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<?xml version="1.0" ?>
<skel version="1.0">
<world name="world 1">
<physics>
<time_step>0.001</time_step>
<gravity>0 -9.81 0</gravity>
<collision_detector>fcl_mesh</collision_detector>
</physics>
<skeleton name="double_pendulum">
<body name="link 1">
<gravity>1</gravity>
<transformation>0 0 0 0 0 0</transformation>
<inertia>
<mass>5</mass>
<offset>0 0.5 0</offset>
</inertia>
<visualization_shape>
<transformation>0 0.5 0 0 0 0</transformation>
<geometry>
<box>
<size>0.1 1.0 0.1</size>
</box>
</geometry>
</visualization_shape>
<collision_shape>
<transformation>0 0.5 0 0 0 0</transformation>
<geometry>
<box>
<size>0.1 1.0 0.1</size>
</box>
</geometry>
</collision_shape>
</body>
<body name="link 2">
<gravity>1</gravity>
<transformation>0 1.0 0 0 0 0</transformation>
<inertia>
<mass>5</mass>
<offset>0 0.5 0</offset>
</inertia>
<visualization_shape>
<transformation>0 0.5 0 0 0 0</transformation>
<geometry>
<box>
<size>0.1 1.0 0.1</size>
</box>
</geometry>
</visualization_shape>
<collision_shape>
<transformation>0 0.5 0 0 0 0</transformation>
<geometry>
<box>
<size>0.1 1.0 0.1</size>
</box>
</geometry>
</collision_shape>
</body>
<joint type="revolute" name="joint0">
<parent>world</parent>
<child>link 1</child>
<transformation>-0 0 0 0 0 0</transformation>
<axis>
<xyz>1 0 0</xyz>
</axis>
</joint>
<joint type="revolute" name="joint1">
<parent>link 1</parent>
<child>link 2</child>
<transformation>-0 0 0 0 0 0</transformation>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-1.57</lower>
<upper>+1.57</upper>
</limit>
</axis>
</joint>
</skeleton>
</world>
</skel>
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