mirror of
https://github.com/osrf/gazebo_models.git
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99 lines
2.7 KiB
Plaintext
99 lines
2.7 KiB
Plaintext
<sdf version="1.3">
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<model name="double_pendulum_with_base">
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<link name="base">
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<inertial>
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<mass>100</mass>
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</inertial>
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<collision name="box_on_ground">
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<pose>0 0 0.01 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.8</radius>
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<length>0.02</length>
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</cylinder>
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</geometry>
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</collision>
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</link>
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<!-- upper link, length 1, IC -90 degrees -->
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<link name="upper_link">
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<pose>0 0 2.1 -1.5708 0 0</pose>
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<self_collide>0</self_collide>
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<inertial>
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<pose>0 0 0.5 0 0 0</pose>
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</inertial>
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<visual name="visual_cylinder">
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<pose>0 0 0.5 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.1</radius>
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<length>0.9</length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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<collision name="collision_cylinder">
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<pose>0 0 0.5 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.1</radius>
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<length>0.9</length>
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</cylinder>
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</geometry>
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</collision>
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</link>
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<!-- lower link, length 1, IC ~-120 degrees more -->
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<link name="lower_link">
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<pose>0 1.0 2.1 -2 0 0</pose>
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<self_collide>0</self_collide>
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<inertial>
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<pose>0 0 0.5 0 0 0</pose>
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</inertial>
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<visual name="visual_cylinder">
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<pose>0 0 0.5 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.1</radius>
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<length>0.9</length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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<collision name="collision_cylinder">
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<pose>0 0 0.5 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.1</radius>
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<length>0.9</length>
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</cylinder>
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</geometry>
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</collision>
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</link>
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<!-- pin joint for upper link, at origin of upper link -->
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<joint name="upper_joint" type="revolute">
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<parent>base</parent>
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<child>upper_link</child>
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<axis>
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<xyz>1.0 0 0</xyz>
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</axis>
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</joint>
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<!-- pin joint for lower link, at origin of child link -->
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<joint name="lower_joint" type="revolute">
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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 0</xyz>
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</axis>
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</joint>
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</model>
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</sdf>
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