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- Committer: gianlu
- Date: 2012-12-17 16:28:31 UTC
- mfrom: (331.1.10 sr_demo)
- Revision ID: g.petroni@sssup.it-20121217162831-9pl28gsxde4x5wuv
added new demo sr_counting demo
- files added:
- .bzrignore
- sr_counting_demo
- sr_counting_demo/action
- sr_counting_demo/config
- sr_counting_demo/launch
- sr_counting_demo/msg
- sr_counting_demo/src
- sr_counting_demo/srv
- sr_knot_demo
- sr_knot_demo/config
- sr_knot_demo/models
- sr_knot_demo/models/urdf
- sr_knot_demo/models/xacro
- sr_knot_demo/models/xml
added
removed
sr_knot_demo/models/urdf/rope.urdf
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<?xml version='1.0' encoding='utf-8'?>
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<robot name="rope">
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<link name="rope_seg_1">
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<visual>
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<geometry>
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<cylinder length="0.015" radius="0.005" />
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</geometry>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.0151" radius="0.0051" />
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</geometry>
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</collision>
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<inertial>
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<mass value="0.01" />
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
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</inertial>
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</link>
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<gazebo reference="rope_seg_1">
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<material>Gazebo/Blue</material>
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<selfCollide>true</selfCollide>
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</gazebo>
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<link name="rope_seg_2">
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<visual>
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<geometry>
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<cylinder length="0.015" radius="0.005" />
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</geometry>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.0151" radius="0.0051" />
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</geometry>
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</collision>
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<inertial>
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<mass value="0.01" />
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
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</inertial>
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</link>
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<gazebo reference="rope_seg_2">
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<material>Gazebo/Blue</material>
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<selfCollide>true</selfCollide>
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</gazebo>
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<joint name="j_1" type="revolute">
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<limit effort="5" lower="-0.785" upper="0.785" velocity="6.28" />
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<parent link="rope_seg_1" />
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<child link="rope_seg_2" />
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<origin xyz="0 0 0.015" />
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<axis xyz="1 0 0" />
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<dynamics damping="2.0" friction="1.0" />
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</joint>
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<link name="rope_seg_3">
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<visual>
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<geometry>
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<cylinder length="0.015" radius="0.005" />
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</geometry>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.0151" radius="0.0051" />
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</geometry>
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</collision>
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<inertial>
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<mass value="0.01" />
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
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</inertial>
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</link>
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<gazebo reference="rope_seg_3">
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<material>Gazebo/Blue</material>
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<selfCollide>true</selfCollide>
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</gazebo>
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<joint name="j_2" type="revolute">
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<limit effort="5" lower="-0.785" upper="0.785" velocity="6.28" />
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<parent link="rope_seg_2" />
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<child link="rope_seg_3" />
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<origin xyz="0 0 0.015" />
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<axis xyz="1 0 0" />
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<dynamics damping="2.0" friction="1.0" />
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</joint>
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<link name="rope_seg_4">
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<visual>
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<geometry>
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<cylinder length="0.015" radius="0.005" />
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</geometry>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.0151" radius="0.0051" />
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</geometry>
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</collision>
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<inertial>
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<mass value="0.01" />
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
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</inertial>
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</link>
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<gazebo reference="rope_seg_4">
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<material>Gazebo/Blue</material>
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<selfCollide>true</selfCollide>
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</gazebo>
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<joint name="j_3" type="revolute">
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<limit effort="5" lower="-0.785" upper="0.785" velocity="6.28" />
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<parent link="rope_seg_3" />
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<child link="rope_seg_4" />
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<origin xyz="0 0 0.015" />
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<axis xyz="1 0 0" />
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<dynamics damping="2.0" friction="1.0" />
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</joint>
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<link name="rope_seg_5">
