forked from cesar.alejandro/oscillation_ctrl
2250 lines
61 KiB
Plaintext
2250 lines
61 KiB
Plaintext
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<?xml version="1.0" ?>
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<!-- This model was built manually. Use the jinja generated one instead. -->
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<material>
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<script>
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<name>Gazebo/Red</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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<gravity>true</gravity>
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<material>
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<script>
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<name>Gazebo/White</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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<gravity>true</gravity>
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<pose>0.1 0 0 0 0 0</pose>
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<ixx>0.01</ixx>
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</contact>
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<friction>
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<ode>
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<mu>1.0</mu>
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<mu2>1.0</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="visual">
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<pose>0.1 0 0 0 1.570790 0</pose>
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<geometry>
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<cylinder>
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</geometry>
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<material>
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<script>
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<name>Gazebo/White</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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<visual name="sphere">
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<geometry>
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<sphere>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Red</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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<gravity>true</gravity>
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<ode>
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<min_depth>0.00005</min_depth>
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</contact>
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<friction>
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<ode>
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<mu>1.0</mu>
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</geometry>
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<material>
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<script>
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<name>Gazebo/White</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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<material>
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<script>
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<name>Gazebo/Red</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<ode>
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<min_depth>0.00005</min_depth>
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</ode>
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</contact>
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<friction>
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<ode>
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<mu>1.0</mu>
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<mu2>1.0</mu2>
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</ode>
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<visual name="visual">
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<pose>0.1 0 0 0 1.570790 0</pose>
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<geometry>
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<cylinder>
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</geometry>
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<material>
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<script>
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<name>Gazebo/White</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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<material>
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<script>
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<name>Gazebo/Red</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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<link name="link_05">
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<gravity>true</gravity>
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<pose>0.9 0 0 0 0 0</pose>
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<inertial>
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<mass>0.009</mass>
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<pose>0.1 0 0 0 0 0</pose>
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<ixx>0.01</ixx>
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<izz>0.01</izz>
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<pose>0.1 0 0 0 1.570790 0</pose>
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<geometry>
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<ode>
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<min_depth>0.00005</min_depth>
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</ode>
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</contact>
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<friction>
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<ode>
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<mu>1.0</mu>
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<mu2>1.0</mu2>
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<material>
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<script>
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|
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<name>Gazebo/White</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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<material>
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<script>
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<name>Gazebo/Red</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</visual>
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</link>
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<gravity>true</gravity>
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<pose>1.1 0 0 0 0 -.785</pose>
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<mass>0.009</mass>
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<ixx>0.01</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.01</iyy>
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<iyz>0</iyz>
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<izz>0.01</izz>
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</inertia>
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<collision name="collision">
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<pose>0.0875 0 0 0 1.570790 0</pose>
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<contact>
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<ode>
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<min_depth>0.00005</min_depth>
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</ode>
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</contact>
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<friction>
