111 lines
2.9 KiB
Plaintext
111 lines
2.9 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.6">
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<world name="default">
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<include>
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<uri>model://sun</uri>
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</include>
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<model name="box">
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<allow_auto_disable>0</allow_auto_disable>
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<pose>0 0 1.5 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>0.2</mass>
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<inertia>
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<ixx>0.0333333</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.0333333</iyy>
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<iyz>0</iyz>
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<izz>0.0333333</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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</visual>
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</link>
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<plugin filename="libHarnessPlugin.so" name="harness">
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<joint name="joint1" type="prismatic">
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<pose>0 0 2 0 0 0</pose>
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<!-- It is important to connect this joint to the world -->
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<parent>world</parent>
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<child>link</child>
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<axis>
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<xyz>1 1 1</xyz>
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<dynamics>
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<damping>10</damping>
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</dynamics>
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<limit>
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<lower>-2.5</lower>
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<upper>0</upper>
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<effort>10000</effort>
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<velocity>-1</velocity>
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<stiffness>0</stiffness>
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<dissipation>0</dissipation>
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</limit>
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</axis>
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<physics>
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<ode>
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<implicit_spring_damper>1</implicit_spring_damper>
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<limit>
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<cfm>0.0</cfm>
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<erp>0.0</erp>
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</limit>
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</ode>
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</physics>
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</joint>
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<!-- The joint that raises or lowers the harness -->
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<winch>
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<!-- This must be a joint specified within
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the body of this plugin. -->
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<joint>joint1</joint>
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<!-- PID value for velocity control of the winch. These values
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are tuned to work with this box model. -->
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<pos_pid>
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<p>400</p>
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<i>0</i>
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<d>0</d>
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<i_max>0</i_max>
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<i_min>0</i_min>
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<cmd_max>10000</cmd_max>
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<cmd_min>-10000</cmd_min>
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</pos_pid>
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<vel_pid>
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<p>400</p>
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<i>0</i>
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<d>0</d>
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<i_max>0</i_max>
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<i_min>0</i_min>
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<cmd_max>10000</cmd_max>
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<cmd_min>0</cmd_min>
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</vel_pid>
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</winch>
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<!-- Joint to detach. Once the joint is detached, it cannot be
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reattached. This must be a joint specified within the
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body of this plugin. -->
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<detach>joint1</detach>
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</plugin>
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</model>
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</world>
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</sdf>
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