link name="leg2">
  62   <inertial>
  63     <mass value="1"/>
  64     <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
  65     <origin/>
  66   </inertial>
  67 
  68   <visual>
  69     <origin xyz="0 0 -.3" />
  70     <geometry>
  71       <box size=".20 .10 .8" />
  72     </geometry>
  73     <material name="white">
  74       <color rgba="1 1 1 1"/>
  75     </material>
  76   </visual>
  77 
  78   <collision>
  79     <origin xyz="0 0 -.3" />
  80     <geometry>
  81       <box size=".20 .10 .8" />
  82     </geometry>
  83     <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  84   </collision>
  85 </link>
  86 
  87 <joint name="leg2connect" type="fixed">
  88   <origin xyz="0 -.30 0" />
  89   <parent link="axis"/>
  90   <child link="leg2"/>
  91 </joint>
  92 
  93 <link name="body">
  94   <inertial>
  95     <mass value="1"/>
  96     <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
  97     <origin/>
  98   </inertial>
  99 
 100   <visual>
 101     <origin xyz="0 0 -0.2" />
 102     <geometry>
 103       <cylinder radius=".20" length=".6"/>
 104     </geometry>
 105     <material name="white"/>
 106   </visual>
 107 
 108   <collision>
 109     <origin xyz="0 0 0.2" />
 110     <geometry>
 111       <cylinder radius=".20" length=".6"/>
 112     </geometry>
 113     <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
 114   </collision>
 115 </link>
 116 
 117 <joint name="tilt" type="revolute">
 118   <parent link="axis"/>
 119   <child link="body"/>
 120   <origin xyz="0 0 0" rpy="0 0 0" />
 121   <axis xyz="0 1 0" />
 122   <limit upper="0" lower="-.5" effort="10" velocity="10" />
 123 </joint>
 124 
 125 <link name="head">
 126   <inertial>
 127     <mass value="1"/>
 128     <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
 129     <origin/>
 130   </inertial>
 131 
 132   <visual>
 133     <geometry>
 134       <sphere radius=".4" />
 135     </geometry>
 136     <material name="white" />
 137   </visual>
 138 
 139   <collision>
 140     <origin/>
 141     <geometry>
 142       <sphere radius=".4" />
 143     </geometry>
 144     <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
 145   </collision>
 146 </link>
 147 
 148 <joint name="swivel" type="continuous">
 149   <origin xyz="0 0 0.1" />
 150   <axis xyz="0 0 1" />
 151   <parent link="body"/>
 152   <child link="head"/>
 153 </joint>
 154 
 155 <link name="rod">
 156   <inertial>
 157     <mass value="1"/>
 158     <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
 159     <origin/>
 160   </inertial>
 161 
 162   <visual>
 163     <origin xyz="0 0 -.1" />
 164     <geometry>
 165       <cylinder radius=".02" length=".2" />
 166     </geometry>
 167     <material name="gray" />
 168 
 169   </visual>
 170 
 171   <collision>
 172     <origin/>
 173     <geometry>
 174       <cylinder radius=".02" length=".2" />
 175     </geometry>
 176     <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
 177   </collision>
 178 </link>
 179 
 180 <joint name="periscope" type="prismatic">
 181   <origin xyz=".12 0 .15" />
 182   <axis xyz="0 0 1" />
 183   <limit upper="0" lower="-.5" effort="10" velocity="10" />
 184   <parent link="head"/>
 185   <child link="rod"/>
 186 </joint>
 187 
 188 <link name="box">
 189   <inertial>
 190     <mass value="1"/>
 191     <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
 192     <origin/>
 193   </inertial>
 194 
 195   <visual>
 196     <geometry>
 197       <box size=".05 .05 .05" />
 198     </geometry>
 199     <material name="blue" >
 200       <color rgba="0 0 1 1" />
 201     </material>
 202   </visual>
 203 
 204   <collision>
 205     <origin/>
 206     <geometry>
 207       <box size=".05 .05 .05" />
 208     </geometry>
 209     <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
 210   </collision>
 211 </link>
 212 <joint name="boxconnect" type="fixed">
 213   <origin xyz="0 0 0" />
 214   <parent link="rod"/>
 215   <child link="box"/>
 216 </joint>
 217 
 218 </robot>