<?xml version="1.0"?>
<robot xmlns:drake="http://drake.mit.edu" name="test_robot">
  <!-- This urdf file defines a simple test robot with multiple links so that
       we can test visuals and collisions are properly added to each link.
       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 multibody_plant_urdf_parser_test.cc -->
  <link name="link1">
    <inertial>
      <mass value="1"/>
    </inertial>
    <visual name="link1_visual1">
      <geometry>
        <sphere radius="1.0"/>
      </geometry>
    </visual>
    <visual name="link1_visual2">
      <geometry>
        <mesh filename="package://drake/multibody/parsing/test/tri_cube.obj"/>
      </geometry>
    </visual>
    <collision name="link1_collision1">
      <geometry>
        <cylinder radius="0.5" length="2.0"/>
      </geometry>
      <drake:proximity_properties>
        <drake:mu_static value="0.8"/>
        <drake:mu_dynamic value="0.3"/>
      </drake:proximity_properties>
    </collision>
    <collision name="link1_collision2">
      <geometry>
        <sphere radius="1.0"/>
      </geometry>
      <drake:proximity_properties>
        <drake:mu_static value="1.5"/>
        <drake:mu_dynamic value="0.6"/>
      </drake:proximity_properties>
    </collision>
  </link>
  <!-- Link 2 has no collision geometry. -->
  <link name="link2">
    <inertial>
      <mass value="1"/>
    </inertial>
    <visual name="link2_visual1">
      <geometry>
        <sphere radius="1.0"/>
      </geometry>
    </visual>
    <visual name="link2_visual2">
      <geometry>
        <cylinder radius="0.5" length="2.0"/>
      </geometry>
    </visual>
    <visual name="link2_visual3">
      <geometry>
        <box size="1 2 3"/>
      </geometry>
    </visual>
  </link>
  <!-- Link 3 has no visuals. -->
  <link name="link3">
    <inertial>
      <mass value="1"/>
    </inertial>
    <collision name="link3_collision">
      <geometry>
        <box size="1.0 2.0 3.0"/>
      </geometry>
    </collision>
  </link>
  <!-- For now at least, We care only that Drake's custom tag doesn't break
       parsing the rest of the elements in this file. -->
  <drake:collision_filter_group name="filter_group1">
    <drake:member link="link1"/>
    <drake:member link="link2"/>
  </drake:collision_filter_group>
</robot>