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<visual>
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<geometry>
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<cylinder length="0.015" radius="0.005" />
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</geometry>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.0151" radius="0.0051" />
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</geometry>
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</collision>
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<inertial>
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<mass value="0.01" />
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
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</inertial>
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</link>
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<gazebo reference="rope_seg_5">
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<material>Gazebo/Blue</material>
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<selfCollide>true</selfCollide>
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</gazebo>
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<joint name="j_4" type="revolute">
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<limit effort="5" lower="-0.785" upper="0.785" velocity="6.28" />
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<parent link="rope_seg_4" />
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<child link="rope_seg_5" />
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<origin xyz="0 0 0.015" />
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<axis xyz="1 0 0" />
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<dynamics damping="2.0" friction="1.0" />
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</joint>
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<link name="rope_seg_6">
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<visual>
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<geometry>
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<cylinder length="0.015" radius="0.005" />
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</geometry>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.0151" radius="0.0051" />
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</geometry>
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</collision>
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<inertial>
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<mass value="0.01" />
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
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</inertial>
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</link>
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<gazebo reference="rope_seg_6">
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<material>Gazebo/Blue</material>
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<selfCollide>true</selfCollide>
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</gazebo>
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<joint name="j_5" type="revolute">
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<limit effort="5" lower="-0.785" upper="0.785" velocity="6.28" />
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<parent link="rope_seg_5" />
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<child link="rope_seg_6" />
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<origin xyz="0 0 0.015" />
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<axis xyz="1 0 0" />
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<dynamics damping="2.0" friction="1.0" />
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</joint>
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<link name="rope_seg_7">
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<visual>
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<geometry>
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<cylinder length="0.015" radius="0.005" />
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</geometry>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.0151" radius="0.0051" />
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</geometry>
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</collision>
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<inertial>
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<mass value="0.01" />
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
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</inertial>
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</link>
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<gazebo reference="rope_seg_7">
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<material>Gazebo/Blue</material>
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<selfCollide>true</selfCollide>
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</gazebo>
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<joint name="j_6" type="revolute">
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<limit effort="5" lower="-0.785" upper="0.785" velocity="6.28" />
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<parent link="rope_seg_6" />
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<child link="rope_seg_7" />
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<origin xyz="0 0 0.015" />
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<axis xyz="1 0 0" />
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<dynamics damping="2.0" friction="1.0" />
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</joint>
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<link name="rope_seg_8">
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<visual>
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<geometry>
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<cylinder length="0.015" radius="0.005" />
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</geometry>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.0151" radius="0.0051" />
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</geometry>
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</collision>
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<inertial>
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<mass value="0.01" />
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
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</inertial>
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</link>
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<gazebo reference="rope_seg_8">
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<material>Gazebo/Blue</material>
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<selfCollide>true</selfCollide>
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</gazebo>
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<joint name="j_7" type="revolute">
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<limit effort="5" lower="-0.785" upper="0.785" velocity="6.28" />
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<parent link="rope_seg_7" />
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<child link="rope_seg_8" />
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<origin xyz="0 0 0.015" />
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<axis xyz="1 0 0" />
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<dynamics damping="2.0" friction="1.0" />
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</joint>
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<link name="rope_seg_9">
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<visual>
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<geometry>
