89 lines
2.4 KiB
Plaintext
89 lines
2.4 KiB
Plaintext
|
<?xml version="1.0" ?>
|
||
|
|
<sdf version="1.4">
|
||
|
|
<world name="default">
|
||
|
|
<physics type="ode">
|
||
|
|
<gravity>1 0 -9.81</gravity>
|
||
|
|
<max_step_size>0.00101</max_step_size>
|
||
|
|
</physics>
|
||
|
|
<include>
|
||
|
|
<uri>model://sun</uri>
|
||
|
|
</include>
|
||
|
|
<model name="double_pendulum">
|
||
|
|
|
||
|
|
<pose>0 0 0.9 0.7853981633974483 0 0</pose>
|
||
|
|
<link name="upper_link">
|
||
|
|
<pose>0 0 -0.05 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<mass>0.02700000000000001</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>2.272500000000001e-05</ixx>
|
||
|
|
<iyy>2.272500000000001e-05</iyy>
|
||
|
|
<izz>4.5000000000000035e-07</izz>
|
||
|
|
<ixy>0.0</ixy>
|
||
|
|
<ixz>0.0</ixz>
|
||
|
|
<iyz>0.0</iyz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.010000000000000002 0.010000000000000002 0.1</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.010000000000000002 0.010000000000000002 0.1</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<joint name="upper_joint" type="revolute">
|
||
|
|
<pose>0 0 0.05 0 0 0</pose>
|
||
|
|
<parent>world</parent>
|
||
|
|
<child>upper_link</child>
|
||
|
|
<axis>
|
||
|
|
<xyz>1 0 0</xyz>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<link name="lower_link">
|
||
|
|
<pose>0 0.17677669529663687 -0.2767766952966369 0.7853981633974483 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<mass>3.375</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.071015625</ixx>
|
||
|
|
<iyy>0.071015625</iyy>
|
||
|
|
<izz>0.0014062500000000004</izz>
|
||
|
|
<ixy>0.0</ixy>
|
||
|
|
<ixz>0.0</ixz>
|
||
|
|
<iyz>0.0</iyz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.05 0.05 0.5</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.05 0.05 0.5</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<joint name="lower_joint" type="revolute">
|
||
|
|
<pose>0 0 0.25 0 0 0</pose>
|
||
|
|
<parent>upper_link</parent>
|
||
|
|
<child>lower_link</child>
|
||
|
|
<axis>
|
||
|
|
<xyz>1 0 0</xyz>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
</model>
|
||
|
|
</world>
|
||
|
|
</sdf>
|