Genesis-Intelligence/assets
340k
1<?xml version="1.0" ?>2<!-- =================================================================================== -->3<!-- | This document was autogenerated by xacro from rope.urdf.xacro | -->4<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->5<!-- =================================================================================== -->6<robot name="flexible_cable">7 <material name="blue">8 <color rgba="0 0 0.8 1"/>9 </material>10 <material name="gray">11 <color rgba="0.5 0.5 0.5 1"/>12 </material>13 <!-- World link (invisible) -->14 <link name="world"/>15 <link name="base_link">16 <visual>17 <geometry>18 <box size="0.04 0.04 0.02"/>19 </geometry>20 <material name="red">21 <color rgba="1 0 0 1"/>22 </material>23 </visual>24 <collision>25 <geometry>26 <box size="0.04 0.04 0.02"/>27 </geometry>28 </collision>29 <inertial>30 <mass value="0.1"/>31 <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>32 </inertial>33 </link>34 <gazebo reference="base_link">35 <material>Gazebo/Gray</material>36 <selfCollide>true</selfCollide>37 </gazebo>38 <!-- Fixed joint to connect base_link to world -->39 <joint name="fixed_to_world" type="fixed">40 <parent link="world"/>41 <child link="base_link"/>42 <!-- <origin rpy="1.57 0 0" xyz="0 0 2"/> -->43 <origin rpy="1 0 0" xyz="0 0 2"/>44 </joint>45 <!-- Spherical joint -->46 <link name="segment_1_sphere">47 <visual>48 <geometry>49 <sphere radius="0.0025"/>50 </geometry>51 <material name="gray"/>52 </visual>53 <collision>54 <geometry>55 <sphere radius="0.0025"/>56 </geometry>57 </collision>58 <inertial>59 <mass value="1e-06"/>60 <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>61 </inertial>62 </link>63 <joint name="base_link_to_segment_1_sphere" type="revolute">64 <parent link="base_link"/>65 <child link="segment_1_sphere"/>66 <origin rpy="0 0 0" xyz="0 0 -0.015"/>67 <axis xyz="0 1 0"/>68 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>69 <dynamics damping="0.001" friction="0.0"/>70 </joint>71 <!-- Cylinder segment -->72 <link name="segment_1_cylinder">73 <visual>74 <geometry>75 <cylinder length="0.01" radius="0.0025"/>76 </geometry>77 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>78 <material name="blue"/>79 </visual>80 <collision>81 <geometry>82 <cylinder length="0.01" radius="0.0025"/>83 </geometry>84 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>85 </collision>86 <inertial>87 <mass value="0.0001"/>88 <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>89 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>90 </inertial>91 </link>92 <joint name="segment_1_sphere_to_cylinder" type="revolute">93 <parent link="segment_1_sphere"/>94 <child link="segment_1_cylinder"/>95 <origin rpy="0 0 0" xyz="0 0 0"/>96 <axis xyz="1 0 0"/>97 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>98 <dynamics damping="0.001" friction="0.0"/>99 </joint>100 <!-- Enable self-collision for this segment -->101 <gazebo reference="segment_1_sphere">102 <material>Gazebo/Gray</material>103 <selfCollide>true</selfCollide>104 </gazebo>105 <gazebo reference="segment_1_cylinder">106 <material>Gazebo/Blue</material>107 <selfCollide>true</selfCollide>108 </gazebo>109 <!-- Spherical joint -->110 <link name="segment_2_sphere">111 <visual>112 <geometry>113 <sphere radius="0.0025"/>114 </geometry>115 <material name="gray"/>116 </visual>117 <collision>118 <geometry>119 <sphere radius="0.0025"/>120 </geometry>121 </collision>122 <inertial>123 <mass value="1e-06"/>124 <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>125 </inertial>126 </link>127 <joint name="segment_1_cylinder_to_segment_2_sphere" type="revolute">128 <parent link="segment_1_cylinder"/>129 <child link="segment_2_sphere"/>130 <origin rpy="0 0 0" xyz="0 0 -0.015"/>131 <axis xyz="0 1 0"/>132 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>133 <dynamics damping="0.001" friction="0.0"/>134 </joint>135 <!-- Cylinder segment -->136 <link name="segment_2_cylinder">137 <visual>138 <geometry>139 <cylinder length="0.01" radius="0.0025"/>140 </geometry>141 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>142 <material name="blue"/>143 </visual>144 <collision>145 <geometry>146 <cylinder length="0.01" radius="0.0025"/>147 </geometry>148 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>149 </collision>150 <inertial>151 <mass value="0.0001"/>152 <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>153 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>154 </inertial>155 </link>156 <joint name="segment_2_sphere_to_cylinder" type="revolute">157 <parent link="segment_2_sphere"/>158 <child link="segment_2_cylinder"/>159 <origin rpy="0 0 0" xyz="0 0 0"/>160 <axis xyz="1 0 0"/>161 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>162 <dynamics damping="0.001" friction="0.0"/>163 </joint>164 <!