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<?xml version="1.0" ?>
<robot name="provide_feedback_test">
<link name="world"/>
<link name="link0">
<inertial>
<mass value="0.5" />
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial>
</link>
<link name="link1">
<inertial>
<mass value="0.5" />
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial>
</link>
<link name="link2">
<inertial>
<mass value="0.5" />
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial>
</link>
<joint name="jointw0" type="continuous">
<origin rpy="0 0 1.57079632679" xyz="0 0 1.0"/>
<axis xyz="1 0 0"/> <!-- in child (link1) frame -->
<parent link="world"/>
<child link="link0"/>
</joint>
<joint name="joint01" type="continuous">
<origin rpy="0 0 1.57079632679" xyz="0 0 -1"/>
<axis xyz="1 0 0"/> <!-- in child (link1) frame -->
<parent link="link0"/>
<child link="link1"/>
</joint>
<gazebo reference="joint01">
<provideFeedback>0</provideFeedback>
</gazebo>
<joint name="joint12" type="revolute">
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 -3.0 0.0"/>
<axis xyz="0 1 0"/> <!-- in child (link1) frame -->
<limit lower="0" upper="0" velocity="1000" effort="10000"/>
<parent link="link1"/>
<child link="link2"/>
</joint>
<gazebo reference="joint12">
<provideFeedback>1</provideFeedback>
</gazebo>
</robot>
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