<?xml version="1.0" ?>
<robot name="cfm_damping_implicit_spring_damper_conversion_test">

  <link name="world"/>
  <link name="link0">
    <inertial>
      <mass value="0.5" />
    </inertial>
  </link>
  <link name="link1">
    <inertial>
      <mass value="0.5" />
    </inertial>
  </link>
  <link name="link2">
    <inertial>
      <mass value="0.5" />
    </inertial>
  </link>
  <link name="link3">
    <inertial>
      <mass value="0.5" />
    </inertial>
  </link>

  <joint name="jointw0" type="continuous">
    <origin rpy="0 0 1.57079632679" xyz="0 0 1.0"/>
    <axis xyz="1 0 0"/>  <!-- in child (link1) frame -->
    <parent link="world"/>
    <child link="link0"/>
  </joint>

  <joint name="joint01" type="continuous">
    <origin rpy="0 0 1.57079632679" xyz="0 0 -1"/>
    <axis xyz="1 0 0"/>  <!-- in child (link1) frame -->
    <parent link="link0"/>
    <child link="link1"/>
  </joint>
  <gazebo reference="joint01">
    <cfmDamping>true</cfmDamping>
  </gazebo>

  <joint name="joint12" type="revolute">
    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 -3.0 0.0"/>
    <axis xyz="0 1 0"/>  <!-- in child (link1) frame -->
    <limit lower="0" upper="0" velocity="1000" effort="10000"/>
    <parent link="link1"/>
    <child link="link2"/>
  </joint>

  <joint name="joint13" type="revolute">
    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 -3.0 0.0"/>
    <axis xyz="0 1 0"/>  <!-- in child (link1) frame -->
    <limit lower="0" upper="0" velocity="1000" effort="10000"/>
    <parent link="link1"/>
    <child link="link3"/>
  </joint>
  <gazebo reference="joint13">
    <implicitSpringDamper>true</implicitSpringDamper>
  </gazebo>

</robot>