-- Enable self-collision for this segment -->165 <gazebo reference="segment_2_sphere">166 <material>Gazebo/Gray</material>167 <selfCollide>true</selfCollide>168 </gazebo>169 <gazebo reference="segment_2_cylinder">170 <material>Gazebo/Blue</material>171 <selfCollide>true</selfCollide>172 </gazebo>173 <!-- Spherical joint -->174 <link name="segment_3_sphere">175 <visual>176 <geometry>177 <sphere radius="0.0025"/>178 </geometry>179 <material name="gray"/>180 </visual>181 <collision>182 <geometry>183 <sphere radius="0.0025"/>184 </geometry>185 </collision>186 <inertial>187 <mass value="1e-06"/>188 <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>189 </inertial>190 </link>191 <joint name="segment_2_cylinder_to_segment_3_sphere" type="revolute">192 <parent link="segment_2_cylinder"/>193 <child link="segment_3_sphere"/>194 <origin rpy="0 0 0" xyz="0 0 -0.015"/>195 <axis xyz="0 1 0"/>196 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>197 <dynamics damping="0.001" friction="0.0"/>198 </joint>199 <!-- Cylinder segment -->200 <link name="segment_3_cylinder">201 <visual>202 <geometry>203 <cylinder length="0.01" radius="0.0025"/>204 </geometry>205 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>206 <material name="blue"/>207 </visual>208 <collision>209 <geometry>210 <cylinder length="0.01" radius="0.0025"/>211 </geometry>212 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>213 </collision>214 <inertial>215 <mass value="0.0001"/>216 <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>217 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>218 </inertial>219 </link>220 <joint name="segment_3_sphere_to_cylinder" type="revolute">221 <parent link="segment_3_sphere"/>222 <child link="segment_3_cylinder"/>223 <origin rpy="0 0 0" xyz="0 0 0"/>224 <axis xyz="1 0 0"/>225 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>226 <dynamics damping="0.001" friction="0.0"/>227 </joint>228 <!-- Enable self-collision for this segment -->229 <gazebo reference="segment_3_sphere">230 <material>Gazebo/Gray</material>231 <selfCollide>true</selfCollide>232 </gazebo>233 <gazebo reference="segment_3_cylinder">234 <material>Gazebo/Blue</material>235 <selfCollide>true</selfCollide>236 </gazebo>237 <!-- Spherical joint -->238 <link name="segment_4_sphere">239 <visual>240 <geometry>241 <sphere radius="0.0025"/>242 </geometry>243 <material name="gray"/>244 </visual>245 <collision>246 <geometry>247 <sphere radius="0.0025"/>248 </geometry>249 </collision>250 <inertial>251 <mass value="1e-06"/>252 <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>253 </inertial>254 </link>255 <joint name="segment_3_cylinder_to_segment_4_sphere" type="revolute">256 <parent link="segment_3_cylinder"/>257 <child link="segment_4_sphere"/>258 <origin rpy="0 0 0" xyz="0 0 -0.015"/>259 <axis xyz="0 1 0"/>260 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>261 <dynamics damping="0.001" friction="0.0"/>262 </joint>263 <!-- Cylinder segment -->264 <link name="segment_4_cylinder">265 <visual>266 <geometry>267 <cylinder length="0.01" radius="0.0025"/>268 </geometry>269 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>270 <material name="blue"/>271 </visual>272 <collision>273 <geometry>274 <cylinder length="0.01" radius="0.0025"/>275 </geometry>276 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>277 </collision>278 <inertial>279 <mass value="0.0001"/>280 <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>281 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>282 </inertial>283 </link>284 <joint name="segment_4_sphere_to_cylinder" type="revolute">285 <parent link="segment_4_sphere"/>286 <child link="segment_4_cylinder"/>287 <origin rpy="0 0 0" xyz="0 0 0"/>288 <axis xyz="1 0 0"/>289 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>290 <dynamics damping="0.001" friction="0.0"/>291 </joint>292 <!-- Enable self-collision for this segment -->293 <gazebo reference="segment_4_sphere">294 <material>Gazebo/Gray</material>295 <selfCollide>true</selfCollide>296 </gazebo>297 <gazebo reference="segment_4_cylinder">298 <material>Gazebo/Blue</material>299 <selfCollide>true</selfCollide>300 </gazebo>301 <!