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<ode>
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<mu>1.0</mu>
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<mu2>1.0</mu2>
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</ode>
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<material>
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<script>
|
||
|
|
<name>Gazebo/White</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
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</sphere>
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<material>
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<script>
|
||
|
|
<name>Gazebo/Red</name>
|
||
|
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<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
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<ode>
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</geometry>
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<material>
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|
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<script>
|
||
|
|
<name>Gazebo/White</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
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</material>
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<geometry>
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<sphere>
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</sphere>
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</geometry>
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<material>
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|
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<script>
|
||
|
|
<name>Gazebo/Red</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
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|
|
</script>
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</material>
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</visual>
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<link name="link_08">
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<gravity>true</gravity>
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<inertial>
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<mass>0.009</mass>
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<pose>0.1 0 0 0 0 0</pose>
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<iyz>0</iyz>
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<izz>0.01</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<pose>0.1 0 0 0 1.570790 0</pose>
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<geometry>
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<cylinder>
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<radius>0.001</radius>
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</cylinder>
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</geometry>
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<surface>
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<contact>
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<ode>
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<min_depth>0.00005</min_depth>
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</ode>
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</contact>
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<friction>
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<ode>
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<mu>1.0</mu>
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<mu2>1.0</mu2>
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</ode>
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</friction>
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<visual name="visual">
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<pose>0.1 0 0 0 1.570790 0</pose>
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<geometry>
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<cylinder>
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<length>0.2</length>
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<radius>0.001</radius>
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</cylinder>
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</geometry>
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<material>
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|
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<script>
|
||
|
|
<name>Gazebo/White</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
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||
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|
</script>
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</material>
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</visual>
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<geometry>
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<sphere>
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<radius>0.009</radius>
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</sphere>
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</geometry>
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<material>
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|
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<script>
|
||
|
|
<name>Gazebo/Red</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
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||
|
|
</script>
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</material>
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</visual>
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</link>
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<link name="link_09">
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<gravity>true</gravity>
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<pose>0.9 -.254 0 0 0 -3.1415</pose>
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<inertial>
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<mass>0.009</mass>
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<pose>0.1 0 0 0 0 0</pose>
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<inertia>
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<ixx>0.01</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.01</iyy>
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<iyz>0</iyz>
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<izz>0.01</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<pose>0.1 0 0 0 1.570790 0</pose>
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<geometry>
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<cylinder>
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<radius>0.001</radius>
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<surface>
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<contact>
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<ode>
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<min_depth>0.00005</min_depth>
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</ode>
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</contact>
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<friction>
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<ode>
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<mu>1.0</mu>
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<mu2>1.0</mu2>
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|
</ode>
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</friction>
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</surface>
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<visual name="visual">
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<pose>0.1 0 0 0 1.570790 0</pose>
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<geometry>
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<cylinder>
