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prismatic.urdf
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<?xml version="1.0" ?>
<robot name="urdf_robot">
<link name="baseLink">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.1 .1 .1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.1 .1 .1"/>
</geometry>
</collision>
</link>
<link name="childA">
<inertial>
<origin rpy="0 0 0" xyz="0 1 -1"/>
<mass value="10.0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 1 -1"/>
<geometry>
<box size="0.1 .1 .1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 1 -1"/>
<geometry>
<box size="0.1 .1 .1"/>
</geometry>
</collision>
</link>
<joint name="joint_baseLink_childA" type="prismatic">
<parent link="baseLink"/>
<child link="childA"/>
<origin xyz="0 0 1.0"/>
<axis xyz="0 0 1"/>
<limit lower="-0.1" upper="0.2" />
</joint>
</robot>