-- Spherical joint -->302 <link name="segment_5_sphere">303 <visual>304 <geometry>305 <sphere radius="0.0025"/>306 </geometry>307 <material name="gray"/>308 </visual>309 <collision>310 <geometry>311 <sphere radius="0.0025"/>312 </geometry>313 </collision>314 <inertial>315 <mass value="1e-06"/>316 <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>317 </inertial>318 </link>319 <joint name="segment_4_cylinder_to_segment_5_sphere" type="revolute">320 <parent link="segment_4_cylinder"/>321 <child link="segment_5_sphere"/>322 <origin rpy="0 0 0" xyz="0 0 -0.015"/>323 <axis xyz="0 1 0"/>324 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>325 <dynamics damping="0.001" friction="0.0"/>326 </joint>327 <!-- Cylinder segment -->328 <link name="segment_5_cylinder">329 <visual>330 <geometry>331 <cylinder length="0.01" radius="0.0025"/>332 </geometry>333 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>334 <material name="blue"/>335 </visual>336 <collision>337 <geometry>338 <cylinder length="0.01" radius="0.0025"/>339 </geometry>340 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>341 </collision>342 <inertial>343 <mass value="0.0001"/>344 <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>345 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>346 </inertial>347 </link>348 <joint name="segment_5_sphere_to_cylinder" type="revolute">349 <parent link="segment_5_sphere"/>350 <child link="segment_5_cylinder"/>351 <origin rpy="0 0 0" xyz="0 0 0"/>352 <axis xyz="1 0 0"/>353 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>354 <dynamics damping="0.001" friction="0.0"/>355 </joint>356 <!-- Enable self-collision for this segment -->357 <gazebo reference="segment_5_sphere">358 <material>Gazebo/Gray</material>359 <selfCollide>true</selfCollide>360 </gazebo>361 <gazebo reference="segment_5_cylinder">362 <material>Gazebo/Blue</material>363 <selfCollide>true</selfCollide>364 </gazebo>365 <!-- Spherical joint -->366 <link name="segment_6_sphere">367 <visual>368 <geometry>369 <sphere radius="0.0025"/>370 </geometry>371 <material name="gray"/>372 </visual>373 <collision>374 <geometry>375 <sphere radius="0.0025"/>376 </geometry>377 </collision>378 <inertial>379 <mass value="1e-06"/>380 <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>381 </inertial>382 </link>383 <joint name="segment_5_cylinder_to_segment_6_sphere" type="revolute">384 <parent link="segment_5_cylinder"/>385 <child link="segment_6_sphere"/>386 <origin rpy="0 0 0" xyz="0 0 -0.015"/>387 <axis xyz="0 1 0"/>388 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>389 <dynamics damping="0.001" friction="0.0"/>390 </joint>391 <!-- Cylinder segment -->392 <link name="segment_6_cylinder">393 <visual>394 <geometry>395 <cylinder length="0.01" radius="0.0025"/>396 </geometry>397 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>398 <material name="blue"/>399 </visual>400 <collision>401 <geometry>402 <cylinder length="0.01" radius="0.0025"/>403 </geometry>404 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>405 </collision>406 <inertial>407 <mass value="0.0001"/>408 <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>409 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>410 </inertial>411 </link>412 <joint name="segment_6_sphere_to_cylinder" type="revolute">413 <parent link="segment_6_sphere"/>414 <child link="segment_6_cylinder"/>415 <origin rpy="0 0 0" xyz="0 0 0"/>416 <axis xyz="1 0 0"/>417 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>418 <dynamics damping="0.001" friction="0.0"/>419 </joint>420 <!-- Enable self-collision for this segment -->421 <gazebo reference="segment_6_sphere">422 <material>Gazebo/Gray</material>423 <selfCollide>true</selfCollide>424 </gazebo>425 <gazebo reference="segment_6_cylinder">426 <material>Gazebo/Blue</material>427 <selfCollide>true</selfCollide>428 </gazebo>429 <!-- Spherical joint -->430 <link name="segment_7_sphere">431 <visual>432 <geometry>433 <sphere radius="0.0025"/>434 </geometry>435 <material name="gray"/>436 </visual>437 <collision>438 <geometry>439 <sphere radius="0.0025"/>440 </geometry>441 </collision>442 <inertial>443 <mass value="1e-06"/>444 <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>445 </inertial>446 </link>447 <joint name="segment_6_cylinder_to_segment_7_sphere" type="revolute">448 <parent link="segment_6_cylinder"/>449 <child link="segment_7_sphere"/>450 <origin rpy="0 0 0" xyz="0 0 -0.015"/>451 <axis xyz="0 1 0"/>452 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>453 <dynamics damping="0.001" friction="0.0"/>454 </joint>455 <!