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Anonymous committed 8a96760

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sdf/worlds/force_torque_demo.world

         <parent>world</parent>
         <child>link_1</child>
         <!-- joint at origin of link_1 inertial frame -->
-        <!-- moement arm from link_1 inertial frame to joint_01
-                     is 0m -->
-                <pose>0 0 0.5 0 0 0</pose>
-                <axis>
-                  <limit>
-                    <lower>-1.57079</lower>
-                    <upper>1.57079</upper>
-                    <effort>1000.000000</effort>
-                    <velocity>1000.000000</velocity>
-                  </limit>
-                  <dynamics>
-                    <damping>0.000000</damping>
-                    <friction>0.000000</friction>
-                  </dynamics>
-                  <xyz>1.000000 0.000000 0.000000</xyz>
-                </axis>
-                <physics>
-                  <ode>
-                    <provide_feedback>1</provide_feedback>
-                    <!--<cfm_damping>1</cfm_damping>-->
-                  </ode>
-                </physics>
-              </joint>
-              <joint name="joint_12" type="revolute">
-                <parent>link_1</parent>
-                <child>link_2</child>
-                <!-- joint_1 at origin of link_2 link frame -->
-                <!-- moement arm from link_2 inertial frame to joint_01
-                     is 2m -->
-                <!-- moement arm from link_2 inertial frame to joint_12
-                     is 0.5m -->
-                <pose>0 0 0 0 0 0</pose>
-                <axis>
-                  <limit>
-                    <lower>-0.0</lower>
-                    <upper>0.0</upper>
-                    <effort>1000.000000</effort>
-                    <velocity>1000.000000</velocity>
-                  </limit>
-                  <dynamics>
-                    <damping>0.000000</damping>
-                    <friction>0.000000</friction>
-                  </dynamics>
-                  <xyz>0.000000 0.000000 1.000000</xyz>
-                </axis>
-                <physics>
-                  <ode>
-                    <provide_feedback>1</provide_feedback>
-                    <!--<cfm_damping>1</cfm_damping>-->
-                  </ode>
-                </physics>
-              </joint>
-              <static>0</static>
-            </model>
-            <model name="box">
-              <pose>-3.5 0 0 0 0 0</pose>
-              <link name="link">
-                <collision name="collision">
-                  <pose>0.5 0 0.5 0 0 0</pose>
-                  <geometry>
-                    <box>
-                      <size>1 1 1</size>
-                    </box>
-                  </geometry>
-                </collision>
-                <visual name="visual">
-                  <pose>0.5 0 0.5 0 0 0</pose>
-                  <geometry>
-                    <box>
-                      <size>1 1 1</size>
-                    </box>
-                  </geometry>
-                </visual>
-                <inertial>
-                  <mass>100.0</mass>
-                  <pose>0.5 0 0.5 0 0 0</pose>
-                  <inertia>
-                    <ixx>0.1</ixx>
-                    <iyy>0.1</iyy>
-                    <izz>0.1</izz>
-                    <ixy>0.1</ixy>
-                    <ixz>0.1</ixz>
-                    <iyz>0.1</iyz>
-                  </inertia>
-                </inertial>
-              </link>
-              <link name="link2">
-                <pose>1.0 0 1.0 0 0 0</pose>
-                <collision name="collision">
-                  <pose>0.5 0 0.5 0 0 0</pose>
-                  <geometry>
-                    <box>
-                      <size>1 1 1</size>
-                    </box>
-                  </geometry>
-                </collision>
-                <visual name="visual">
-                  <pose>0.5 0 0.5 0 0 0</pose>
-                  <geometry>
-                    <box>
-                      <size>1 1 1</size>
-                    </box>
-                  </geometry>
-                </visual>
-                <inertial>