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<length>0.2</length>
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|
<radius>0.001</radius>
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|
</cylinder>
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</geometry>
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|
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<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/White</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
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|
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</material>
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</visual>
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<visual name="sphere">
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<geometry>
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<sphere>
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<radius>0.009</radius>
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|
</sphere>
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</geometry>
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|
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<material>
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|
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<script>
|
||
|
|
<name>Gazebo/Red</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
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||
|
|
</script>
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|
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</material>
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</visual>
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</link>
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<link name="link_10">
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<gravity>true</gravity>
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<pose>0.7 -.254 0 0 0 -3.1415</pose>
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<inertial>
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<mass>0.009</mass>
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<pose>0.1 0 0 0 0 0</pose>
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<ixx>0.01</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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<izz>0.01</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<pose>0.1 0 0 0 1.570790 0</pose>
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<cylinder>
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<radius>0.001</radius>
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<contact>
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<ode>
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<min_depth>0.00005</min_depth>
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</ode>
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</contact>
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<friction>
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<ode>
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<mu>1.0</mu>
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<mu2>1.0</mu2>
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</ode>
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</friction>
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<pose>0.1 0 0 0 1.570790 0</pose>
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<geometry>
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<cylinder>
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<length>0.2</length>
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<radius>0.001</radius>
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|
</cylinder>
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|
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</geometry>
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|
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<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/White</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
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|
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</visual>
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|
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<visual name="sphere">
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<geometry>
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<sphere>
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|
|
<radius>0.009</radius>
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|
|
</sphere>
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||
|
|
</geometry>
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||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/Red</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
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|
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</visual>
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</link>
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|
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<link name="link_11">
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|
|
<gravity>true</gravity>
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|
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<pose>0.5 -.254 0 0 0 -3.1415</pose>
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|
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<inertial>
|
||
|
|
<mass>0.009</mass>
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|
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<pose>0.1 0 0 0 0 0</pose>
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|
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|
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<ixx>0.01</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.01</iyy>
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<iyz>0</iyz>
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<izz>0.01</izz>
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|
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</inertia>
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|
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</inertial>
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<collision name="collision">
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|
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<pose>0.1 0 0 0 1.570790 0</pose>
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<geometry>
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<cylinder>
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|
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<length>0.2</length>
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|
|
<radius>0.001</radius>
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|
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<contact>
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<ode>
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|
|
<min_depth>0.00005</min_depth>
|
||
|
|
</ode>
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||
|
|
</contact>
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<friction>
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||
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|
<ode>
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|
|
<mu>1.0</mu>
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|
|
<mu2>1.0</mu2>
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||
|
|
</ode>
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||
|
|
</friction>
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||
|
|
</surface>
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<visual name="visual">