-- Cylinder segment -->456 <link name="segment_7_cylinder">457 <visual>458 <geometry>459 <cylinder length="0.01" radius="0.0025"/>460 </geometry>461 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>462 <material name="blue"/>463 </visual>464 <collision>465 <geometry>466 <cylinder length="0.01" radius="0.0025"/>467 </geometry>468 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>469 </collision>470 <inertial>471 <mass value="0.0001"/>472 <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>473 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>474 </inertial>475 </link>476 <joint name="segment_7_sphere_to_cylinder" type="revolute">477 <parent link="segment_7_sphere"/>478 <child link="segment_7_cylinder"/>479 <origin rpy="0 0 0" xyz="0 0 0"/>480 <axis xyz="1 0 0"/>481 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>482 <dynamics damping="0.001" friction="0.0"/>483 </joint>484 <!-- Enable self-collision for this segment -->485 <gazebo reference="segment_7_sphere">486 <material>Gazebo/Gray</material>487 <selfCollide>true</selfCollide>488 </gazebo>489 <gazebo reference="segment_7_cylinder">490 <material>Gazebo/Blue</material>491 <selfCollide>true</selfCollide>492 </gazebo>493 <!-- Spherical joint -->494 <link name="segment_8_sphere">495 <visual>496 <geometry>497 <sphere radius="0.0025"/>498 </geometry>499 <material name="gray"/>500 </visual>501 <collision>502 <geometry>503 <sphere radius="0.0025"/>504 </geometry>505 </collision>506 <inertial>507 <mass value="1e-06"/>508 <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>509 </inertial>510 </link>511 <joint name="segment_7_cylinder_to_segment_8_sphere" type="revolute">512 <parent link="segment_7_cylinder"/>513 <child link="segment_8_sphere"/>514 <origin rpy="0 0 0" xyz="0 0 -0.015"/>515 <axis xyz="0 1 0"/>516 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>517 <dynamics damping="0.001" friction="0.0"/>518 </joint>519 <!-- Cylinder segment -->520 <link name="segment_8_cylinder">521 <visual>522 <geometry>523 <cylinder length="0.01" radius="0.0025"/>524 </geometry>525 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>526 <material name="blue"/>527 </visual>528 <collision>529 <geometry>530 <cylinder length="0.01" radius="0.0025"/>531 </geometry>532 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>533 </collision>534 <inertial>535 <mass value="0.0001"/>536 <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>537 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>538 </inertial>539 </link>540 <joint name="segment_8_sphere_to_cylinder" type="revolute">541 <parent link="segment_8_sphere"/>542 <child link="segment_8_cylinder"/>543 <origin rpy="0 0 0" xyz="0 0 0"/>544 <axis xyz="1 0 0"/>545 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>546 <dynamics damping="0.001" friction="0.0"/>547 </joint>548 <!-- Enable self-collision for this segment -->549 <gazebo reference="segment_8_sphere">550 <material>Gazebo/Gray</material>551 <selfCollide>true</selfCollide>552 </gazebo>553 <gazebo reference="segment_8_cylinder">554 <material>Gazebo/Blue</material>555 <selfCollide>true</selfCollide>556 </gazebo>557 <!-- Spherical joint -->558 <link name="segment_9_sphere">559 <visual>560 <geometry>561 <sphere radius="0.0025"/>562 </geometry>563 <material name="gray"/>564 </visual>565 <collision>566 <geometry>567 <sphere radius="0.0025"/>568 </geometry>569 </collision>570 <inertial>571 <mass value="1e-06"/>572 <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>573 </inertial>574 </link>575 <joint name="segment_8_cylinder_to_segment_9_sphere" type="revolute">576 <parent link="segment_8_cylinder"/>577 <child link="segment_9_sphere"/>578 <origin rpy="0 0 0" xyz="0 0 -0.015"/>579 <axis xyz="0 1 0"/>580 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>581 <dynamics damping="0.001" friction="0.0"/>582 </joint>583 <!-- Cylinder segment -->584 <link name="segment_9_cylinder">585 <visual>586 <geometry>587 <cylinder length="0.01" radius="0.0025"/>588 </geometry>589 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>590 <material name="blue"/>591 </visual>592 <collision>593 <geometry>594 <cylinder length="0.01" radius="0.0025"/>595 </geometry>596 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>597 </collision>598 <inertial>599 <mass value="0.0001"/>600 <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>601 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>602 </inertial>603 </link>604 <joint name="segment_9_sphere_to_cylinder" type="revolute">605 <parent link="segment_9_sphere"/>606 <child link="segment_9_cylinder"/>607 <origin rpy="0 0 0" xyz="0 0 0"/>608 <axis xyz="1 0 0"/>609 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>610 <dynamics damping="0.001" friction="0.0"/>611 </joint>612 <!