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<cylinder length="0.015" radius="0.005" />
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</geometry>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.0151" radius="0.0051" />
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</geometry>
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</collision>
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<inertial>
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<mass value="0.01" />
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
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</inertial>
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</link>
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<gazebo reference="rope_seg_9">
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<material>Gazebo/Blue</material>
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<selfCollide>true</selfCollide>
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</gazebo>
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<joint name="j_8" type="revolute">
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<limit effort="5" lower="-0.785" upper="0.785" velocity="6.28" />
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<parent link="rope_seg_8" />
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<child link="rope_seg_9" />
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<origin xyz="0 0 0.015" />
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<axis xyz="1 0 0" />
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<dynamics damping="2.0" friction="1.0" />
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</joint>
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<link name="rope_seg_10">
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<visual>
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<geometry>
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<cylinder length="0.015" radius="0.005" />
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</geometry>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.0151" radius="0.0051" />
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</geometry>
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</collision>
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<inertial>
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<mass value="0.01" />
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
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</inertial>
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</link>
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<gazebo reference="rope_seg_10">
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<material>Gazebo/Blue</material>
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<selfCollide>true</selfCollide>
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</gazebo>
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<joint name="j_9" type="revolute">
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<limit effort="5" lower="-0.785" upper="0.785" velocity="6.28" />
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<parent link="rope_seg_9" />
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<child link="rope_seg_10" />
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<origin xyz="0 0 0.015" />
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<axis xyz="1 0 0" />
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<dynamics damping="2.0" friction="1.0" />
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</joint>
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<link name="rope_seg_11">
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<visual>
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<geometry>
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<cylinder length="0.015" radius="0.005" />
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</geometry>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.0151" radius="0.0051" />
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</geometry>
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</collision>
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<inertial>
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<mass value="0.01" />
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
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</inertial>
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</link>
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<gazebo reference="rope_seg_11">
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<material>Gazebo/Blue</material>
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<selfCollide>true</selfCollide>
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</gazebo>
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<joint name="j_10" type="revolute">
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<limit effort="5" lower="-0.785" upper="0.785" velocity="6.28" />
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<parent link="rope_seg_10" />
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<child link="rope_seg_11" />
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<origin xyz="0 0 0.015" />
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<axis xyz="1 0 0" />
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<dynamics damping="2.0" friction="1.0" />
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</joint>
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<link name="rope_seg_12">
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<visual>
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<geometry>
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<cylinder length="0.015" radius="0.005" />
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</geometry>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.0151" radius="0.0051" />
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</geometry>
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</collision>
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<inertial>
315
<mass value="0.01" />
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
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</inertial>
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</link>
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<gazebo reference="rope_seg_12">
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<material>Gazebo/Blue</material>
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<selfCollide>true</selfCollide>
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</gazebo>
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<joint name="j_11" type="revolute">
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<limit effort="5" lower="-0.785" upper="0.785" velocity="6.28" />
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<parent link="rope_seg_11" />
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<child link="rope_seg_12" />
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<origin xyz="0 0 0.015" />
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<axis xyz="1 0 0" />
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<dynamics damping="2.0" friction="1.0" />
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</joint>
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<link name="rope_seg_13">
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<visual>
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<geometry>
334
<cylinder length="0.015" radius="0.005" />
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</geometry>
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</visual>
