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Gazebo Rotary Inverted Pendulum World

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Jun 14th, 2016
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  1. <?xml version="1.0" ?>
  2. <sdf version="1.5">
  3. <world name="default">
  4. <!-- Ground -->
  5. <include>
  6. <uri>model://ground_plane</uri>
  7. </include>
  8. <!-- A global light source -->
  9. <include>
  10. <uri>model://sun</uri>
  11. </include>
  12.  
  13. <physics type='ode'>
  14. <max_step_size>0.001</max_step_size>
  15. <real_time_factor>1</real_time_factor>
  16. <real_time_update_rate>1000</real_time_update_rate>
  17. <gravity>0 0 -9.8</gravity>
  18. </physics>
  19.  
  20. <!-- Rotary Inverted Pendulum -->
  21. <model name="rip">
  22. <link name='base'>
  23. <pose>0 0 0 0 0 0</pose>
  24. <visual name="visual">
  25. <pose>0 0 .148 0 0 0</pose>
  26. <geometry>
  27. <cylinder>
  28. <radius>0.015</radius>
  29. <length>.297</length>
  30. </cylinder>
  31. </geometry>
  32. </visual>
  33. </link>
  34.  
  35. <joint name="base_joint" type="fixed">
  36. <parent>world</parent>
  37. <child>base</child>
  38. <pose>0 0 0 0 0 0</pose>
  39. </joint>
  40.  
  41. <link name='arm'>
  42. <pose>0 0 .3 0 0 0</pose>
  43. <gravity>true</gravity>
  44. <inertial>
  45. <mass>0.0395</mass>
  46. <inertia>
  47. <ixx>0</ixx>
  48. <iyy>.000125</iyy>
  49. <izz>.000125</izz>
  50. <ixy>0</ixy>
  51. <ixz>0</ixz>
  52. <iyz>0</iyz>
  53. </inertia>
  54. <pose>.09 0 0 0 0 0</pose>
  55. </inertial>
  56. <visual name="visual">
  57. <pose>.095 0 0 0 0 0</pose>
  58. <geometry>
  59. <box>
  60. <size>.200 .020 .005</size>
  61. </box>
  62. </geometry>
  63. </visual>
  64. </link>
  65.  
  66. <joint name="joint_1" type="revolute">
  67. <parent>base</parent>
  68. <child>arm</child>
  69. <axis>
  70. <xyz>0 0 1</xyz>
  71. <dynamics>
  72. <damping>0.00001</damping>
  73. <friction>0.000000</friction>
  74. </dynamics>
  75. </axis>
  76. </joint>
  77.  
  78. <link name='pendulum'>
  79. <pose>.2 0 .3 0 0 0</pose>
  80. <gravity>true</gravity>
  81. <inertial>
  82. <mass>0.192</mass>
  83. <inertia>
  84. <ixx>.000866</ixx>
  85. <iyy>.000866</iyy>
  86. <izz>0</izz>
  87. <ixy>0</ixy>
  88. <ixz>0</ixz>
  89. <iyz>0</iyz>
  90. </inertia>
  91. <pose>0 0 -.128 0 0 0</pose>
  92. </inertial>
  93. <visual name="visual">
  94. <pose>0 0 -.125 0 0 0</pose>
  95. <geometry>
  96. <cylinder>
  97. <radius>.005</radius>
  98. <length>.250</length>
  99. </cylinder>
  100. </geometry>
  101. </visual>
  102. </link>
  103.  
  104. <joint name="joint_2" type="revolute">
  105. <parent>arm</parent>
  106. <child>pendulum</child>
  107. <axis>
  108. <xyz>1 0 0</xyz>
  109. <dynamics>
  110. <damping>0.00001</damping>
  111. <friction>0.000000</friction>
  112. </dynamics>
  113. </axis>
  114. </joint>
  115. </model>
  116.  
  117. </world>
  118. </sdf>
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