-- Enable self-collision for this segment -->613 <gazebo reference="segment_9_sphere">614 <material>Gazebo/Gray</material>615 <selfCollide>true</selfCollide>616 </gazebo>617 <gazebo reference="segment_9_cylinder">618 <material>Gazebo/Blue</material>619 <selfCollide>true</selfCollide>620 </gazebo>621 <!-- Spherical joint -->622 <link name="segment_10_sphere">623 <visual>624 <geometry>625 <sphere radius="0.0025"/>626 </geometry>627 <material name="gray"/>628 </visual>629 <collision>630 <geometry>631 <sphere radius="0.0025"/>632 </geometry>633 </collision>634 <inertial>635 <mass value="1e-06"/>636 <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>637 </inertial>638 </link>639 <joint name="segment_9_cylinder_to_segment_10_sphere" type="revolute">640 <parent link="segment_9_cylinder"/>641 <child link="segment_10_sphere"/>642 <origin rpy="0 0 0" xyz="0 0 -0.015"/>643 <axis xyz="0 1 0"/>644 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>645 <dynamics damping="0.001" friction="0.0"/>646 </joint>647 <!-- Cylinder segment -->648 <link name="segment_10_cylinder">649 <visual>650 <geometry>651 <cylinder length="0.01" radius="0.0025"/>652 </geometry>653 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>654 <material name="blue"/>655 </visual>656 <collision>657 <geometry>658 <cylinder length="0.01" radius="0.0025"/>659 </geometry>660 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>661 </collision>662 <inertial>663 <mass value="0.0001"/>664 <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>665 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>666 </inertial>667 </link>668 <joint name="segment_10_sphere_to_cylinder" type="revolute">669 <parent link="segment_10_sphere"/>670 <child link="segment_10_cylinder"/>671 <origin rpy="0 0 0" xyz="0 0 0"/>672 <axis xyz="1 0 0"/>673 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>674 <dynamics damping="0.001" friction="0.0"/>675 </joint>676 <!-- Enable self-collision for this segment -->677 <gazebo reference="segment_10_sphere">678 <material>Gazebo/Gray</material>679 <selfCollide>true</selfCollide>680 </gazebo>681 <gazebo reference="segment_10_cylinder">682 <material>Gazebo/Blue</material>683 <selfCollide>true</selfCollide>684 </gazebo>685 <!-- Spherical joint -->686 <link name="segment_11_sphere">687 <visual>688 <geometry>689 <sphere radius="0.0025"/>690 </geometry>691 <material name="gray"/>692 </visual>693 <collision>694 <geometry>695 <sphere radius="0.0025"/>696 </geometry>697 </collision>698 <inertial>699 <mass value="1e-06"/>700 <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>701 </inertial>702 </link>703 <joint name="segment_10_cylinder_to_segment_11_sphere" type="revolute">704 <parent link="segment_10_cylinder"/>705 <child link="segment_11_sphere"/>706 <origin rpy="0 0 0" xyz="0 0 -0.015"/>707 <axis xyz="0 1 0"/>708 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>709 <dynamics damping="0.001" friction="0.0"/>710 </joint>711 <!-- Cylinder segment -->712 <link name="segment_11_cylinder">713 <visual>714 <geometry>715 <cylinder length="0.01" radius="0.0025"/>716 </geometry>717 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>718 <material name="blue"/>719 </visual>720 <collision>721 <geometry>722 <cylinder length="0.01" radius="0.0025"/>723 </geometry>724 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>725 </collision>726 <inertial>727 <mass value="0.0001"/>728 <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>729 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>730 </inertial>731 </link>732 <joint name="segment_11_sphere_to_cylinder" type="revolute">733 <parent link="segment_11_sphere"/>734 <child link="segment_11_cylinder"/>735 <origin rpy="0 0 0" xyz="0 0 0"/>736 <axis xyz="1 0 0"/>737 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>738 <dynamics damping="0.001" friction="0.0"/>739 </joint>740 <!-- Enable self-collision for this segment -->741 <gazebo reference="segment_11_sphere">742 <material>Gazebo/Gray</material>743 <selfCollide>true</selfCollide>744 </gazebo>745 <gazebo reference="segment_11_cylinder">746 <material>Gazebo/Blue</material>747 <selfCollide>true</selfCollide>748 </gazebo>749 <!