212 lines
7.0 KiB
Plaintext
212 lines
7.0 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<world name="default">
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<!-- A global light source -->
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<include>
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<uri>model://sun</uri>
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</include>
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<!-- A ground plane -->
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<physics type="ode">
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<gravity>0.000000 0.000000 0.00000</gravity>
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<max_step_size>0.000100</max_step_size>
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<ode>
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<solver>
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<type>quick</type>
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<iters>200</iters>
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<precon_iters>0</precon_iters>
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<sor>1.000000</sor>
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</solver>
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<constraints>
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<cfm>0.000000</cfm>
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<erp>1.000000</erp>
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<contact_max_correcting_vel>0.000000</contact_max_correcting_vel>
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<contact_surface_layer>0.000000</contact_surface_layer>
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</constraints>
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</ode>
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<real_time_update_rate>0.000000</real_time_update_rate>
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</physics>
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<model name="model_1">
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<pose>0.000000 0.000000 2.100000 -1.57079 -0.000000 0.000000</pose>
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<link name="link_1">
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<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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<inertial>
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<pose>0.000000 0.000000 -0.500000 0.000000 -0.000000 0.000000</pose>
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<inertia>
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<ixx>1.000000</ixx>
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<ixy>0.000000</ixy>
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<ixz>0.000000</ixz>
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<iyy>1.000000</iyy>
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<iyz>0.000000</iyz>
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<izz>1.000000</izz>
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</inertia>
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<mass>10.000000</mass>
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</inertial>
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<visual name="visual_cylinder">
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<pose>0.000000 0.000000 -0.500000 0.000000 -0.000000 0.000000</pose>
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<geometry>
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<cylinder>
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<radius>0.100000</radius>
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<length>1.000000</length>
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</cylinder>
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</geometry>
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<material>
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<script>Gazebo/Green</script>
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</material>
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<cast_shadows>1</cast_shadows>
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<laser_retro>100.000000</laser_retro>
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<transparency>0.000000</transparency>
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</visual>
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<collision name="collision_cylinder">
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<pose>0.000000 0.000000 -0.500000 0.000000 -0.000000 0.000000</pose>
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<max_contacts>250</max_contacts>
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<geometry>
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<cylinder>
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<radius>0.100000</radius>
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<length>1.000000</length>
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</cylinder>
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</geometry>
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</collision>
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<gravity>1</gravity>
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<self_collide>1</self_collide>
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<kinematic>0</kinematic>
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</link>
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<link name="link_2">
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<pose>0.500000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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<inertial>
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<pose>0.000000 0.000000 -0.500000 0.000000 -0.000000 0.000000</pose>
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<inertia>
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<ixx>1.000000</ixx>
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<ixy>0.000000</ixy>
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<ixz>0.000000</ixz>
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<iyy>1.000000</iyy>
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<iyz>0.000000</iyz>
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<izz>1.000000</izz>
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</inertia>
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<mass>10.000000</mass>
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</inertial>
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<visual name="visual_cylinder">
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<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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<geometry>
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<box>
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<size>0.2 0.2 0.2</size>
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</box>
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</geometry>
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<material>
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<script>Gazebo/Green</script>
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</material>
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<cast_shadows>1</cast_shadows>
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<laser_retro>100.000000</laser_retro>
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<transparency>0.000000</transparency>
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</visual>
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<collision name="collision_cylinder">
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<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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<max_contacts>250</max_contacts>
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<geometry>
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<box>
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<size>0.2 0.2 0.2</size>
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</box>
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</geometry>
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</collision>
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<gravity>1</gravity>
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<self_collide>1</self_collide>
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<kinematic>0</kinematic>
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</link>
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<link name="link_3">
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<pose>1.000000 1.000000 1.000000 0.000000 -0.000000 0.000000</pose>
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<inertial>
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<pose>0.000000 0.000000 -0.500000 0.000000 -0.000000 0.000000</pose>
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<inertia>
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<ixx>1.000000</ixx>
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<ixy>0.000000</ixy>
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<ixz>0.000000</ixz>
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<iyy>1.000000</iyy>
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<iyz>0.000000</iyz>
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<izz>1.000000</izz>
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</inertia>
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<mass>10.000000</mass>
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</inertial>
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<visual name="visual_cylinder">
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<pose>0.000000 0.000000 -0.500000 0.000000 -0.000000 0.000000</pose>
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<geometry>
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<cylinder>
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<radius>0.100000</radius>
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<length>1.000000</length>
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</cylinder>
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</geometry>
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<material>
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<script>Gazebo/Green</script>
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</material>
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<cast_shadows>1</cast_shadows>
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<laser_retro>100.000000</laser_retro>
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<transparency>0.000000</transparency>
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</visual>
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<collision name="collision_cylinder">
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<pose>0.000000 0.000000 -0.500000 0.000000 -0.000000 0.000000</pose>
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<max_contacts>250</max_contacts>
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<geometry>
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<cylinder>
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<radius>0.100000</radius>
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<length>1.000000</length>
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</cylinder>
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</geometry>
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</collision>
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<gravity>1</gravity>
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<self_collide>1</self_collide>
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<kinematic>0</kinematic>
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</link>
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<joint name="joint_02" type="revolute">
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<parent>world</parent>
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<child>link_2</child>
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<axis>
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<xyz>0.000000 0.000000 1.000000</xyz>
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<limit>
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<upper>-1000.0</upper>
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<lower>1000.0</lower>
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</limit>
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<use_parent_model_frame>true</use_parent_model_frame>
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</axis>
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</joint>
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<joint name="joint_12" type="revolute">
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<parent>link_2</parent>
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<child>link_1</child>
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<axis>
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<xyz>1.000000 0.000000 0.000000</xyz>
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<use_parent_model_frame>true</use_parent_model_frame>
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</axis>
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</joint>
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<joint name="joint_23" type="revolute">
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<parent>link_2</parent>
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<child>link_3</child>
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<axis>
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<xyz>1.000000 0.000000 0.000000</xyz>
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<use_parent_model_frame>true</use_parent_model_frame>
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</axis>
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</joint>
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<joint name="joint_13" type="gearbox">
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<!--
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theta_1 = joint angle in the direction specified by <axis> from <gearbox_refrence_body> to <parent>
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theta_2 = joint angle in the direction specified by <axis2> from <gearbox_refrence_body> to <child>
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this gearbox constraint enforces that
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theta_2 = - <gearbox_ratio> * theta_1
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-->
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<parent>link_1</parent>
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<child>link_3</child>
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<gearbox_ratio>-1.5</gearbox_ratio>
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<gearbox_reference_body>link_2</gearbox_reference_body>
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<axis>
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<xyz>1.000000 0.000000 0.000000</xyz>
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<use_parent_model_frame>true</use_parent_model_frame>
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</axis>
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<axis2>
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<xyz>1.000000 0.000000 0.000000</xyz>
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<use_parent_model_frame>true</use_parent_model_frame>
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</axis2>
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</joint>
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<static>0</static>
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</model>
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</world>
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</sdf>
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