29 lines
778 B
XML
29 lines
778 B
XML
<?xml version="1.0"?>
|
|
<urdf>
|
|
<robot name="mimic_cycle_robot">
|
|
<link name="link1"/>
|
|
<link name="link2"/>
|
|
<link name="link3"/>
|
|
<link name="link4"/>
|
|
|
|
<joint name="j12" type="revolute">
|
|
<parent link="link1"/>
|
|
<child link="link2"/>
|
|
<mimic joint="j34"/>
|
|
<limit effort="10" velocity="10" lower="-1" upper="1"/>
|
|
</joint>
|
|
<joint name="j23" type="revolute">
|
|
<parent link="link2"/>
|
|
<child link="link3"/>
|
|
<mimic joint="j12"/>
|
|
<limit effort="10" velocity="10" lower="-1" upper="1"/>
|
|
</joint>
|
|
<joint name="j34" type="revolute">
|
|
<parent link="link3"/>
|
|
<child link="link4"/>
|
|
<mimic joint="j23"/>
|
|
<limit effort="10" velocity="10" lower="-1" upper="1"/>
|
|
</joint>
|
|
</robot>
|
|
</urdf>
|