Backlash Model

backlash.xml

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

  <!-- colors ................................................................. -->
  <material name="red">
    <color rgba="0.8 0 0 1"/>
  </material>

 <material name="green">
    <color rgba="0 0.8 0 0.75"/>
  </material>

  <material name="blue">
    <color rgba="0 0 0.8 1"/>
  </material>

  <material name="orange">
    <color rgba="0.8 0.4 0 0.75"/>
  </material>

  <!-- cube base .................................................................-->
  <link name="body">
    <visual>
      <geometry>
        <box size="1 1 0.5"/>
      </geometry>
      <origin xyz="0 0 0.25" />
      <material name="blue"/>
    </visual>

    <collision>
      <geometry>
        <box size="1 1 0.5"/>
      </geometry>
      <origin xyz="0 0 0.25" />
    </collision>
  </link>

  <!-- diskBottom .................................................................-->
  <link name="diskBottom">
    <visual>
      <geometry>
        <cylinder length="0.10" radius="0.4"/>
      </geometry>
      <origin rpy="0 1.5708 0"/>
      <material name="green"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.10" radius="0.4"/>
      </geometry>
      <origin rpy="0 1.5708 0"/>
    </collision>
  </link>
  <joint name="diskToBox" type="continuous">
    <origin xyz="0 0 0.55" rpy="0 1.5708 0"/>
    <parent link="body"/>
    <child link="diskBottom"/>
  </joint>

  <!-- indicatorBottom .................................................................-->
  <link name="indicatorBottom">
    <visual>
      <geometry>
        <box size="0.05 0.05 0.05"/>
      </geometry>
      <material name="red"/>
    </visual>
  </link>
  <joint name="indicatorToDiskBottom" type="fixed">
    <origin xyz="0 0.4 0" rpy="1.5708 0 0"/>
    <parent link="diskBottom"/>
    <child link="indicatorBottom"/>
  </joint>

  <!-- diskTop .................................................................-->
  <link name="diskTop">
    <visual>
      <geometry>
        <cylinder length="0.10" radius="0.4"/>
      </geometry>
      <origin rpy="0 1.5708 0"/>
      <material name="orange"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.10" radius="0.4"/>
      </geometry>
      <origin rpy="0 1.5708 0"/>
    </collision>
  </link>
  <joint name="diskToDisk" type="revolute">
    <limit lower="-0.0756" upper="0.0756" />
    <origin xyz="-0.15 0 0"/>
    <parent link="diskBottom"/>
    <child link="diskTop"/>
  </joint>

  <!-- indicatorTop .................................................................-->
  <link name="indicatorTop">
    <visual>
      <geometry>
        <box size="0.05 0.05 0.05"/>
      </geometry>
      <material name="red"/>
    </visual>
  </link>
  <joint name="indicatorToDiskTop" type="fixed">
    <origin xyz="0 .40 0"/>
    <parent link="diskTop"/>
    <child link="indicatorTop"/>
  </joint>

</robot>