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urdf_gazebo_extensions.urdf
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<?xml version="1.0" ?>
<robot name="urdf_gazebo_extension_test">
<link name="world"/>
<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"/>
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="link0">
<inertial>
<mass value="1000"/>
<origin rpy="0 0 0" xyz="0 0 -0.5"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<geometry>
<box size="0.1 0.1 1.0"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 -0.5"/>
</visual>
</link>
<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"/>
<dynamics damping="1.1111" friction="2.2222" />
</joint>
<gazebo reference="joint01">
<cfmDamping>true</cfmDamping>
<stopCfm>123</stopCfm>
<stopErp>0.987</stopErp>
<springReference>0.234</springReference>
<springStiffness>0.567</springStiffness>
<provideFeedback>1</provideFeedback>
<implicitSpringDamper>false</implicitSpringDamper>
<fudgeFactor>0.56789</fudgeFactor>
</gazebo>
<link name="link1">
<inertial>
<mass value="100"/>
<origin rpy="1 3 4" xyz="0 -1.5 0"/>
<inertia ixx="2" ixy="0" ixz="0" iyy="3" iyz="0" izz="4"/>
</inertial>
<visual>
<geometry>
<box size="0.2 3.0 0.2"/>
</geometry>
<origin rpy="0 0 0" xyz="0 -1.5 0"/>
</visual>
</link>
<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">
<implicitSpringDamper>0</implicitSpringDamper>
</gazebo>
<link name="link2">
<inertial>
<mass value="200"/>
<origin rpy="2 -3 -1.57079632679" xyz="0.2 0.4 1.0"/>
<inertia ixx="5" ixy="0" ixz="0" iyy="6" iyz="0" izz="7"/>
</inertial>
<visual>
<geometry>
<box size="0.3 0.3 2.0"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 1.0"/>
</visual>
</link>
<joint name="joint13" 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="link3"/>
</joint>
<joint name="joint23" type="revolute">
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="-0.5 0.5 2.5"/>
<axis xyz="0 1 0"/> <!-- in child (link1) frame -->
<limit lower="0" upper="0" velocity="1000" effort="10000"/>
<parent link="link2"/>
<child link="link3"/>
</joint>
<link name="link3">
<inertial>
<mass value="400"/>
<origin rpy="2 3 4" xyz="0.1 0.2 0.3"/>
<inertia ixx="8" ixy="0" ixz="0" iyy="9" iyz="0" izz="10"/>
</inertial>
<visual>
<geometry>
<box size="0.3 0.4 0.5"/>
</geometry>
<origin rpy="2 3 4" xyz="0.1 0.2 0.3"/>
</visual>
</link>
<gazebo reference="joint13">
<implicitSpringDamper>true</implicitSpringDamper>
</gazebo>
<joint name="joint01a" 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="link1a"/>
</joint>
<link name="link1a">
<inertial>
<mass value="100"/>
<origin rpy="1 3 4" xyz="0 -1.5 0"/>
<inertia ixx="2" ixy="0" ixz="0" iyy="3" iyz="0" izz="4"/>
</inertial>
<visual>
<geometry>
<box size="0.2 3.0 0.2"/>
</geometry>
<origin rpy="0 0 0" xyz="0 -1.5 0"/>
</visual>
</link>
<!-- Test lumping of sensors with <pose> tags. -->
<link name="linkSensorNoPose">
<inertial>
<mass value="100"/>
<origin rpy="1 3 4" xyz="0 -1.5 0"/>
<inertia ixx="2" ixy="0" ixz="0" iyy="3" iyz="0" izz="4"/>
</inertial>
</link>
<joint name="jointSensorNoPose" type="fixed">
<origin rpy="0 0 1.57079632679" xyz="333 0 0"/>
<parent link="link0"/>
<child link="linkSensorNoPose"/>
</joint>
<gazebo reference="linkSensorNoPose">
<sensor name="sensorNoPose" type="camera">
<update_rate>6.0</update_rate>
<camera name="cam">
<horizontal_fov>1.36869112579</horizontal_fov>
<image>
<width>1232</width>
<height>1616</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
</camera>
</sensor>
</gazebo>
<link name="linkSensorPose">
