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Pendulum.urdf
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Pendulum.urdf
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<?xml version="1.0"?>
<robot name="Pendulum"
xmlns="http://drake.mit.edu"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://drake.mit.edu ../../doc/drakeURDF.xsd">
<material name="green">
<color rgba=".3 .6 .4 1"/>
</material>
<material name="red">
<color rgba=".9 .1 0 1"/>
</material>
<material name="blue">
<color rgba="0 0 1 1"/>
</material>
<link drake_ignore="true" name="world">
<inertial>
<!-- drc-viewer needs this to have inertia to parse properly. Remove it when that bug is fixed. -->
<origin xyz="0 0 0"/>
<mass value="0.01"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
</link>
<link name="base_part2">
<inertial>
<origin rpy="0 0 0" xyz="0 0 .015"/>
<mass value="1"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin xyz="0 0 .015"/>
<geometry>
<sphere radius=".015"/>
</geometry>
<material name="green"/>
</visual>
</link>
<joint drake_ignore="true" name="base_weld" type="fixed">
<parent link="world"/>
<child link="base_part2"/>
<origin xyz="0 0 1"/>
</joint>
<link name="arm">
<inertial>
<origin rpy="0 0 0" xyz="0 0 -.5"/>
<mass value="0.5"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 -.375"/>
<geometry>
<cylinder length=".75" radius=".01"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -.375"/>
<geometry>
<cylinder length=".75" radius=".01"/>
</geometry>
</collision>
</link>
<joint name="theta" type="continuous">
<parent link="base_part2"/>
<child link="arm"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.1"/>
</joint>
<link name="arm_com">
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.5"/>
<mass value="0.5"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin xyz="0 0 -.5"/>
<geometry>
<sphere radius=".025"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin xyz="0 0 -.5"/>
<geometry>
<sphere radius=".025"/>
</geometry>
</collision>
</link>
<joint name="arm_weld" type="fixed">
<parent link="arm"/>
<child link="arm_com"/>
</joint>
<transmission name="elbow_trans" type="SimpleTransmission">
<actuator name="tau"/>
<joint name="theta"/>
<mechanicalReduction>1</mechanicalReduction>
</transmission>
<gazebo reference="base_part2">
<material>Gazebo/Green</material>
</gazebo>
<gazebo reference="arm">
<material>Gazebo/Red</material>
</gazebo>
<gazebo reference="arm_com">
<material>Gazebo/Blue</material>
</gazebo>
<gazebo>
<plugin filename="libgazebo_ros_pub_robot_state.so" name="gazebo_ros_pub_robot_controller">
<alwaysOn>true</alwaysOn>
<updateRate>100.0</updateRate>
<topicName>true_robot_state</topicName>
</plugin>
</gazebo>
</robot>