Sure! Here you go.
Code: Select all
<?xml version="1.0" ?>
<robot name="assembly" xmlns:xacro="http://www.ros.org/wiki/xacro">
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.025 0.025 0.1"/>
<mass value="3.925"/>
<inertia ixx="0.013901" ixy="-0.0" ixz="-0.0" iyy="0.013901" iyz="0.0" izz="0.001635"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.6" radius="0.2"/>
</geometry>
<material name="silver_default"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.6" radius="0.2"/>
</geometry>
</collision>
</link>
<link name="box_v2_1">
<inertial>
<origin rpy="0 0 0" xyz="0.025 0.024999999999999994 -0.025"/>
<mass value="0.98125"/>
<inertia ixx="0.000409" ixy="0.0" ixz="-0.0" iyy="0.000409" iyz="0.0" izz="0.000409"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.0 -0.05 -0.0"/>
<geometry>
<box size="0.6 0.1 0.2"/>
</geometry>
<material name="silver_default"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.0 -0.05 -0.0"/>
<geometry>
<box size="0.6 0.1 0.2"/>
</geometry>
</collision>
</link>
<joint name="Rev2" type="continuous">
<origin rpy="0 0 0" xyz="0.0 0.05 0.0"/>
<parent link="base_link"/>
<child link="box_v2_1"/>
<axis xyz="0.0 1.0 0.0"/>
</joint>
</robot>
And this is the output:
simExtURDF: info: import operation started.
simExtURDF: info: there are 1 joints.
simExtURDF: error: there is no joint with name ''
simExtURDF: info: there are 2 links.
simExtURDF: info: creating link 'base_link'...
simExtURDF: error: there is no joint with name ''
simExtURDF: info: creating link 'box_v2_1'...
simExtURDF: info: there are 0 sensors.
simExtURDF: info: import operation finished.
The loaded model looks fine: two bodies joined with a revolute joint..