<inertial>
<mass value="100"/>
<origin rpy="1 3 4" xyz="0 -1.5 0"/>
<inertia ixx="2" ixy="0" ixz="0" iyy="3" iyz="0" izz="4"/>
</inertial>
</link>
<joint name="jointSensorPose" type="fixed">
<origin rpy="0 0 1.57079632679" xyz="333 0 0"/>
<parent link="link0"/>
<child link="linkSensorPose"/>
</joint>
<gazebo reference="linkSensorPose">
<sensor name="sensorPose" type="camera">
<pose>111 0 0 0 0 -1</pose>
<update_rate>6.0</update_rate>
<camera name="cam">
<horizontal_fov>1.36869112579</horizontal_fov>
<image>
<width>1232</width>
<height>1616</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
</camera>
</sensor>
</gazebo>
<link name="linkSensorPoseRelative">
<inertial>
<mass value="100"/>
<origin rpy="1 3 4" xyz="0 -1.5 0"/>
<inertia ixx="2" ixy="0" ixz="0" iyy="3" iyz="0" izz="4"/>
</inertial>
</link>
<joint name="jointSensorPoseRelative" type="fixed">
<origin rpy="0 0 1.57079632679" xyz="333 0 0"/>
<parent link="link0"/>
<child link="linkSensorPoseRelative"/>
</joint>
<gazebo reference="linkSensorPoseRelative">
<sensor name="sensorPoseRelative" type="camera">
<pose relative_to="link0">111 0 0 0 0 -1</pose>
<update_rate>6.0</update_rate>
<camera name="cam">
<horizontal_fov>1.36869112579</horizontal_fov>
<image>
<width>1232</width>
<height>1616</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
</camera>
</sensor>
</gazebo>
<link name="linkSensorPoseTwoLevel">
<inertial>
<mass value="100"/>
<origin rpy="1 3 4" xyz="0 -1.5 0"/>
<inertia ixx="2" ixy="0" ixz="0" iyy="3" iyz="0" izz="4"/>
</inertial>
</link>
<joint name="jointSensorPoseTwoLevel" type="fixed">
<origin rpy="0 0 0" xyz="0 0 222"/>
<parent link="link0"/>
<child link="linkSensorPoseTwoLevel"/>
</joint>
<link name="linkSensorPoseTwoLevel2">
<inertial>
<mass value="100"/>
<origin rpy="1 3 4" xyz="0 -1.5 0"/>
<inertia ixx="2" ixy="0" ixz="0" iyy="3" iyz="0" izz="4"/>
</inertial>
</link>
<joint name="jointSensorPoseTwoLevel2" type="fixed">
<origin rpy="0 0 1.57079632679" xyz="333 0 0"/>
<parent link="linkSensorPoseTwoLevel"/>
<child link="linkSensorPoseTwoLevel2"/>
</joint>
<gazebo reference="linkSensorPoseTwoLevel2">
<sensor name="sensorPoseTwoLevel" type="camera">
<pose twoLevel_to="link0">111 0 0 0 0 -1</pose>
<update_rate>6.0</update_rate>
<camera name="cam">
<horizontal_fov>1.36869112579</horizontal_fov>
<image>
<width>1232</width>
<height>1616</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
</camera>
</sensor>
</gazebo>
<!-- Issue 378 setting -->
<gazebo reference="issue378_link">
<sensor name="issue378_sensor" type="imu">
<always_on>1</always_on>
<update_rate>400</update_rate>
<pose>1.0 2.0 3.0 0.1 0.2 0.3</pose>
</sensor>
</gazebo>
<link name="issue378_link"/>
<joint name="issue378_link_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 -0 0"/>
<axis xyz="0 0 0"/>
<parent link="link0"/>
<child link="issue378_link"/>
</joint>
<!-- Issue 67 setting -->
<link name="Camera">
<inertial>
<origin xyz="-7.4418E-06 0.0043274 -0.010112" rpy="0 0 0"/>
<mass value="0.10621"/>
<inertia ixx="7.3134E-05" ixy="7.9651E-09" ixz="-8.9146E-09"
iyy="3.0769E-05" iyz="-3.9082E-06"
izz="9.2194E-05"/>
</inertial>
</link>
<joint name="jCamera" type="fixed">
<origin xyz="-0.20115 0.42488 0.30943" rpy="1.5708 -0.89012 1.5708"/>
<parent link="link0"/>
<child link="Camera"/>
<axis xyz="0 0 0"/>
</joint>
<gazebo reference="Camera">
<sensor name="issue67_sensor" type="camera">
<visualize>true</visualize>
<pose>1 1 1 1.570796 1.570796 1.570796</pose>
<camera>
</camera>
</sensor>
</gazebo>
</robot>