forked from pz4kybsvg/Conception
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126 lines
3.2 KiB
126 lines
3.2 KiB
<?xml version="1.0"?>
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<sdf version="1.7">
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<model name="Acrobot">
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<link name="base_link">
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<collision name="base_link_collision">
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<geometry>
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<box>
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<size>0.2 0.2 0.2</size>
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</box>
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</geometry>
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</collision>
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<visual name="base_link_visual">
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<geometry>
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<box>
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<size>0.2 0.2 0.2</size>
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</box>
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</geometry>
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</visual>
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</link>
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<joint name="base_weld" type="fixed">
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<child>base_link</child>
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<parent>world</parent>
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</joint>
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<link name="upper_link">
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<pose>0 0.15 0 0 0 0</pose>
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<inertial>
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<pose>0 0 -0.5 0 0 0</pose>
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<mass>1</mass>
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<inertia>
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<ixx>1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.083</iyy>
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<iyz>0</iyz>
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<izz>1</izz>
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</inertia>
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</inertial>
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<collision name="upper_link_collision">
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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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<length>1.1</length>
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<radius>0.05</radius>
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</cylinder>
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</geometry>
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</collision>
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<visual name="upper_link_visual">
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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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<length>1.1</length>
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<radius>0.05</radius>
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</cylinder>
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</geometry>
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</visual>
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</link>
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<joint name="shoulder" type="revolute">
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<child>upper_link</child>
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<parent>base_link</parent>
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<axis>
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<xyz expressed_in="__model__">0 1 0</xyz>
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<limit>
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<effort>0</effort>
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</limit>
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<dynamics>
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<damping>0.1</damping>
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<friction>0</friction>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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</axis>
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</joint>
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<link name="lower_link">
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<pose>0 0.25 -1 0 0 0</pose>
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<inertial>
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<pose>0 0 -1 0 0 0</pose>
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<mass>1</mass>
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<inertia>
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<ixx>1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.33</iyy>
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<iyz>0</iyz>
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<izz>1</izz>
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</inertia>
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</inertial>
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<collision name="lower_link_collision">
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<pose>0 0 -1 0 0 0</pose>
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<geometry>
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<cylinder>
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<length>2.1</length>
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<radius>0.05</radius>
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</cylinder>
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</geometry>
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</collision>
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<visual name="lower_link_visual">
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<pose>0 0 -1 0 0 0</pose>
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<geometry>
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<cylinder>
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<length>2.1</length>
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<radius>0.05</radius>
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</cylinder>
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</geometry>
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</visual>
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</link>
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<joint name="elbow" type="revolute">
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<child>lower_link</child>
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<parent>upper_link</parent>
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<axis>
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<xyz expressed_in="__model__">0 1 0</xyz>
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<limit>
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</limit>
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<dynamics>
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<damping>0.1</damping>
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<friction>0</friction>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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</axis>
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</joint>
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<frame name="hand">
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<pose relative_to="lower_link">0 0 -2.1 0 0 0</pose>
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</frame>
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</model>
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</sdf>
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