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<pose>0.1 0 0 0 1.570790 0</pose>
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<geometry>
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|
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<cylinder>
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|
|
<length>0.2</length>
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|
|
<radius>0.001</radius>
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||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/White</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
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||
|
|
</visual>
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|
|
<visual name="sphere">
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||
|
|
<geometry>
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|
|
<sphere>
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||
|
|
<radius>0.009</radius>
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||
|
|
</sphere>
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||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/Red</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
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||
|
|
</visual>
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|
|
</link>
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||
|
|
<link name="link_12">
|
||
|
|
<gravity>true</gravity>
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||
|
|
<pose>0.3 -.254 0 0 0 -3.1415</pose>
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||
|
|
<inertial>
|
||
|
|
<mass>0.009</mass>
|
||
|
|
<pose>0.1 0 0 0 0 0</pose>
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||
|
|
<inertia>
|
||
|
|
<ixx>0.01</ixx>
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||
|
|
<ixy>0</ixy>
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||
|
|
<ixz>0</ixz>
|
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|
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<iyy>0.01</iyy>
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|
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<iyz>0</iyz>
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|
|
<izz>0.01</izz>
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|
|
</inertia>
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|
|
</inertial>
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<collision name="collision">
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|
|
<pose>0.1 0 0 0 1.570790 0</pose>
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<geometry>
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<cylinder>
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|
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<length>0.2</length>
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|
<radius>0.001</radius>
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|
|
</cylinder>
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</geometry>
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<surface>
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<contact>
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||
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<ode>
|
||
|
|
<min_depth>0.00005</min_depth>
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|
|
</ode>
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|
</contact>
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|
|
<friction>
|
||
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|
<ode>
|
||
|
|
<mu>1.0</mu>
|
||
|
|
<mu2>1.0</mu2>
|
||
|
|
</ode>
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|
|
</friction>
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|
|
</surface>
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<material>
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<script>
|
||
|
|
<name>Gazebo/White</name>
|
||
|
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<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
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<material>
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<script>
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|
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<name>Gazebo/Red</name>
|
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|
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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<ode>
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</ode>
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</geometry>
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<material>
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|
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<script>
|
||
|
|
<name>Gazebo/White</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
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</material>
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<geometry>
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<sphere>
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<radius>0.009</radius>
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</sphere>
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</geometry>
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<material>
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|
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<script>
|
||
|
|
<name>Gazebo/Red</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
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|
|
</script>
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</material>
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</visual>
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<gravity>true</gravity>
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<pose>0.0875 0 0 0 0 0</pose>
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<iyz>0</iyz>
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<izz>0.01</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<pose>0.0875 0 0 0 1.570790 0</pose>
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<cylinder>
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<radius>0.001</radius>
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<surface>
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<contact>
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<ode>
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<min_depth>0.00005</min_depth>
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</ode>
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</contact>
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<friction>
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<ode>
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<mu>1.0</mu>
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<mu2>1.0</mu2>
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</ode>
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</friction>
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<visual name="visual">
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<pose>0.0875 0 0 0 1.570790 0</pose>
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<geometry>
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<cylinder>
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<length>0.175</length>
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<radius>0.001</radius>
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</cylinder>
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</geometry>
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<material>
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|
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<script>
