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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="test">
<link name="link1">
</link>
<link name="link2">
</link>
<link name="link3">
</link>
<link name="link4">
</link>
<link name="link5">
</link>
<link name="link6">
</link>
<link name="link7">
</link>
<link name="link8">
</link>
<link name="link9">
</link>
<link name="link10">
</link>
<joint name="revolute_joint" type="revolute">
<pose>1 0 0 0 0 0</pose>
<child>link1</child>
<parent>link2</parent>
<axis>
<xyz>0 0 1</xyz>
<initial_position>0.5</initial_position>
<use_parent_model_frame>true</use_parent_model_frame>
<limit>
<lower>-0.5</lower>
<upper>0.5</upper>
<effort>123.4</effort>
<velocity>12</velocity>
</limit>
<dynamics>
<damping>0.1</damping>
<friction>0.2</friction>
<spring_reference>1.3</spring_reference>
<spring_stiffness>10.6</spring_stiffness>
</dynamics>
</axis>
<axis2>
<xyz>0 1 0</xyz>
<initial_position>1.5</initial_position>
<use_parent_model_frame>false</use_parent_model_frame>
<limit>
<lower>-1</lower>
<upper>1</upper>
<effort>0.5</effort>
<velocity>200</velocity>
</limit>
</axis2>
<physics>
<ode>
<cfm_damping>1</cfm_damping>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
<joint name="ball_joint" type="ball">
<pose>0 1 0 0 0 0</pose>
<child>link2</child>
<parent>link3</parent>
</joint>
<joint name="continuous_joint" type="continuous">
<pose>0 0 1 0 0 0</pose>
<child>link3</child>
<parent>link4</parent>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<joint name="fixed_joint" type="fixed">
<pose>0 0 0 1 0 0</pose>
<child>link4</child>
<parent>link5</parent>
</joint>
<joint name="gearbox_joint" type="gearbox">
<pose>0 0 0 0 1 0</pose>
<child>link5</child>
<parent>link6</parent>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<joint name="prismatic_joint" type="prismatic">
<pose>0 0 0 0 0 1</pose>
<child>link6</child>
<parent>link7</parent>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<joint name="revolute2_joint" type="revolute2">
<pose>2 0 0 0 0 0</pose>
<child>link7</child>
<parent>link8</parent>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<joint name="screw_joint" type="screw">
<pose>0 2 0 0 0 0</pose>
<child>link8</child>
<parent>link9</parent>
<thread_pitch>20</thread_pitch>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<joint name="universal_joint" type="universal">
<pose>0 0 2 0 0 0</pose>
<child>link9</child>
<parent>link10</parent>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
</model>
</sdf>
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