-                  <mass>5.0</mass>
-                  <pose>0.5 0 0.5 0 0 0</pose>
-                  <inertia>
-                    <ixx>0.1</ixx>
-                    <iyy>0.1</iyy>
-                    <izz>0.1</izz>
-                    <ixy>0.1</ixy>
-                    <ixz>0.1</ixz>
-                    <iyz>0.1</iyz>
-                  </inertia>
-                </inertial>
-              </link>
-              <link name="link3">
-                <pose>2.0 0 2.0 0 0 0</pose>
-                <collision name="collision">
-                  <pose>0.5 0 0.5 0 0 0</pose>
-                  <geometry>
-                    <box>
-                      <size>1 1 1</size>
-                    </box>
-                  </geometry>
-                </collision>
-                <visual name="visual">
-                  <pose>0.5 0 0.5 0 0 0</pose>
-                  <geometry>
-                    <box>
-                      <size>1 1 1</size>
-                    </box>
-                  </geometry>
-                </visual>
-                <inertial>
-                  <mass>1.0</mass>
-                  <pose>0.5 0 0.5 0 0 0</pose>
-                  <inertia>
-                    <ixx>0.1</ixx>
-                    <iyy>0.1</iyy>
-                    <izz>0.1</izz>
-                    <ixy>0.1</ixy>
-                    <ixz>0.1</ixz>
-                    <iyz>0.1</iyz>
-                  </inertia>
-                </inertial>
-              </link>
-              <joint name="joint1" type="revolute">
-                <physics>
-                  <ode>
-                    <provide_feedback>true</provide_feedback>
-                  </ode>
-                </physics>
-                <axis>
-                  <xyz>0 1 0</xyz>
-                </axis>
-                <parent>link</parent>
-                <child>link2</child>
-              </joint>
-              <joint name="joint2" type="revolute">
-                <physics>
-                  <ode>
-                    <provide_feedback>true</provide_feedback>
-                  </ode>
-                </physics>
-                <axis>
-                  <xyz>0 1 0</xyz>
-                </axis>
-                <parent>link2</parent>
-                <child>link3</child>
-              </joint>
-              <!--<plugin name="GazeboJointControlTester" filename="libGazeboJointControlTester.so">
-      </plugin>-->
-            <plugin name="GazeboStateCommunicator" filename="libGazeboStateCommunicator.so" imulink="imu_link" />
-          </model>
-          <model name="boxes">
-            <pose>-3.5 0 0 0 0 0</pose>
-            <link name="link1">
-              <collision name="collision">
-                <pose>0.5 0 0.5 0 0 0</pose>
-                <geometry>
-                  <box>
-                    <size>1 1 1</size>
-                  </box>
-                </geometry>
-              </collision>
-              <visual name="visual">
-                <pose>0.5 0 0.5 0 0 0</pose>
-                <geometry>
-                  <box>
-                    <size>1 1 1</size>
-                  </box>
-                </geometry>
-              </visual>
-              <inertial>
-                <mass>100.0</mass>
-                <pose>0.5 0 0.5 0 0 0</pose>
-                <inertia>
-                  <ixx>0.1</ixx>
-                  <iyy>0.1</iyy>
-                  <izz>0.1</izz>
-                  <ixy>0.1</ixy>
-                  <ixz>0.1</ixz>
-                  <iyz>0.1</iyz>
-                </inertia>
-              </inertial>
-            </link>
-            <link name="link2">
-              <pose>1.0 0 1.0 0 0 0</pose>
-              <collision name="collision">
-                <pose>0.5 0 0.5 0 0 0</pose>
-                <geometry>
-                  <box>
-                    <size>1 1 1</size>
-                  </box>
-                </geometry>
-              </collision>
-              <visual name="visual">
-                <pose>0.5 0 0.5 0 0 0</pose>
-                <geometry>
-                  <box>
-                    <size>1 1 1</size>
-                  </box>
-                </geometry>
-              </visual>
-              <inertial>