|
||
|
|
<name>Gazebo/White</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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<geometry>
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<sphere>
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<radius>0.009</radius>
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</sphere>
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</geometry>
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<material>
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|
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<script>
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||
|
|
<name>Gazebo/Red</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
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|
</script>
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</material>
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</visual>
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</link>
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<link name="link_15">
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<gravity>true</gravity>
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<pose>0.1 -.508 0 0 0 0</pose>
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<mass>0.009</mass>
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<pose>0.1 0 0 0 0 0</pose>
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<inertia>
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<ixx>0.01</ixx>
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<ixy>0</ixy>
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<iyz>0</iyz>
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<izz>0.01</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<pose>0.1 0 0 0 1.570790 0</pose>
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<cylinder>
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<contact>
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<ode>
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<min_depth>0.00005</min_depth>
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</ode>
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</contact>
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<friction>
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<ode>
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<mu>1.0</mu>
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<mu2>1.0</mu2>
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</ode>
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</friction>
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<pose>0.1 0 0 0 1.570790 0</pose>
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<cylinder>
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<radius>0.001</radius>
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</geometry>
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<material>
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|
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<script>
|
||
|
|
<name>Gazebo/White</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
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</material>
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<geometry>
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<sphere>
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<radius>0.009</radius>
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</sphere>
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</geometry>
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<material>
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|
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<script>
|
||
|
|
<name>Gazebo/Red</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
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||
|
|
</script>
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</material>
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</visual>
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</link>
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<link name="link_16">
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<gravity>true</gravity>
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<pose>0.3 -.508 0 0 0 0</pose>
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<mass>0.009</mass>
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<pose>0.1 0 0 0 0 0</pose>
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<ixx>0.01</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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<izz>0.01</izz>
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</inertia>
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<collision name="collision">
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<pose>0.1 0 0 0 1.570790 0</pose>
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<cylinder>
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<contact>
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<ode>
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<min_depth>0.00005</min_depth>
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</ode>
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<friction>
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<ode>
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<mu>1.0</mu>
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<mu2>1.0</mu2>
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</ode>
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<pose>0.1 0 0 0 1.570790 0</pose>
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<cylinder>
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<radius>0.001</radius>
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</geometry>
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|
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<material>
|
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|
|
<script>
|
||
|
|
<name>Gazebo/White</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
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|
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</material>
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</visual>
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<visual name="sphere">
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<geometry>
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<sphere>
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|
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<radius>0.009</radius>
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|
|
</sphere>
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|
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</geometry>
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|
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<material>
|
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|
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<script>
|
||
|
|
<name>Gazebo/Red</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
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|
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</material>
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</visual>
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</link>
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<link name="link_17">
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|
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<gravity>true</gravity>
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<pose>0.5 -.508 0 0 0 0</pose>
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|
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<mass>0.009</mass>
