38 lines
1.0 KiB
XML
38 lines
1.0 KiB
XML
<?xml version="1.0" ?>
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<robot name="provide_feedback_test">
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<link name="world"/>
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<link name="link0"/>
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<link name="link1"/>
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<link name="link2"/>
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<joint name="jointw0" type="continuous">
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<origin rpy="0 0 1.57079632679" xyz="0 0 1.0"/>
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<axis xyz="1 0 0"/> <!-- in child (link1) frame -->
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<parent link="world"/>
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<child link="link0"/>
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</joint>
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<joint name="joint01" type="continuous">
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<origin rpy="0 0 1.57079632679" xyz="0 0 -1"/>
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<axis xyz="1 0 0"/> <!-- in child (link1) frame -->
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<parent link="link0"/>
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<child link="link1"/>
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</joint>
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<gazebo reference="joint01">
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<provideFeedback>0</provideFeedback>
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</gazebo>
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<joint name="joint12" type="revolute">
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<origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 -3.0 0.0"/>
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<axis xyz="0 1 0"/> <!-- in child (link1) frame -->
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<limit lower="0" upper="0" velocity="1000" effort="10000"/>
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<parent link="link1"/>
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<child link="link2"/>
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</joint>
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<gazebo reference="joint12">
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<provideFeedback>1</provideFeedback>
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</gazebo>
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</robot>
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