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master
data/Base_1.urdf
65 строк
1 KB
Darío Urbina
valerolab
23 июл 2020, 19:32
23 июл 2020, 19:32
370b2f7
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<?xml version="1.0"?> <!--https://valerolab.org/--> <!-- Code used for PID control of an inverted pendulum actuated by strings. --> <robot name="myfirst"> <material name="blue"> <color rgba="0 0 0.8 1"/> </material> <material name="white"> <color rgba="1 1 1 1"/> </material> <material name="other"> <color rgba="1 0 0.8 1"/> </material> <velocity name="vel"> <speed spd="50"/> </velocity> <link name="Base"> <visual> <geometry> <box size="0.3 0.3 1.5"/> </geometry> <material name="other"/> </visual> <collision> <geometry> <box size="0.3 0.3 1.5"/> </geometry> </collision> <inertial> <mass value="100"/> <origin rpy="0 0 0" xyz="0 0 0"/> <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/> </inertial> </link> <link name="pulley1"> <visual> <geometry> <cylinder length=".1" radius=".5"/> </geometry> <material name="blue"/> </visual> <collision> <geometry> <cylinder length=".1" radius=".5"/> </geometry> </collision> <inertial> <mass value="2"/> <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/> </inertial> </link> <joint name="Base_pulley1" type="revolute"> <axis xyz="0 0 1"/> <parent link="Base"/> <child link="pulley1"/> <limit effort="0" lower="1" upper="0" velocity="50"/> <origin rpy="-1.57075 0 0" xyz="0 .35 .15"/> </joint> <!----> </robot>