<?xml version="1.0"?>
<robot name="flexible_arm">
<!-- world -->
<link name="world"/>
<!-- Flexible arm modeled using virtual link method (finite segment method) -->
<!-- Mass parameter of the (whole) link is taken from KUKA IIWA 14 link_1 -->
<link name="link1">
<visual>
<origin rpy="0 0 0" xyz ="0.05 0 0"/>
<geometry>
<box size="0.1 0.025 0.01"/>
</geometry>
<material name="">
<color rgba="1.0 0.0 0.0 1.0"/>
</material>
</visual>
<inertial>
<origin xyz="0.05 0 0" rpy="0 0 0"/>
<mass value="0.8" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0.002" />
</inertial>
</link>
<joint name="base_to_link1" type="revolute">
<parent link="world"/>
<child link="link1"/>
<axis xyz="0 0 1"/>
<origin xyz="0 0 0" rpy="1.57079632679489661923 0 0"/>
<limit effort="150.0" lower="-3.14159" upper="3.14159" velocity="3.14"/>
</joint>
<link name="link2">
<visual>
<origin rpy="0 0 0" xyz ="0.05 0 0"/>
<geometry>
<box size="0.1 0.025 0.01"/>
</geometry>
<material name="">
<color rgba="0.0 1.0 0.0 1.0"/>
</material>
</visual>
<inertial>
<origin xyz="0.05 0 0" rpy="0 0 0"/>
<mass value="0.8" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0.002" />
</inertial>
</link>
<joint name="link1_to_link2" type="fixed">
<parent link="link1"/>
<child link="link2"/>
<axis xyz="0 0 1"/>
<origin xyz="0.1 0 0" rpy="0 0 0"/>
<limit effort="100.0" lower="-3.14159" upper="3.14159" velocity="3.14"/>
</joint>
<link name="link3">
<visual>
<origin rpy="0 0 0" xyz ="0.05 0 0"/>
<geometry>
<box size="0.1 0.025 0.01"/>
</geometry>
<material name="">
<color rgba="0.0 0.0 1.0 1.0"/>
</material>
</visual>
<inertial>
<origin xyz="0.05 0 0" rpy="0 0 0"/>
<mass value="0.8" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0.002" />
</inertial>
</link>
<joint name="link2_to_link3" type="fixed">
<parent link="link2"/>
<child link="link3"/>
<axis xyz="0 0 1"/>
<origin xyz="0.1 0 0" rpy="0 0 0"/>
<limit effort="100.0" lower="-3.14159" upper="3.14159" velocity="3.14"/>
</joint>
<link name="link4">
<visual>
<origin rpy="0 0 0" xyz ="0.05 0 0"/>
<geometry>
<box size="0.1 0.025 0.01"/>
</geometry>
<material name="">
<color rgba="1.0 0.0 1.0 1.0"/>
</material>
</visual>
<inertial>
<origin xyz="0.05 0 0" rpy="0 0 0"/>
<mass value="0.8" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0.002" />
</inertial>
</link>
<joint name="link3_to_link4" type="fixed">
<parent link="link3"/>
<child link="link4"/>
<axis xyz="0 0 1"/>
<origin xyz="0.1 0 0" rpy="0 0 0"/>
<limit effort="100.0" lower="-3.14159" upper="3.14159" velocity="3.14"/>
</joint>
<link name="link5">
<visual>
<origin rpy="0 0 0" xyz ="0.05 0 0"/>
<geometry>
<box size="0.1 0.025 0.01"/>
</geometry>
<material name="">
<color rgba="1.0 1.0 1.0 0.0"/>
</material>
</visual>
<inertial>
<origin xyz="0.05 0 0" rpy="0 0 0"/>
<mass value="0.8" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0.002" />
</inertial>
</link>
<joint name="link4_to_link5" type="fixed">
<parent link="link4"/>
<child link="link5"/>
<axis xyz="0 0 1"/>
<origin xyz="0.1 0 0" rpy="0 0 0"/>
<limit effort="100.0" lower="-3.14159" upper="3.14159" velocity="3.14"/>
</joint>
<!-- <link name="load">
<visual>
<geometry>
<box size="0.025 0.04 0.01"/>
</geometry>
<origin rpy="0 0 0" xyz ="0.0125 0 0"/>
</visual>
<inertial>
<origin xyz="0.0125 0 0" rpy="0 0 0"/>
<mass value="0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
</link>
<joint name="link5_to_load" type="fixed">
<parent link="link5"/>
<child link="load"/>
<axis xyz="0 0 1"/>
<origin xyz="0.1 0 0" rpy="0 0 0"/>
</joint> -->
</robot>