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<pose>0.1 0 0 0 0 0</pose>
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<inertia>
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|
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<ixx>0.01</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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<izz>0.01</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<pose>0.1 0 0 0 1.570790 0</pose>
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<cylinder>
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|
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|
<radius>0.001</radius>
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</cylinder>
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<contact>
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<ode>
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|
|
<min_depth>0.00005</min_depth>
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||
|
|
</ode>
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|
|
</contact>
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<friction>
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<ode>
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|
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<mu>1.0</mu>
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|
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<mu2>1.0</mu2>
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||
|
|
</ode>
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|
|
</friction>
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</surface>
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<pose>0.1 0 0 0 1.570790 0</pose>
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<geometry>
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<cylinder>
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|
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<length>0.2</length>
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|
|
<radius>0.001</radius>
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|
|
</cylinder>
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||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/White</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
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|
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</visual>
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|
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<visual name="sphere">
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<geometry>
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|
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<sphere>
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|
|
<radius>0.009</radius>
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||
|
|
</sphere>
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||
|
|
</geometry>
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||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/Red</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
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||
|
|
</visual>
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|
|
</link>
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||
|
|
<link name="link_18">
|
||
|
|
<gravity>true</gravity>
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||
|
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<pose>0.7 -.508 0 0 0 0</pose>
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||
|
|
<inertial>
|
||
|
|
<mass>0.009</mass>
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||
|
|
<pose>0.1 0 0 0 0 0</pose>
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||
|
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<inertia>
|
||
|
|
<ixx>0.01</ixx>
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||
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<ixy>0</ixy>
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|
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<ixz>0</ixz>
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|
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<iyy>0.01</iyy>
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<iyz>0</iyz>
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<izz>0.01</izz>
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|
|
</inertia>
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</inertial>
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<collision name="collision">
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<pose>0.1 0 0 0 1.570790 0</pose>
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<geometry>
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<cylinder>
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<length>0.2</length>
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<radius>0.001</radius>
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|
</cylinder>
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</geometry>
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|
<surface>
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||
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<contact>
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||
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<ode>
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|
|
<min_depth>0.00005</min_depth>
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|
|
</ode>
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|
</contact>
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<friction>
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||
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|
<ode>
|
||
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|
<mu>1.0</mu>
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|
<mu2>1.0</mu2>
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|
|
</ode>
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|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<pose>0.1 0 0 0 1.570790 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<length>0.2</length>
|
||
|
|
<radius>0.001</radius>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/White</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<visual name="sphere">
|
||
|
|
<geometry>
|
||
|
|
<sphere>
|
||
|
|
<radius>0.009</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/Red</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<link name="link_19">
|
||
|
|
<gravity>true</gravity>
|
||
|
|
<pose>0.9 -.508 0 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<mass>0.009</mass>
|
||
|
|
<pose>0.1 0 0 0 0 0</pose>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.01</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>0.01</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>0.01</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
<collision name="collision">
|
||
|
|
<pose>0.1 0 0 0 1.570790 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<length>0.2</length>
|
||
|
|
<radius>0.001</radius>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<min_depth>0.00005</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1.0</mu>
|
||
|
|
<mu2>1.0</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name="sphere">
|
||
|
|
<geometry>
|
||
|
|
<sphere>
|
||
|
|
<radius>0.009</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/Red</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<joint name="joint_01" type="universal">
|
||
|
|
<child>link_01</child>
|
||
|
|
<parent>link_00</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis2>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="joint_02" type="universal">
|
||
|
|
<child>link_02</child>
|
||
|
|
