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