2020-07-22 18:19:10 +00:00
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<?xml version="1.0"?>
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2020-07-23 16:32:46 +00:00
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<!--https://valerolab.org/-->
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<!--
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Code used for PID control of an inverted pendulum actuated by strings.
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-->
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2020-07-22 18:19:10 +00:00
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<robot name="myfirst">
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<material name="blue">
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<color rgba="0 0 0.8 1"/>
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</material>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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<material name="other">
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<color rgba="1 0 0.8 1"/>
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</material>
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<velocity name="vel">
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<speed spd="50"/>
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</velocity>
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<link name="Rail">
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<visual>
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<geometry>
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<cylinder length="4" radius=".05"/>
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</geometry>
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<material name="blue"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length="4" radius=".05"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="100"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<link name="slider">
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<visual>
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<geometry>
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<box size="0.1 0.6 0.3"/>
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</geometry>
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<material name="other"/>
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</visual>
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<collision>
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<geometry>
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<box size="0.1 0.6 0.3"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="100"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<joint name="rail_slider" type="prismatic">
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<axis xyz="0 1 0"/>
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<parent link="Rail"/>
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<child link="slider"/>
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<limit effort="0" lower="-2" upper="2" velocity="25"/>
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<origin rpy="-1.570796 0 0" xyz="0 0 0"/>
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</joint>
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<link name="cart">
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<visual>
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<geometry>
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<box size="0.1 0.6 0.3"/>
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</geometry>
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<material name="blue"/>
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</visual>
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<collision>
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<geometry>
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<box size="0.1 0.6 0.3"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="100"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<joint name="slider_cart" type="fixed">
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<parent link="slider"/>
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<child link="cart"/>
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<origin rpy="0 0 0" xyz="0 0 0.3"/>
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</joint>
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<!--*****************************************-->
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<link name="pendulumAxis">
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<visual>
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<geometry>
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<box size="0.1 0.1 .1"/>
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</geometry>
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<material name="other"/>
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</visual>
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<collision>
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<geometry>
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<box size="0.1 0.1 .1"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<joint name="cart_pendulumAxis" type="revolute">
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<axis xyz="0 0 1"/>
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<parent link="cart"/>
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<child link="pendulumAxis"/>
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<limit effort="0" lower="1" upper="0" velocity="205"/>
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<origin rpy="0 0 0" xyz="0 0 .21"/>
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</joint>
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<link name="pendulum">
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<visual>
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<geometry>
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<box size="0.1 2 .1"/>
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</geometry>
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<material name="blue"/>
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</visual>
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<collision>
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<geometry>
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<box size="0.1 2 .1"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="1"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<joint name="pendulumAxis_pendulum" type="fixed">
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<parent link="pendulumAxis"/>
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<child link="pendulum"/>
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<origin rpy="0 0 1.570796" xyz="1 0 0"/>
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</joint>
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<!--*****************************************-->
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<link name="tendon1_1">
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<visual>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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<material name="other"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<joint name="cart_tendon1_1" type="revolute">
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<axis xyz="0 0 1"/>
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<parent link="cart"/>
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<child link="tendon1_1"/>
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<limit effort="0" lower="1" upper="0" velocity="50"/>
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<origin rpy="0 0 0" xyz="0 .55 0"/>
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</joint>
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<link name="tendon1_2">
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<visual>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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<material name="other"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<joint name="tendon1_1_tendon1_2" type="revolute">
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<axis xyz="0 0 1"/>
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<parent link="tendon1_1"/>
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<child link="tendon1_2"/>
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<limit effort="0" lower="1" upper="0" velocity="50"/>
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<origin rpy="0 0 0" xyz="0 .2 0"/>
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</joint>
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<link name="tendon1_3">
