two_mallet_holder.urdf

<!-- A dummy URDF with a mallet_finger joint -->
<?xml version="1.0"?>
<robot name="two_mallet_holder">
    <link name="mallet_top">
        <collision>
            <origin xyz="0.0 0.0 0.013625" rpy="0.0 0.0 0.0"/>
            <!-- 0.018375 -->
            <geometry>
                <sphere radius="0.018375"/>
            </geometry>
        </collision>
    </link>

    <link name="mallet_neck">
        <collision>
            <origin xyz="0.0 0.0 0.1825" rpy="0.0 0.0 0.0"/>
            <geometry>
                <cylinder radius="0.0042" length="0.375"/> 
            </geometry>
        </collision>
    </link>

    <joint name="mallet_finger" type="revolute">
        <origin xyz="0.0 0.0 0.0292"/>
        <parent link="mallet_neck"/>
        <child link="mallet_top"/>
        <limit lower="0.0" upper="1.22" effort="1.0" velocity="7.0"/>
    </joint>
</robot>