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<collision>
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<geometry>
339
<cylinder length="0.0151" radius="0.0051" />
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</geometry>
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</collision>
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<inertial>
343
<mass value="0.01" />
344
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
345
</inertial>
346
</link>
347
<gazebo reference="rope_seg_13">
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<material>Gazebo/Blue</material>
349
<selfCollide>true</selfCollide>
350
</gazebo>
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<joint name="j_12" type="revolute">
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<limit effort="5" lower="-0.785" upper="0.785" velocity="6.28" />
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<parent link="rope_seg_12" />
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<child link="rope_seg_13" />
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<origin xyz="0 0 0.015" />
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<axis xyz="1 0 0" />
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<dynamics damping="2.0" friction="1.0" />
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</joint>
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<link name="rope_seg_14">
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<visual>
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<geometry>
362
<cylinder length="0.015" radius="0.005" />
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</geometry>
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</visual>
365
<collision>
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<geometry>
367
<cylinder length="0.0151" radius="0.0051" />
368
</geometry>
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</collision>
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<inertial>
371
<mass value="0.01" />
372
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
373
</inertial>
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</link>
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<gazebo reference="rope_seg_14">
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<material>Gazebo/Blue</material>
377
<selfCollide>true</selfCollide>
378
</gazebo>
379
<joint name="j_13" type="revolute">
380
<limit effort="5" lower="-0.785" upper="0.785" velocity="6.28" />
381
<parent link="rope_seg_13" />
382
<child link="rope_seg_14" />
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<origin xyz="0 0 0.015" />
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<axis xyz="1 0 0" />
385
<dynamics damping="2.0" friction="1.0" />
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</joint>
387
<link name="rope_seg_15">
388
<visual>
389
<geometry>
390
<cylinder length="0.015" radius="0.005" />
391
</geometry>
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</visual>
393
<collision>
394
<geometry>
395
<cylinder length="0.0151" radius="0.0051" />
396
</geometry>
397
</collision>
398
<inertial>
399
<mass value="0.01" />
400
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
401
</inertial>
402
</link>
403
<gazebo reference="rope_seg_15">
404
<material>Gazebo/Blue</material>
405
<selfCollide>true</selfCollide>
406
</gazebo>
407
<joint name="j_14" type="revolute">
408
<limit effort="5" lower="-0.785" upper="0.785" velocity="6.28" />
409
<parent link="rope_seg_14" />
410
<child link="rope_seg_15" />
411
<origin xyz="0 0 0.015" />
412
<axis xyz="1 0 0" />
413
<dynamics damping="2.0" friction="1.0" />
414
</joint>
415
<link name="rope_seg_16">
416
<visual>
417
<geometry>
418
<cylinder length="0.015" radius="0.005" />
419
</geometry>
420
</visual>
421
<collision>
422
<geometry>
423
<cylinder length="0.0151" radius="0.0051" />
424
</geometry>
425
</collision>
426
<inertial>
427
<mass value="0.01" />
428
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
429
</inertial>
430
</link>
431
<gazebo reference="rope_seg_16">
432
<material>Gazebo/Blue</material>
433
<selfCollide>true</selfCollide>
434
</gazebo>
435
<joint name="j_15" type="revolute">
436
<limit effort="5" lower="-0.785" upper="0.785" velocity="6.28" />
437
<parent link="rope_seg_15" />
438
<child link="rope_seg_16" />
439
<origin xyz="0 0 0.015" />
440
<axis xyz="1 0 0" />
441
<dynamics damping="2.0" friction="1.0" />
442
</joint>
443
<link name="rope_seg_17">
444
<visual>
445
<geometry>
446
<cylinder length="0.015" radius="0.005" />
447
</geometry>
448
</visual>
449
<collision>
450
<geometry>
451
<cylinder length="0.0151" radius="0.0051" />
452
</geometry>
453
</collision>
454
<inertial>
455
<mass value="0.01" />
456
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
457
</inertial>
458
</link>
459
<gazebo reference="rope_seg_17">
460
<material>Gazebo/Blue</material>
461
<selfCollide>true</selfCollide>
462
</gazebo>
463
<joint name="j_16" type="revolute">
464
<limit effort="5" lower="-0.785" upper="0.785" velocity="6.28" />
465
<parent link="rope_seg_16" />
466
<child link="rope_seg_17" />
467
<origin xyz="0 0 0.015" />
468
<axis xyz="1 0 0" />
469
<dynamics damping="2.0" friction="1.0" />
470
</joint>
471
<link name="rope_seg_18">
472
<visual>
473
<geometry>
474
<cylinder length="0.015" radius="0.005" />
475
</geometry>
476
</visual>
477
<collision>
478
<geometry>
479
<cylinder length="0.0151" radius="0.0051" />
480
</geometry>
481
</collision>
482
<inertial>
483
<mass value="0.01" />
484
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
485
</inertial>
486
</link>
487
<gazebo reference="rope_seg_18">
488
<material>Gazebo/Blue</material>
489
<selfCollide>true</selfCollide>
490
</gazebo>
491
<joint name="j_17" type="revolute">
492
<limit effort="5" lower="-0.785" upper="0.785" velocity="6.28" />
493
<parent link="rope_seg_17" />
494
<child link="rope_seg_18" />
495
<origin xyz="0 0 0.015" />
496
<axis xyz="1 0 0" />
497
<dynamics damping="2.0" friction="1.0" />
498
</joint>
499
<link name="rope_seg_19">
500
<visual>
501
<geometry>
502
<cylinder length="0.015" radius="0.005" />
503
</geometry>
504
</visual>
505
<collision>
506
<geometry>
507
<cylinder length="0.0151" radius="0.0051" />
508
</geometry>
509
</collision>
510
<inertial>
511
<mass value="0.01" />
512
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
513
</inertial>
514
</link>
515
<gazebo reference="rope_seg_19">
516
<material>Gazebo/Blue</material>
517
<selfCollide>true</selfCollide>
518
</gazebo>
519
<joint name="j_18" type="revolute">
520
<limit effort="5" lower="-0.785" upper="0.785" velocity="6.28" />
521
<parent link="rope_seg_18" />
522
<child link="rope_seg_19" />
523
<origin xyz="0 0 0.015" />
524
<axis xyz="1 0 0" />
525
<dynamics damping="2.0" friction="1.0" />
526
</joint>
527
<link name="rope_seg_20">
528
<visual>
529
<geometry>
530
<cylinder length="0.015" radius="0.005" />
531
</geometry>
532
</visual>
533
<collision>
534
<geometry>
535
<cylinder length="0.0151" radius="0.0051" />
536
</geometry>
537
</collision>
538
<inertial>
539
<mass value="0.01" />
540
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
541
</inertial>
542
</link>
543
<gazebo reference="rope_seg_20">
544
<material>Gazebo/Blue</material>
545
<selfCollide>true</selfCollide>
546
</gazebo>
547
<joint name="j_19" type="revolute">
548
<limit effort="5" lower="-0.785" upper="0.785" velocity="6.28" />
549
<parent link="rope_seg_19" />
550
<child link="rope_seg_20" />
551
<origin xyz="0 0 0.015" />
552
<axis xyz="1 0 0" />
553
<dynamics damping="2.0" friction="1.0" />
554
</joint>
555
</robot>
b'\\ No newline at end of file'
Loggerhead is a web-based interface for Breezy
Version: 2.0.1