ROS 모델설계 2

<?xml version="1.0" ?>
<robot name= "testbot">
    <material name="black">
        <color rgba='0.0 0.0 0.0 1.0'/>
    </material>
    <material name='orange'>
        <color rgba='1.0 0.4 0.0 1.0'/>
    </material>

    <material name="white">
        <color rgba="1 1 1 1"/>
    </material>

    <link name="base">
        <visual>
            <geometry>
                <cylinder length="0.2" radius = "1.0" />
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 0.3"/>
            <material name="white">
                    <color rgba="1 1 1 1"/>
            </material>
        </visual>
    </link>

    <joint name="joint1" type="revolute">
        <parent link="base"/>
        <child link="link1"/>
        <origin rpy="0 0 0" xyz="0 1 0.3"/>
        <axis xyz="0 1 0" />
        <limit effort='30' lower='-20.617' upper='20.617' velocity='1.571'/>
    </joint>
    
    <link name="link1">
        <visual>
            <geometry>
                <cylinder length="0.2" radius = "0.3" />
            </geometry>
            <origin rpy="1.57075 0 0" xyz="0 0.1 0"/>
            <material name="black"/>
        </visual>
    </link>

    <joint name="joint2" type="revolute">
        <parent link="base"/>
        <child link="link2"/>
        <origin rpy="0 0 0" xyz="0 -1 0.3"/>
        <axis xyz="0 1 0" />
        <limit effort='30' lower='-20.617' upper='20.617' velocity='1.571'/>
    </joint>

    <link name="link2">
        <visual>
            <geometry>
                <cylinder length="0.2" radius = "0.3" />
            </geometry>
            <origin rpy="1.57075 0 0" xyz="0 -0.1 0"/>
            <material name="black"/>
        </visual>
    </link>

    <joint name="joint3" type="revolute">
        <parent link="base"/>
        <child link="link3"/>
        <origin rpy="0 0 0" xyz="0.7 0 0.2"/>
        <axis xyz="1 0 0" />
        <limit effort='30' lower='-20.617' upper='20.617' velocity='1.571'/>
    </joint>

    <link name="link3">
        <visual>
            <geometry>
                <sphere radius = "0.2" />
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <material name="black"/>
        </visual>
    </link>

    <joint name="joint4" type="revolute">
        <parent link="base"/>
        <child link="link4"/>
        <origin rpy="0 0 0" xyz="-0.7 0 0.2"/>
        <axis xyz="1 0 0" />
        <limit effort='30' lower='-20.617' upper='20.617' velocity='1.571'/>
    </joint>

    <link name="link4">
        <visual>
            <geometry>
                <sphere radius = "0.2" />
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <material name="black"/>
        </visual>
    </link>

</robot>