<?xml version="1.0"?>
<robot xmlns:drake="http://drake.mit.edu" name="test_robot">
  <!-- This urdf file defines a simple test robot with a single link that
       contains one collision tag for each supported geometry type. We're
       confirming that each geometry declaration produces a corresponding
       Drake Shape. The *names* of each collision element match the string
       that is produced by `Shape::type_name()` (see shape_specification.h).
       This is to facilitate testing and altering the names will cause the
       test to fail.
       Values in <inertial> are not important for this test model since
       it's only to test the parsing of visuals and collisions into a
       MultibodyPlant.
       This file is meant to be kept in sync with the corresponding unit
       test file detail_urdf_parser_test.cc -->
  <link name="link1">
    <inertial>
      <mass value="1"/>
    </inertial>
    <collision name="Box">
      <geometry>
        <box size="1 2 3"/>
      </geometry>
    </collision>
    <collision name="Capsule">
      <geometry>
        <capsule radius="0.5" length="2.0"/>
      </geometry>
    </collision>
    <collision name="Convex">
      <geometry>
        <mesh filename="package://drake/multibody/parsing/test/tri_cube.obj">
          <drake:declare_convex/>
        </mesh>
      </geometry>
    </collision>
    <collision name="Cylinder">
      <geometry>
        <cylinder radius="0.5" length="2.0"/>
      </geometry>
    </collision>
    <collision name="Ellipsoid">
      <geometry>
        <drake:ellipsoid a="1.0" b="2.0" c="3.0"/>
      </geometry>
    </collision>
    <!--
    TODO(SeanCurtis-TRI): Parse halfspace from URDF files. Part of it is
     defining the semantics. Do I allow an arbitrary normal and point in the
     definition? Or do I infer it from the pose? This latter would more directly
     parallel the sdf functionality.
    <collision name = 'HalfSpace'>
      <geometry>
        <drake:half_space/>
      </geometry>
    </collision>
    -->
    <collision name="Mesh">
      <geometry>
        <mesh filename="package://drake/multibody/parsing/test/tri_cube.obj"/>
      </geometry>
    </collision>
    <collision name="Sphere">
      <geometry>
        <sphere radius="1.0"/>
      </geometry>
    </collision>
  </link>
</robot>
