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<?xml version="1.0" ?>
<sdf version="1.4">
<world name="default">
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<!-- A ground plane -->
<!--include>
<uri>model://ground_plane</uri>
</include-->
<physics type="ode">
<gravity>0.0 0.0 -9.81</gravity>
<real_time_update_rate>0.000000</real_time_update_rate>
<max_step_size>0.001000</max_step_size>
</physics>
<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
</link>
</model>
<model name="double_pendulum_with_base">
<pose>0 0 0 0 0 0</pose>
<!-- upper link, length 1, IC -90 degrees -->
<link name="upper_link">
<pose>0 0 2.1 -1.5708 0 0</pose>
<self_collide>0</self_collide>
<inertial>
<pose>0 0 0.5 0 0 0</pose>
</inertial>
<visual name="vis_upper_joint">
<pose>-0.05 0 0 0 1.5708 0</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.3</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<visual name="vis_lower_joint">
<pose>0 0 1.0 0 1.5708 0</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.2</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<visual name="vis_cylinder">
<pose>0 0 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.9</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
</link>
<!-- lower link, length 1, IC ~-120 degrees more -->
<link name="lower_link">
<pose>0.25 1.0 2.1 -2 0 0</pose>
<self_collide>0</self_collide>
<inertial>
<pose>0 0 0.5 0 0 0</pose>
</inertial>
<visual name="vis_lower_joint">
<pose>0 0 0 0 1.5708 0</pose>
<geometry>
<cylinder>
<radius>0.08</radius>
<length>0.3</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<visual name="vis_cylinder">
<pose>0 0 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.9</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
</link>
<!-- pin joint for upper link, at origin of upper link -->
<joint name="upper_joint" type="revolute">
<parent>world</parent>
<child>upper_link</child>
<axis>
<xyz>1.0 0 0</xyz>
</axis>
</joint>
<!-- pin joint for lower link, at origin of child link -->
<joint name="lower_joint" type="revolute">
<parent>upper_link</parent>
<child>lower_link</child>
<axis>
<xyz>1.0 0 0</xyz>
</axis>
</joint>
</model>
</world>
</sdf>
|
