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<?xml version="1.0" ?>
<sdf version="1.3">
<world name="default">
<gravity>0 0 -9.81</gravity>
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<!-- A ground plane at z=0 -->
<include>
<uri>model://ground_plane</uri>
</include>
<!-- Double pendulum model -->
<model name="double_pendulum">
<!-- pose specified as: x y z roll pitch yaw (angles in radians) -->
<!-- this is the model pose, which defines the pin location for the upper link -->
<!-- the upper link is 4 meters above the ground plane -->
<!-- the initial angle of the upper link is -1.4 radians -->
<pose>0 0 4 -1.4 0 0</pose>
<!-- start declaration of upper link with length 1 meter -->
<link name="upper_link">
<!-- start at the model origin -->
<pose>0 0 0 0 0 0</pose>
<inertial>
<!-- this pose specifies the c.g. location of the upper link -->
<pose>0 0 -0.5 0 0 0</pose>
<mass>10.0</mass>
<inertia>
<!-- it would be nice if these parameters could be linked but that's something for the future -->
<!-- see https://bitbucket.org/osrf/gazebo/issue/210/incorporate-xacro-into-sdf -->
<ixx>1.0</ixx><ixy>0.0</ixy><ixz>0.0</ixz>
<iyy>1.0</iyy><iyz>0.0</iyz>
<izz>1.0</izz>
</inertia>
</inertial>
<!-- this describes what is displayed on screen -->
<visual name="visual_cylinder">
<pose>0 0 -0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>1.0</length>
</cylinder>
</geometry>
<material>
<script>Gazebo/Green</script>
</material>
</visual>
<!-- this describes the collision geometry -->
<collision name="collision_cylinder">
<pose>0 0 -0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>1.0</length>
</cylinder>
</geometry>
</collision>
</link>
<!-- now define the lower link of length 1 meter attached to the end of the upper_link -->
<link name="lower_link">
<pose>0 0 -1.0 0 0 0</pose>
<inertial>
<pose>0 0 -0.5 0 0 0</pose>
<mass>10.0</mass>
<inertia>
<ixx>1.0</ixx><ixy>0.0</ixy><ixz>0.0</ixz>
<iyy>1.0</iyy><iyz>0.0</iyz>
<izz>1.0</izz>
</inertia>
</inertial>
<visual name="visual_box">
<pose>0 0 -0.5 0 0 0</pose>
<geometry>
<box>
<size>0.1 0.1 1.0</size>
</box>
</geometry>
<material>
<script>Gazebo/Red</script>
</material>
<cast_shadows>1</cast_shadows>
</visual>
<collision name="collision_box">
<pose>0 0 -0.5 0 0 0</pose>
<geometry>
<box>
<size>0.100000 0.100000 1.000000</size>
</box>
</geometry>
</collision>
</link>
<joint name="world_to_upper_pin_joint" type="revolute">
<parent>world</parent>
<child>upper_link</child>
<pose>0 0 0 0 0 0</pose>
<axis>
<!-- spins about x axis -->
<xyz>1 0 0</xyz>
</axis>
</joint>
<joint name="upper_to_lower_pin_joint" type="revolute">
<parent>upper_link</parent>
<child>lower_link</child>
<!-- this pose specifies location revolute joint, relative to the child link -->
<pose>0 0 0 0 0 0</pose>
<axis>
<xyz>1 0 0</xyz>
</axis>
</joint>
</model>
</world>
</sdf>
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