-- Spherical joint -->750 <link name="segment_12_sphere">751 <visual>752 <geometry>753 <sphere radius="0.0025"/>754 </geometry>755 <material name="gray"/>756 </visual>757 <collision>758 <geometry>759 <sphere radius="0.0025"/>760 </geometry>761 </collision>762 <inertial>763 <mass value="1e-06"/>764 <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>765 </inertial>766 </link>767 <joint name="segment_11_cylinder_to_segment_12_sphere" type="revolute">768 <parent link="segment_11_cylinder"/>769 <child link="segment_12_sphere"/>770 <origin rpy="0 0 0" xyz="0 0 -0.015"/>771 <axis xyz="0 1 0"/>772 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>773 <dynamics damping="0.001" friction="0.0"/>774 </joint>775 <!-- Cylinder segment -->776 <link name="segment_12_cylinder">777 <visual>778 <geometry>779 <cylinder length="0.01" radius="0.0025"/>780 </geometry>781 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>782 <material name="blue"/>783 </visual>784 <collision>785 <geometry>786 <cylinder length="0.01" radius="0.0025"/>787 </geometry>788 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>789 </collision>790 <inertial>791 <mass value="0.0001"/>792 <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>793 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>794 </inertial>795 </link>796 <joint name="segment_12_sphere_to_cylinder" type="revolute">797 <parent link="segment_12_sphere"/>798 <child link="segment_12_cylinder"/>799 <origin rpy="0 0 0" xyz="0 0 0"/>800 <axis xyz="1 0 0"/>801 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>802 <dynamics damping="0.001" friction="0.0"/>803 </joint>804 <!-- Enable self-collision for this segment -->805 <gazebo reference="segment_12_sphere">806 <material>Gazebo/Gray</material>807 <selfCollide>true</selfCollide>808 </gazebo>809 <gazebo reference="segment_12_cylinder">810 <material>Gazebo/Blue</material>811 <selfCollide>true</selfCollide>812 </gazebo>813 <!-- Spherical joint -->814 <link name="segment_13_sphere">815 <visual>816 <geometry>817 <sphere radius="0.0025"/>818 </geometry>819 <material name="gray"/>820 </visual>821 <collision>822 <geometry>823 <sphere radius="0.0025"/>824 </geometry>825 </collision>826 <inertial>827 <mass value="1e-06"/>828 <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>829 </inertial>830 </link>831 <joint name="segment_12_cylinder_to_segment_13_sphere" type="revolute">832 <parent link="segment_12_cylinder"/>833 <child link="segment_13_sphere"/>834 <origin rpy="0 0 0" xyz="0 0 -0.015"/>835 <axis xyz="0 1 0"/>836 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>837 <dynamics damping="0.001" friction="0.0"/>838 </joint>839 <!-- Cylinder segment -->840 <link name="segment_13_cylinder">841 <visual>842 <geometry>843 <cylinder length="0.01" radius="0.0025"/>844 </geometry>845 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>846 <material name="blue"/>847 </visual>848 <collision>849 <geometry>850 <cylinder length="0.01" radius="0.0025"/>851 </geometry>852 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>853 </collision>854 <inertial>855 <mass value="0.0001"/>856 <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>857 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>858 </inertial>859 </link>860 <joint name="segment_13_sphere_to_cylinder" type="revolute">861 <parent link="segment_13_sphere"/>862 <child link="segment_13_cylinder"/>863 <origin rpy="0 0 0" xyz="0 0 0"/>864 <axis xyz="1 0 0"/>865 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>866 <dynamics damping="0.001" friction="0.0"/>867 </joint>868 <!-- Enable self-collision for this segment -->869 <gazebo reference="segment_13_sphere">870 <material>Gazebo/Gray</material>871 <selfCollide>true</selfCollide>872 </gazebo>873 <gazebo reference="segment_13_cylinder">874 <material>Gazebo/Blue</material>875 <selfCollide>true</selfCollide>876 </gazebo>877 <!-- Spherical joint -->878 <link name="segment_14_sphere">879 <visual>880 <geometry>881 <sphere radius="0.0025"/>882 </geometry>883 <material name="gray"/>884 </visual>885 <collision>886 <geometry>887 <sphere radius="0.0025"/>888 </geometry>889 </collision>890 <inertial>891 <mass value="1e-06"/>892 <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>893 </inertial>894 </link>895 <joint name="segment_13_cylinder_to_segment_14_sphere" type="revolute">896 <parent link="segment_13_cylinder"/>897 <child link="segment_14_sphere"/>898 <origin rpy="0 0 0" xyz="0 0 -0.015"/>899 <axis xyz="0 1 0"/>900 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>901 <dynamics damping="0.001" friction="0.0"/>902 </joint>903 <!