-                <mass>5.0</mass>
-                <pose>0.5 0 0.5 0 0 0</pose>
-                <inertia>
-                  <ixx>0.1</ixx>
-                  <iyy>0.1</iyy>
-                  <izz>0.1</izz>
-                  <ixy>0.1</ixy>
-                  <ixz>0.1</ixz>
-                  <iyz>0.1</iyz>
-                </inertia>
-              </inertial>
-            </link>
-            <link name="link3">
-              <pose>2.0 0 2.0 0 0 0</pose>
-              <collision name="collision">
-                <pose>0.5 0 0.5 0 0 0</pose>
-                <geometry>
-                  <box>
-                    <size>1 1 1</size>
-                  </box>
-                </geometry>
-              </collision>
-              <visual name="visual">
-                <pose>0.5 0 0.5 0 0 0</pose>
-                <geometry>
-                  <box>
-                    <size>1 1 1</size>
-                  </box>
-                </geometry>
-              </visual>
-              <inertial>
-                <mass>1.0</mass>
-                <pose>0.5 0 0.5 0 0 0</pose>
-                <inertia>
-                  <ixx>0.1</ixx>
-                  <iyy>0.1</iyy>
-                  <izz>0.1</izz>
-                  <ixy>0.1</ixy>
-                  <ixz>0.1</ixz>
-                  <iyz>0.1</iyz>
-                </inertia>
-              </inertial>
-            </link>
-            <joint name="joint1" type="revolute">
-              <physics>
-                <ode>
-                  <provide_feedback>true</provide_feedback>
-                  <cfm_damping>true</cfm_damping>
-                </ode>
-              </physics>
-              <axis>
-                <xyz>0 1 0</xyz>
-                <dynamics>
-                  <damping>60.000000</damping>
-                </dynamics>
-              </axis>
-              <parent>link1</parent>
-              <child>link2</child>
-            </joint>
-            <joint name="joint2" type="revolute">
-              <physics>
-                <ode>
-                  <provide_feedback>true</provide_feedback>
-                  <cfm_damping>true</cfm_damping>
-                </ode>
-              </physics>
-              <axis>
-                <xyz>0 1 0</xyz>
-                <dynamics>
-                  <damping>30.000000</damping>
-                </dynamics>
-              </axis>
-              <parent>link2</parent>
-              <child>link3</child>
-            </joint>
-          </model>
-        </world>
-      </sdf>
+        <!-- moement arm from link_1 inertial frame to joint_01 is 0m -->
+        <pose>0 0 0.5 0 0 0</pose>
+        <axis>
+          <limit>
+            <lower>-1.57079</lower>
+            <upper>1.57079</upper>
+            <effort>1000.000000</effort>
+            <velocity>1000.000000</velocity>
+          </limit>
+          <dynamics>
+            <damping>0.000000</damping>
+            <friction>0.000000</friction>
+          </dynamics>
+          <xyz>1.000000 0.000000 0.000000</xyz>
+        </axis>
+        <physics>
+          <ode>
+            <provide_feedback>1</provide_feedback>
+            <!--<cfm_damping>1</cfm_damping>-->
+          </ode>
+        </physics>
+      </joint>
+      <joint name="joint_12" type="revolute">
+        <parent>link_1</parent>
+        <child>link_2</child>
+        <!-- joint_1 at origin of link_2 link frame -->
+        <!-- moement arm from link_2 inertial frame to joint_01 is 2m -->
+        <!-- moement arm from link_2 inertial frame to joint_12 is 0.5m -->
+        <pose>0 0 0 0 0 0</pose>
+        <axis>
+          <limit>
+            <lower>-0.0</lower>
+            <upper>0.0</upper>
+            <effort>1000.000000</effort>
+            <velocity>1000.000000</velocity>
+          </limit>
+          <dynamics>
+            <damping>0.000000</damping>
+            <friction>0.000000</friction>
+          </dynamics>
+          <xyz>0.000000 0.000000 1.000000</xyz>
+        </axis>
+        <physics>
+          <ode>
+            <provide_feedback>1</provide_feedback>
+            <!--<cfm_damping>1</cfm_damping>-->
+          </ode>
+        </physics>
+      </joint>
+      <static>0</static>
+    </model>
+  </world>
+</sdf>