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<visual>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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<material name="other"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<joint name="tendon1_2_tendon1_3" type="revolute">
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<axis xyz="0 0 1"/>
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<parent link="tendon1_2"/>
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<child link="tendon1_3"/>
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<limit effort="0" lower="1" upper="0" velocity="50"/>
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<origin rpy="0 0 0" xyz="0 .2 0"/>
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</joint>
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<link name="tendon1_4">
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<visual>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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<material name="other"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<joint name="tendon1_3_tendon1_4" type="revolute">
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<axis xyz="0 0 1"/>
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<parent link="tendon1_3"/>
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<child link="tendon1_4"/>
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<limit effort="0" lower="1" upper="0" velocity="50"/>
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<origin rpy="0 0 0" xyz="0 .2 0"/>
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</joint>
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<link name="tendon1_5">
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<visual>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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<material name="other"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<joint name="tendon1_4_tendon1_5" type="revolute">
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<axis xyz="0 0 1"/>
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<parent link="tendon1_4"/>
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<child link="tendon1_5"/>
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<limit effort="0" lower="1" upper="0" velocity="50"/>
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<origin rpy="0 0 0" xyz="0 .2 0"/>
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</joint>
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<link name="tendon1_6">
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<visual>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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<material name="other"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<joint name="tendon1_5_tendon1_6" type="revolute">
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<axis xyz="0 0 1"/>
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<parent link="tendon1_5"/>
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<child link="tendon1_6"/>
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<limit effort="0" lower="1" upper="0" velocity="50"/>
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<origin rpy="0 0 0" xyz="0 .2 0"/>
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</joint>
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<link name="tendon1_7">
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<visual>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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<material name="other"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<joint name="tendon1_6_tendon1_7" type="revolute">
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<axis xyz="0 0 1"/>
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<parent link="tendon1_6"/>
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<child link="tendon1_7"/>
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<limit effort="0" lower="1" upper="0" velocity="50"/>
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<origin rpy="0 0 0" xyz="0 .2 0"/>
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</joint>
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<link name="tendon1_8">
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<visual>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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<material name="other"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<mass value="10"/>
|
|
|
|
|
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="tendon1_7_tendon1_8" type="revolute">
|
|
|
|
|
<axis xyz="0 0 1"/>
|
|
|
|
|
<parent link="tendon1_7"/>
|
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|
|
|
<child link="tendon1_8"/>
|
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|
|
|
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 .2 0"/>
|
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|
|
|
</joint>
|
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|
|
|
<link name="tendon1_9">
|
|
|
|
|
<visual>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length=".1" radius=".05"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="other"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length=".1" radius=".05"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<mass value="10"/>
|
|
|
|
|
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="tendon1_8_tendon1_9" type="revolute">
|
|
|
|
|
<axis xyz="0 0 1"/>
|
|
|
|
|
<parent link="tendon1_8"/>
|
|
|
|
|
<child link="tendon1_9"/>
|
|
|
|
|
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 .2 0"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="tendon1_10">
|
|
|
|
|
<visual>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length=".1" radius=".05"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="other"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length=".1" radius=".05"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<mass value="10"/>
|
|
|
|
|
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="tendon1_9_tendon1_10" type="revolute">
|
|
|
|
|
<axis xyz="0 0 1"/>
|
|
|
|
|
<parent link="tendon1_9"/>
|
|
|
|
|
<child link="tendon1_10"/>
|
|
|
|
|
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 .2 0"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="tendon1_11">
|
|
|
|
|
<visual>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length=".1" radius=".05"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="other"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length=".1" radius=".05"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<mass value="10"/>
|
|
|
|
|
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="tendon1_10_tendon1_11" type="revolute">
|
|
|
|
|
<axis xyz="0 0 1"/>
|
|
|
|
|
<parent link="tendon1_10"/>
|
|
|
|
|
<child link="tendon1_11"/>
|
|
|
|
|
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 .2 0"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="tendon1_12">
|
|
|
|
|
<visual>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length=".1" radius=".05"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="other"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length=".1" radius=".05"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<mass value="10"/>
|
|
|
|
|
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="tendon1_11_tendon1_12" type="revolute">
|
|
|
|
|
<axis xyz="0 0 1"/>
|
|
|
|
|
<parent link="tendon1_11"/>
|
|
|
|
|
<child link="tendon1_12"/>
|
|
|
|
|
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 .2 0"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="tendon1_13">
|
|
|
|
|
<visual>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length=".1" radius=".05"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="other"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length=".1" radius=".05"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<mass value="10"/>
|
|
|
|
|
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="tendon1_12_tendon1_13" type="revolute">
|
|
|
|
|
<axis xyz="0 0 1"/>
|
|
|
|
|
<parent link="tendon1_12"/>
|
|
|
|
|
<child link="tendon1_13"/>
|
|
|
|
|
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 .2 0"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="tendon1_14">
|
|
|
|
|
<visual>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length=".1" radius=".05"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="white"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length=".1" radius=".05"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<mass value="10"/>
|
|
|
|
|
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="tendon1_13_tendon1_14" type="revolute">
|
|
|
|
|
<axis xyz="0 0 1"/>
|
|
|
|
|
<parent link="tendon1_13"/>
|
|
|
|
|
<child link="tendon1_14"/>
|
|
|
|
|
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 .2 0"/>
|
|
|
|
|
</joint>
|
|
|
|
|
|
|
|
|
|
<!---->
|
|
|
|
|
</robot>
|