-- Cylinder segment -->904 <link name="segment_14_cylinder">905 <visual>906 <geometry>907 <cylinder length="0.01" radius="0.0025"/>908 </geometry>909 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>910 <material name="blue"/>911 </visual>912 <collision>913 <geometry>914 <cylinder length="0.01" radius="0.0025"/>915 </geometry>916 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>917 </collision>918 <inertial>919 <mass value="0.0001"/>920 <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>921 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>922 </inertial>923 </link>924 <joint name="segment_14_sphere_to_cylinder" type="revolute">925 <parent link="segment_14_sphere"/>926 <child link="segment_14_cylinder"/>927 <origin rpy="0 0 0" xyz="0 0 0"/>928 <axis xyz="1 0 0"/>929 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>930 <dynamics damping="0.001" friction="0.0"/>931 </joint>932 <!-- Enable self-collision for this segment -->933 <gazebo reference="segment_14_sphere">934 <material>Gazebo/Gray</material>935 <selfCollide>true</selfCollide>936 </gazebo>937 <gazebo reference="segment_14_cylinder">938 <material>Gazebo/Blue</material>939 <selfCollide>true</selfCollide>940 </gazebo>941 <!-- Spherical joint -->942 <link name="segment_15_sphere">943 <visual>944 <geometry>945 <sphere radius="0.0025"/>946 </geometry>947 <material name="gray"/>948 </visual>949 <collision>950 <geometry>951 <sphere radius="0.0025"/>952 </geometry>953 </collision>954 <inertial>955 <mass value="1e-06"/>956 <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>957 </inertial>958 </link>959 <joint name="segment_14_cylinder_to_segment_15_sphere" type="revolute">960 <parent link="segment_14_cylinder"/>961 <child link="segment_15_sphere"/>962 <origin rpy="0 0 0" xyz="0 0 -0.015"/>963 <axis xyz="0 1 0"/>964 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>965 <dynamics damping="0.001" friction="0.0"/>966 </joint>967 <!-- Cylinder segment -->968 <link name="segment_15_cylinder">969 <visual>970 <geometry>971 <cylinder length="0.01" radius="0.0025"/>972 </geometry>973 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>974 <material name="blue"/>975 </visual>976 <collision>977 <geometry>978 <cylinder length="0.01" radius="0.0025"/>979 </geometry>980 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>981 </collision>982 <inertial>983 <mass value="0.0001"/>984 <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>985 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>986 </inertial>987 </link>988 <joint name="segment_15_sphere_to_cylinder" type="revolute">989 <parent link="segment_15_sphere"/>990 <child link="segment_15_cylinder"/>991 <origin rpy="0 0 0" xyz="0 0 0"/>992 <axis xyz="1 0 0"/>993 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>994 <dynamics damping="0.001" friction="0.0"/>995 </joint>996 <!-- Enable self-collision for this segment -->997 <gazebo reference="segment_15_sphere">998 <material>Gazebo/Gray</material>999 <selfCollide>true</selfCollide>1000 </gazebo>1001 <gazebo reference="segment_15_cylinder">1002 <material>Gazebo/Blue</material>1003 <selfCollide>true</selfCollide>1004 </gazebo>1005 <!-- Spherical joint -->1006 <link name="segment_16_sphere">1007 <visual>1008 <geometry>1009 <sphere radius="0.0025"/>1010 </geometry>1011 <material name="gray"/>1012 </visual>1013 <collision>1014 <geometry>1015 <sphere radius="0.0025"/>1016 </geometry>1017 </collision>1018 <inertial>1019 <mass value="1e-06"/>1020 <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>1021 </inertial>1022 </link>1023 <joint name="segment_15_cylinder_to_segment_16_sphere" type="revolute">1024 <parent link="segment_15_cylinder"/>1025 <child link="segment_16_sphere"/>1026 <origin rpy="0 0 0" xyz="0 0 -0.015"/>1027 <axis xyz="0 1 0"/>1028 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>1029 <dynamics damping="0.001" friction="0.0"/>1030 </joint>1031 <!-- Cylinder segment -->1032 <link name="segment_16_cylinder">1033 <visual>1034 <geometry>1035 <cylinder length="0.01" radius="0.0025"/>1036 </geometry>1037 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>1038 <material name="blue"/>1039 </visual>1040 <collision>1041 <geometry>1042 <cylinder length="0.01" radius="0.0025"/>1043 </geometry>1044 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>1045 </collision>1046 <inertial>1047 <mass value="0.0001"/>1048 <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>1049 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>1050 </inertial>1051 </link>1052 <joint name="segment_16_sphere_to_cylinder" type="revolute">1053 <parent link="segment_16_sphere"/>1054 <child link="segment_16_cylinder"/>1055 <origin rpy="0 0 0" xyz="0 0 0"/>1056 <axis xyz="1 0 0"/>1057 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>1058 <dynamics damping="0.001" friction="0.0"/>1059 </joint>1060 <!