141 lines
3.9 KiB
XML
141 lines
3.9 KiB
XML
<?xml version="1.0" ?>
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<robot name="urdf_gazebo_extension_test">
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<link name="world"/>
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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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<dynamics damping="0.0" friction="0.0" />
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</joint>
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<link name="link0">
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<inertial>
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<mass value="1000"/>
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<origin rpy="0 0 0" xyz="0 0 -0.5"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<geometry>
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<box size="0.1 0.1 1.0"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 -0.5"/>
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</visual>
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</link>
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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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<dynamics damping="1.1111" friction="2.2222" />
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</joint>
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<gazebo reference="joint01">
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<cfmDamping>true</cfmDamping>
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<stopCfm>123</stopCfm>
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<stopErp>0.987</stopErp>
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<springReference>0.234</springReference>
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<springStiffness>0.567</springStiffness>
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<provideFeedback>1</provideFeedback>
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<implicitSpringDamper>false</implicitSpringDamper>
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<fudgeFactor>0.56789</fudgeFactor>
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</gazebo>
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<link name="link1">
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<inertial>
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<mass value="100"/>
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<origin rpy="1 3 4" xyz="0 -1.5 0"/>
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<inertia ixx="2" ixy="0" ixz="0" iyy="3" iyz="0" izz="4"/>
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</inertial>
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<visual>
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<geometry>
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<box size="0.2 3.0 0.2"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 -1.5 0"/>
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</visual>
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</link>
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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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<implicitSpringDamper>0</implicitSpringDamper>
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</gazebo>
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<link name="link2">
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<inertial>
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<mass value="200"/>
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<origin rpy="2 -3 -1.57079632679" xyz="0.2 0.4 1.0"/>
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<inertia ixx="5" ixy="0" ixz="0" iyy="6" iyz="0" izz="7"/>
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</inertial>
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<visual>
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<geometry>
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<box size="0.3 0.3 2.0"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 1.0"/>
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</visual>
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</link>
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<joint name="joint13" 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="link3"/>
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</joint>
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<joint name="joint23" type="revolute">
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<origin rpy="-1.57079632679 0 -1.57079632679" xyz="-0.5 0.5 2.5"/>
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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="link2"/>
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<child link="link3"/>
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</joint>
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<link name="link3">
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<inertial>
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<mass value="400"/>
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<origin rpy="2 3 4" xyz="0.1 0.2 0.3"/>
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<inertia ixx="8" ixy="0" ixz="0" iyy="9" iyz="0" izz="10"/>
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</inertial>
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<visual>
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<geometry>
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<box size="0.3 0.4 0.5"/>
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</geometry>
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<origin rpy="2 3 4" xyz="0.1 0.2 0.3"/>
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</visual>
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</link>
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<gazebo reference="joint13">
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<implicitSpringDamper>true</implicitSpringDamper>
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</gazebo>
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<joint name="joint01a" 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="link1a"/>
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</joint>
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<link name="link1a">
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<inertial>
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<mass value="100"/>
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<origin rpy="1 3 4" xyz="0 -1.5 0"/>
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<inertia ixx="2" ixy="0" ixz="0" iyy="3" iyz="0" izz="4"/>
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</inertial>
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<visual>
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<geometry>
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<box size="0.2 3.0 0.2"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 -1.5 0"/>
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</visual>
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</link>
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</robot>
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