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