-- Enable self-collision for this segment -->1061 <gazebo reference="segment_16_sphere">1062 <material>Gazebo/Gray</material>1063 <selfCollide>true</selfCollide>1064 </gazebo>1065 <gazebo reference="segment_16_cylinder">1066 <material>Gazebo/Blue</material>1067 <selfCollide>true</selfCollide>1068 </gazebo>1069 <!-- Spherical joint -->1070 <link name="segment_17_sphere">1071 <visual>1072 <geometry>1073 <sphere radius="0.0025"/>1074 </geometry>1075 <material name="gray"/>1076 </visual>1077 <collision>1078 <geometry>1079 <sphere radius="0.0025"/>1080 </geometry>1081 </collision>1082 <inertial>1083 <mass value="1e-06"/>1084 <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>1085 </inertial>1086 </link>1087 <joint name="segment_16_cylinder_to_segment_17_sphere" type="revolute">1088 <parent link="segment_16_cylinder"/>1089 <child link="segment_17_sphere"/>1090 <origin rpy="0 0 0" xyz="0 0 -0.015"/>1091 <axis xyz="0 1 0"/>1092 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>1093 <dynamics damping="0.001" friction="0.0"/>1094 </joint>1095 <!-- Cylinder segment -->1096 <link name="segment_17_cylinder">1097 <visual>1098 <geometry>1099 <cylinder length="0.01" radius="0.0025"/>1100 </geometry>1101 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>1102 <material name="blue"/>1103 </visual>1104 <collision>1105 <geometry>1106 <cylinder length="0.01" radius="0.0025"/>1107 </geometry>1108 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>1109 </collision>1110 <inertial>1111 <mass value="0.0001"/>1112 <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>1113 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>1114 </inertial>1115 </link>1116 <joint name="segment_17_sphere_to_cylinder" type="revolute">1117 <parent link="segment_17_sphere"/>1118 <child link="segment_17_cylinder"/>1119 <origin rpy="0 0 0" xyz="0 0 0"/>1120 <axis xyz="1 0 0"/>1121 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>1122 <dynamics damping="0.001" friction="0.0"/>1123 </joint>1124 <!-- Enable self-collision for this segment -->1125 <gazebo reference="segment_17_sphere">1126 <material>Gazebo/Gray</material>1127 <selfCollide>true</selfCollide>1128 </gazebo>1129 <gazebo reference="segment_17_cylinder">1130 <material>Gazebo/Blue</material>1131 <selfCollide>true</selfCollide>1132 </gazebo>1133 <!-- Spherical joint -->1134 <link name="segment_18_sphere">1135 <visual>1136 <geometry>1137 <sphere radius="0.0025"/>1138 </geometry>1139 <material name="gray"/>1140 </visual>1141 <collision>1142 <geometry>1143 <sphere radius="0.0025"/>1144 </geometry>1145 </collision>1146 <inertial>1147 <mass value="1e-06"/>1148 <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>1149 </inertial>1150 </link>1151 <joint name="segment_17_cylinder_to_segment_18_sphere" type="revolute">1152 <parent link="segment_17_cylinder"/>1153 <child link="segment_18_sphere"/>1154 <origin rpy="0 0 0" xyz="0 0 -0.015"/>1155 <axis xyz="0 1 0"/>1156 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>1157 <dynamics damping="0.001" friction="0.0"/>1158 </joint>1159 <!-- Cylinder segment -->1160 <link name="segment_18_cylinder">1161 <visual>1162 <geometry>1163 <cylinder length="0.01" radius="0.0025"/>1164 </geometry>1165 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>1166 <material name="blue"/>1167 </visual>1168 <collision>1169 <geometry>1170 <cylinder length="0.01" radius="0.0025"/>1171 </geometry>1172 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>1173 </collision>1174 <inertial>1175 <mass value="0.0001"/>1176 <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>1177 <origin rpy="0 0 0" xyz="0 0 -0.0075"/>1178 </inertial>1179 </link>1180 <joint name="segment_18_sphere_to_cylinder" type="revolute">1181 <parent link="segment_18_sphere"/>1182 <child link="segment_18_cylinder"/>1183 <origin rpy="0 0 0" xyz="0 0 0"/>1184 <axis xyz="1 0 0"/>1185 <limit effort="20" lower="-1.0" upper="1.0" velocity="30"/>1186 <dynamics damping="0.001" friction="0.0"/>1187 </joint>1188 <!-- Enable self-collision for this segment -->1189 <gazebo reference="segment_18_sphere">1190 <material>Gazebo/Gray</material>1191 <selfCollide>true</selfCollide>1192 </gazebo>1193 <gazebo reference="segment_18_cylinder">1194 <material>Gazebo/Blue</material>1195 <selfCollide>true</selfCollide>1196 </gazebo>1197 <!-- Spherical joint -->1198 <link name="segment_19_sphere">1199 <visual>1200 <geometry>