<parent>link_01</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis2>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="joint_03" type="universal">
|
||
|
|
<child>link_03</child>
|
||
|
|
<parent>link_02</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis2>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="joint_04" type="universal">
|
||
|
|
<child>link_04</child>
|
||
|
|
<parent>link_03</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis2>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="joint_05" type="universal">
|
||
|
|
<child>link_05</child>
|
||
|
|
<parent>link_04</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis2>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="joint_06" type="universal">
|
||
|
|
<child>link_06</child>
|
||
|
|
<parent>link_05</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-0.72</lower>
|
||
|
|
<upper>2.35</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>1 1 0</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis2>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="joint_07" type="universal">
|
||
|
|
<child>link_07</child>
|
||
|
|
<parent>link_06</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-0.0</lower>
|
||
|
|
<upper>3.00</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>-1 1 0</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis2>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="joint_08" type="universal">
|
||
|
|
<child>link_08</child>
|
||
|
|
<parent>link_07</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-0.72</lower>
|
||
|
|
<upper>2.35</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis2>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="joint_09" type="universal">
|
||
|
|
<child>link_09</child>
|
||
|
|
<parent>link_08</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis2>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="joint_10" type="universal">
|
||
|
|
<child>link_10</child>
|
||
|
|
<parent>link_09</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis2>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="joint_11" type="universal">
|
||
|
|
<child>link_11</child>
|
||
|
|
<parent>link_10</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis2>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="joint_12" type="universal">
|
||
|
|
<child>link_12</child>
|
||
|
|
<parent>link_11</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis2>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="joint_13" type="universal">
|
||
|
|
<child>link_13</child>
|
||
|
|
<parent>link_12</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-2.35</lower>
|
||
|
|
<upper>0.72</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>-1 1 0</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis2>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="joint_14" type="universal">
|
||
|
|
<child>link_14</child>
|
||
|
|
<parent>link_13</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-3.00</lower>
|
||
|
|
<upper>0.0</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>1 1 0</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis2>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="joint_15" type="universal">
|
||
|
|
<child>link_15</child>
|
||
|
|
<parent>link_14</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-2.35</lower>
|
||
|
|
<upper>0.72</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis2>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="joint_16" type="universal">
|
||
|
|
<child>link_16</child>
|
||
|
|
<parent>link_15</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis2>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="joint_17" type="universal">
|
||
|
|
<child>link_17</child>
|
||
|
|
<parent>link_16</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis2>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="joint_18" type="universal">
|
||
|
|
<child>link_18</child>
|
||
|
|
<parent>link_17</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis2>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="joint_19" type="universal">
|
||
|
|
<child>link_19</child>
|
||
|
|
<parent>link_18</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
<axis2>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1.57</lower>
|
||
|
|
<upper>1.57</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.1</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
<spring_stiffness>0.05</spring_stiffness>
|
||
|
|
<spring_reference>0.0</spring_reference>
|
||
|
|
</dynamics>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis2>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<cfm_damping>1</cfm_damping>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<joint name="fixed_to_world" type="fixed">
|
||
|
|
<child>link_19</child>
|
||
|
|
<parent>world</parent>
|
||
|
|
</joint>
|
||
|
|
<plugin name="link00_drag" filename="libLiftDragPlugin.so">
|
||
|
|
<robotNamespace></robotNamespace>
|
||
|
|
<a0>0</a0>
|
||
|
|
<cla>0</cla>
|
||
|
|
<cda>1.2535816618911175</cda>
|
||
|
|
<alpha_stall>0</alpha_stall>
|
||
|
|
<cda_stall>1.4326647564469914</cda_stall>
|
||
|
|
<cp>0 0 0</cp>
|
||
|
|
<area>0.0004</area> <!-- 0.002m of diameter x 0.2 element length -->
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>0 1 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>link_00</link_name>
|
||
|
|
</plugin>
|
||
|
|
<plugin name="link01_drag" filename="libLiftDragPlugin.so">
|
||
|
|
<robotNamespace></robotNamespace>
|
||
|
|
<a0>0</a0>
|
||
|
|
<cla>0</cla>
|
||
|
|
<cda>1.2535816618911175</cda>
|
||
|
|
<alpha_stall>0</alpha_stall>
|
||
|
|
<cda_stall>1.4326647564469914</cda_stall>
|
||
|
|
<cp>0 0 0</cp>
|
||
|
|
<area>0.0004</area> <!-- 0.002m of diameter x 0.2 element length -->
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>0 1 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>link_01</link_name>
|
||
|
|
</plugin>
|
||
|
|
<plugin name="link02_drag" filename="libLiftDragPlugin.so">
|
||
|
|
<robotNamespace></robotNamespace>
|
||
|
|
<a0>0</a0>
|
||
|
|
<cla>0</cla>
|
||
|
|
<cda>1.2535816618911175</cda>
|
||
|
|
<alpha_stall>0</alpha_stall>
|
||
|
|
<cda_stall>1.4326647564469914</cda_stall>
|
||
|
|
<cp>0 0 0</cp>
|
||
|
|
<area>0.0004</area> <!-- 0.002m of diameter x 0.2 element length -->
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>0 1 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>link_02</link_name>
|
||
|
|
</plugin>
|
||
|
|
<plugin name="link03_drag" filename="libLiftDragPlugin.so">
|
||
|
|
<robotNamespace></robotNamespace>
|
||
|
|
<a0>0</a0>
|
||
|
|
<cla>0</cla>
|
||
|
|
<cda>1.2535816618911175</cda>
|
||
|
|
<alpha_stall>0</alpha_stall>
|
||
|
|
<cda_stall>1.4326647564469914</cda_stall>
|
||
|
|
<cp>0 0 0</cp>
|
||
|
|
<area>0.0004</area> <!-- 0.002m of diameter x 0.2 element length -->
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>0 1 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>link_03</link_name>
|
||
|
|
</plugin>
|
||
|
|
<plugin name="link04_drag" filename="libLiftDragPlugin.so">
|
||
|
|
<robotNamespace></robotNamespace>
|
||
|
|
<a0>0</a0>
|
||
|
|
<cla>0</cla>
|
||
|
|
<cda>1.2535816618911175</cda>
|
||
|
|
<alpha_stall>0</alpha_stall>
|
||
|
|
<cda_stall>1.4326647564469914</cda_stall>
|
||
|
|
<cp>0 0 0</cp>
|
||
|
|
<area>0.0004</area> <!-- 0.002m of diameter x 0.2 element length -->
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>0 1 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>link_04</link_name>
|
||
|
|
</plugin>
|
||
|
|
<plugin name="link05_drag" filename="libLiftDragPlugin.so">
|
||
|
|
<robotNamespace></robotNamespace>
|
||
|
|
<a0>0</a0>
|
||
|
|
<cla>0</cla>
|
||
|
|
<cda>1.2535816618911175</cda>
|
||
|
|
<alpha_stall>0</alpha_stall>
|
||
|
|
<cda_stall>1.4326647564469914</cda_stall>
|
||
|
|
