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bullet3/data/Pendulum_Tendon_1_Cart_Rail.urdf
Darío Urbina 370b2f72ff valerolab
2020-07-23 09:32:46 -07:00

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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="Rail">
<visual>
<geometry>
<cylinder length="4" radius=".05"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<geometry>
<cylinder length="4" radius=".05"/>
</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="slider">
<visual>
<geometry>
<box size="0.1 0.6 0.3"/>
</geometry>
<material name="other"/>
</visual>
<collision>
<geometry>
<box size="0.1 0.6 0.3"/>
</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>
<joint name="rail_slider" type="prismatic">
<axis xyz="0 1 0"/>
<parent link="Rail"/>
<child link="slider"/>
<limit effort="0" lower="-2" upper="2" velocity="25"/>
<origin rpy="-1.570796 0 0" xyz="0 0 0"/>
</joint>
<link name="cart">
<visual>
<geometry>
<box size="0.1 0.6 0.3"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<geometry>
<box size="0.1 0.6 0.3"/>
</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>
<joint name="slider_cart" type="fixed">
<parent link="slider"/>
<child link="cart"/>
<origin rpy="0 0 0" xyz="0 0 0.3"/>
</joint>
<!--*****************************************-->
<link name="pendulumAxis">
<visual>
<geometry>
<box size="0.1 0.1 .1"/>
</geometry>
<material name="other"/>
</visual>
<collision>
<geometry>
<box size="0.1 0.1 .1"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<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>
<joint name="cart_pendulumAxis" type="revolute">
<axis xyz="0 0 1"/>
<parent link="cart"/>
<child link="pendulumAxis"/>
<limit effort="0" lower="1" upper="0" velocity="205"/>
<origin rpy="0 0 0" xyz="0 0 .21"/>
</joint>
<link name="pendulum">
<visual>
<geometry>
<box size="0.1 2 .1"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<geometry>
<box size="0.1 2 .1"/>
</geometry>
</collision>
<inertial>
<mass value="1"/>
<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>
<joint name="pendulumAxis_pendulum" type="fixed">
<parent link="pendulumAxis"/>
<child link="pendulum"/>
<origin rpy="0 0 1.570796" xyz="1 0 0"/>
</joint>
<!--*****************************************-->
<link name="tendon1_1">
<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="cart_tendon1_1" type="revolute">
<axis xyz="0 0 1"/>
<parent link="cart"/>
<child link="tendon1_1"/>
<limit effort="0" lower="1" upper="0" velocity="50"/>
<origin rpy="0 0 0" xyz="0 .55 0"/>
</joint>
<link name="tendon1_2">
<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_1_tendon1_2" type="revolute">
<axis xyz="0 0 1"/>
<parent link="tendon1_1"/>
<child link="tendon1_2"/>
<limit effort="0" lower="1" upper="0" velocity="50"/>
<origin rpy="0 0 0" xyz="0 .2 0"/>
</joint>
<link name="tendon1_3">
<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_2_tendon1_3" type="revolute">
<axis xyz="0 0 1"/>
<parent link="tendon1_2"/>
<child link="tendon1_3"/>
<limit effort="0" lower="1" upper="0" velocity="50"/>
<origin rpy="0 0 0" xyz="0 .2 0"/>
</joint>
<link name="tendon1_4">
<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_3_tendon1_4" type="revolute">
<axis xyz="0 0 1"/>
<parent link="tendon1_3"/>
<child link="tendon1_4"/>
<limit effort="0" lower="1" upper="0" velocity="50"/>
<origin rpy="0 0 0" xyz="0 .2 0"/>
</joint>
<link name="tendon1_5">
<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_4_tendon1_5" type="revolute">
<axis xyz="0 0 1"/>
<parent link="tendon1_4"/>
<child link="tendon1_5"/>
<limit effort="0" lower="1" upper="0" velocity="50"/>
<origin rpy="0 0 0" xyz="0 .2 0"/>
</joint>
<link name="tendon1_6">
<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_5_tendon1_6" type="revolute">
<axis xyz="0 0 1"/>
<parent link="tendon1_5"/>
<child link="tendon1_6"/>
<limit effort="0" lower="1" upper="0" velocity="50"/>
<origin rpy="0 0 0" xyz="0 .2 0"/>
</joint>
<link name="tendon1_7">
<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_6_tendon1_7" type="revolute">
<axis xyz="0 0 1"/>
<parent link="tendon1_6"/>
<child link="tendon1_7"/>
<limit effort="0" lower="1" upper="0" velocity="50"/>
<origin rpy="0 0 0" xyz="0 .2 0"/>
</joint>
<link name="tendon1_8">
<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_7_tendon1_8" type="revolute">
<axis xyz="0 0 1"/>
<parent link="tendon1_7"/>
<child link="tendon1_8"/>
<limit effort="0" lower="1" upper="0" velocity="50"/>
<origin rpy="0 0 0" xyz="0 .2 0"/>
</joint>
<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>
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