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joint_parsing_test.sdf
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joint_parsing_test.sdf
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<?xml version="1.0"?>
<!--
Defines an SDF model with various types of joints used for testing the parser.
-->
<sdf version="1.7">
<model name="joint_parsing_test">
<link name="link1">
<inertial>
<mass>1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
</link>
<link name="link2">
<inertial>
<mass>1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
</link>
<joint name="revolute_joint" type="revolute">
<child>link2</child>
<parent>link1</parent>
<axis>
<xyz expressed_in="__model__">0 0 1</xyz>
<limit>
<lower>-1</lower>
<upper>2</upper>
<effort>100</effort>
<velocity>100</velocity>
</limit>
<dynamics>
<damping>0.2</damping>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name="link3">
<inertial>
<mass>1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
</link>
<joint name="prismatic_joint" type="prismatic">
<child>link3</child>
<parent>link2</parent>
<axis>
<xyz expressed_in="__model__">0 0 1</xyz>
<limit>
<lower>-2</lower>
<upper>1</upper>
<effort>100</effort>
<velocity>5</velocity>
</limit>
<dynamics>
<damping>0.3</damping>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name="link4">
<inertial>
<mass>1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
</link>
<joint name="revolute_joint_no_limits" type="revolute">
<child>link4</child>
<parent>link3</parent>
<axis>
<xyz expressed_in="__model__">0 0 1</xyz>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name="link5">
<inertial>
<mass>1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
</link>
<joint name="ball_joint" type="ball">
<child>link5</child>
<parent>link4</parent>
<axis>
<dynamics>
<damping>0.1</damping>
</dynamics>
<xyz expressed_in="__model__">0 0 1</xyz>
</axis>
</joint>
<link name="link6">
<inertial>
<mass>1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
</link>
<joint name="universal_joint" type="universal">
<child>link6</child>
<parent>link5</parent>
<axis>
<dynamics>
<damping>0.1</damping>
</dynamics>
<xyz expressed_in="__model__">0 0 1</xyz>
</axis>
</joint>
<link name="link7">
<inertial>
<mass>1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
</link>
<frame name='frame6' attached_to='link6'/>
<frame name='frame7' attached_to='link7'/>
<drake:joint name="planar_joint" type="planar">
<drake:child>frame7</drake:child>
<drake:parent>frame6</drake:parent>
<drake:damping>0.1 0.1 0.1</drake:damping>
</drake:joint>
</model>
</sdf>