<cp>0 0 0</cp>
|
||
|
|
<area>0.0004</area> <!-- 0.002m of diameter x 0.2 element length -->
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>0 1 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>link_05</link_name>
|
||
|
|
</plugin>
|
||
|
|
<plugin name="link06_drag" filename="libLiftDragPlugin.so">
|
||
|
|
<robotNamespace></robotNamespace>
|
||
|
|
<a0>0</a0>
|
||
|
|
<cla>0</cla>
|
||
|
|
<cda>1.2535816618911175</cda>
|
||
|
|
<alpha_stall>0</alpha_stall>
|
||
|
|
<cda_stall>1.4326647564469914</cda_stall>
|
||
|
|
<cp>0 0 0</cp>
|
||
|
|
<area>0.0004</area> <!-- 0.002m of diameter x 0.2 element length -->
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>0 1 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>link_06</link_name>
|
||
|
|
</plugin>
|
||
|
|
<plugin name="link07_drag" filename="libLiftDragPlugin.so">
|
||
|
|
<robotNamespace></robotNamespace>
|
||
|
|
<a0>0</a0>
|
||
|
|
<cla>0</cla>
|
||
|
|
<cda>1.2535816618911175</cda>
|
||
|
|
<alpha_stall>0</alpha_stall>
|
||
|
|
<cda_stall>1.4326647564469914</cda_stall>
|
||
|
|
<cp>0 0 0</cp>
|
||
|
|
<area>0.0004</area> <!-- 0.002m of diameter x 0.2 element length -->
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>0 1 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>link_07</link_name>
|
||
|
|
</plugin>
|
||
|
|
<plugin name="link08_drag" filename="libLiftDragPlugin.so">
|
||
|
|
<robotNamespace></robotNamespace>
|
||
|
|
<a0>0</a0>
|
||
|
|
<cla>0</cla>
|
||
|
|
<cda>1.2535816618911175</cda>
|
||
|
|
<alpha_stall>0</alpha_stall>
|
||
|
|
<cda_stall>1.4326647564469914</cda_stall>
|
||
|
|
<cp>0 0 0</cp>
|
||
|
|
<area>0.0004</area> <!-- 0.002m of diameter x 0.2 element length -->
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>0 1 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>link_08</link_name>
|
||
|
|
</plugin>
|
||
|
|
<plugin name="link09_drag" filename="libLiftDragPlugin.so">
|
||
|
|
<robotNamespace></robotNamespace>
|
||
|
|
<a0>0</a0>
|
||
|
|
<cla>0</cla>
|
||
|
|
<cda>1.2535816618911175</cda>
|
||
|
|
<alpha_stall>0</alpha_stall>
|
||
|
|
<cda_stall>1.4326647564469914</cda_stall>
|
||
|
|
<cp>0 0 0</cp>
|
||
|
|
<area>0.0004</area> <!-- 0.002m of diameter x 0.2 element length -->
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>0 1 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>link_09</link_name>
|
||
|
|
</plugin>
|
||
|
|
<plugin name="link10_drag" filename="libLiftDragPlugin.so">
|
||
|
|
<robotNamespace></robotNamespace>
|
||
|
|
<a0>0</a0>
|
||
|
|
<cla>0</cla>
|
||
|
|
<cda>1.2535816618911175</cda>
|
||
|
|
<alpha_stall>0</alpha_stall>
|
||
|
|
<cda_stall>1.4326647564469914</cda_stall>
|
||
|
|
<cp>0 0 0</cp>
|
||
|
|
<area>0.0004</area> <!-- 0.002m of diameter x 0.2 element length -->
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>0 1 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>link_10</link_name>
|
||
|
|
</plugin>
|
||
|
|
<plugin name="link11_drag" filename="libLiftDragPlugin.so">
|
||
|
|
<robotNamespace></robotNamespace>
|
||
|
|
<a0>0</a0>
|
||
|
|
<cla>0</cla>
|
||
|
|
<cda>1.2535816618911175</cda>
|
||
|
|
<alpha_stall>0</alpha_stall>
|
||
|
|
<cda_stall>1.4326647564469914</cda_stall>
|
||
|
|
<cp>0 0 0</cp>
|
||
|
|
<area>0.0004</area> <!-- 0.002m of diameter x 0.2 element length -->
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>0 1 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>link_11</link_name>
|
||
|
|
</plugin>
|
||
|
|
<plugin name="link12_drag" filename="libLiftDragPlugin.so">
|
||
|
|
<robotNamespace></robotNamespace>
|
||
|
|
<a0>0</a0>
|
||
|
|
<cla>0</cla>
|
||
|
|
<cda>1.2535816618911175</cda>
|
||
|
|
<alpha_stall>0</alpha_stall>
|
||
|
|
<cda_stall>1.4326647564469914</cda_stall>
|
||
|
|
<cp>0 0 0</cp>
|
||
|
|
<area>0.0004</area> <!-- 0.002m of diameter x 0.2 element length -->
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>0 1 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>link_12</link_name>
|
||
|
|
</plugin>
|
||
|
|
<plugin name="link13_drag" filename="libLiftDragPlugin.so">
|
||
|
|
<robotNamespace></robotNamespace>
|
||
|
|
<a0>0</a0>
|
||
|
|
<cla>0</cla>
|
||
|
|
<cda>1.2535816618911175</cda>
|
||
|
|
<alpha_stall>0</alpha_stall>
|
||
|
|
<cda_stall>1.4326647564469914</cda_stall>
|
||
|
|
<cp>0 0 0</cp>
|
||
|
|
<area>0.0004</area> <!-- 0.002m of diameter x 0.2 element length -->
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>0 1 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>link_13</link_name>
|
||
|
|
</plugin>
|
||
|
|
<plugin name="link14_drag" filename="libLiftDragPlugin.so">
|
||
|
|
<robotNamespace></robotNamespace>
|
||
|
|
<a0>0</a0>
|
||
|
|
<cla>0</cla>
|
||
|
|
<cda>1.2535816618911175</cda>
|
||
|
|
<alpha_stall>0</alpha_stall>
|
||
|
|
<cda_stall>1.4326647564469914</cda_stall>
|
||
|
|
<cp>0 0 0</cp>
|
||
|
|
<area>0.0004</area> <!-- 0.002m of diameter x 0.2 element length -->
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>0 1 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>link_14</link_name>
|
||
|
|
</plugin>
|
||
|
|
<plugin name="link15_drag" filename="libLiftDragPlugin.so">
|
||
|
|
<robotNamespace></robotNamespace>
|
||
|
|
<a0>0</a0>
|
||
|
|
<cla>0</cla>
|
||
|
|
<cda>1.2535816618911175</cda>
|
||
|
|
<alpha_stall>0</alpha_stall>
|
||
|
|
<cda_stall>1.4326647564469914</cda_stall>
|
||
|
|
<cp>0 0 0</cp>
|
||
|
|
<area>0.0004</area> <!-- 0.002m of diameter x 0.2 element length -->
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>0 1 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>link_15</link_name>
|
||
|
|
</plugin>
|
||
|
|
<plugin name="link16_drag" filename="libLiftDragPlugin.so">
|
||
|
|
<robotNamespace></robotNamespace>
|
||
|
|
<a0>0</a0>
|
||
|
|
<cla>0</cla>
|
||
|
|
<cda>1.2535816618911175</cda>
|
||
|
|
<alpha_stall>0</alpha_stall>
|
||
|
|
<cda_stall>1.4326647564469914</cda_stall>
|
||
|
|
<cp>0 0 0</cp>
|
||
|
|
<area>0.0004</area> <!-- 0.002m of diameter x 0.2 element length -->
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>0 1 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>link_16</link_name>
|
||
|
|
</plugin>
|
||
|
|
<plugin name="link17_drag" filename="libLiftDragPlugin.so">
|
||
|
|
<robotNamespace></robotNamespace>
|
||
|
|
<a0>0</a0>
|
||
|
|
<cla>0</cla>
|
||
|
|
<cda>1.2535816618911175</cda>
|
||
|
|
<alpha_stall>0</alpha_stall>
|
||
|
|
<cda_stall>1.4326647564469914</cda_stall>
|
||
|
|
<cp>0 0 0</cp>
|
||
|
|
<area>0.0004</area> <!-- 0.002m of diameter x 0.2 element length -->
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>0 1 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>link_17</link_name>
|
||
|
|
</plugin>
|
||
|
|
<plugin name="link18_drag" filename="libLiftDragPlugin.so">
|
||
|
|
<robotNamespace></robotNamespace>
|
||
|
|
<a0>0</a0>
|
||
|
|
<cla>0</cla>
|
||
|
|
<cda>1.2535816618911175</cda>
|
||
|
|
<alpha_stall>0</alpha_stall>
|
||
|
|
<cda_stall>1.4326647564469914</cda_stall>
|
||
|
|
<cp>0 0 0</cp>
|
||
|
|
<area>0.0004</area> <!-- 0.002m of diameter x 0.2 element length -->
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>0 1 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>link_18</link_name>
|
||
|
|
</plugin>
|
||
|
|
<plugin name="link19_drag" filename="libLiftDragPlugin.so">
|
||
|
|
<robotNamespace></robotNamespace>
|
||
|
|
<a0>0</a0>
|
||
|
|
<cla>0</cla>
|
||
|
|
<cda>1.2535816618911175</cda>
|
||
|
|
<alpha_stall>0</alpha_stall>
|
||
|
|
<cda_stall>1.4326647564469914</cda_stall>
|
||
|
|
<cp>0 0 0</cp>
|
||
|
|
<area>0.0004</area> <!-- 0.002m of diameter x 0.2 element length -->
|
||
|
|
<air_density>1.2041</air_density>
|
||
|
|
<forward>0 1 0</forward>
|
||
|
|
<upward>0 0 1</upward>
|
||
|
|
<link_name>link_19</link_name>
|
||
|
|
</plugin>
|
||
|
|
</model>
|
||
|
|
</sdf>
|