1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
|
<?xml version="1.0" ?>
<robot name="force_torque_sensor_test">
<link name="base_link">
<inertial>
<mass value="1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
</link>
<joint name="joint_1" type="revolute">
<parent link="base_link"/>
<child link="link_1"/>
<axis xyz="0 0 1"/>
<limit effort="1" lower="-1" upper="1" velocity="1"/>
<dynamics damping="1"/>
</joint>
<link name="link_1">
<inertial>
<mass value="1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
</link>
<joint name="joint_2" type="revolute">
<parent link="base_link"/>
<child link="link_2"/>
<axis xyz="0 0 1"/>
<limit effort="1" lower="-1" upper="1" velocity="1"/>
<dynamics damping="1"/>
</joint>
<link name="link_2">
<inertial>
<mass value="1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
</link>
<gazebo reference="joint_1">
<provideFeedback>true</provideFeedback>
<sensor name="gzft_sensor" type="force_torque">
<always_on>1</always_on>
<update_rate>100.0</update_rate>
<visualize>1</visualize>
<force_torque>
<frame>child</frame>
</force_torque>
</sensor>
</gazebo>
</robot>
|
