gz-sim-yarp-plugins/tutorial/single_pendulum/model.sdf at main · robotology/gz-sim-yarp-plugins · GitHub

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<?xml version="1.0"?>

<sdf version="1.7">

    <model name="single_pendulum">
        <!-- <pose>0 0 0.2 0 0 0</pose> -->
        <joint name="fixed_base" type="fixed">
            <parent>world</parent>
            <child>base_link</child>
        </joint>
        <link name='base_link'>
            <inertial>
                <pose>0 0 0 0 0 0</pose>
                <mass>100</mass>
                <inertia>
                    <ixx>1</ixx>
                    <ixy>0</ixy>
                    <ixz>0</ixz>
                    <iyy>1</iyy>
                    <iyz>0</iyz>
                    <izz>1</izz>
                </inertia>
            </inertial>
            <collision name='base_link_fixed_joint_lump__base_collision'>
                <pose>0 0 1 0 0 0</pose>
                <geometry>
                    <box>
                        <size>0.15 0.15 2.15</size>
                    </box>
                </geometry>
            </collision>
            <visual name='base_link_fixed_joint_lump__base_visual'>
                <pose>0 0 1 0 0 0</pose>
                <geometry>
                    <box>
                        <size>0.15 0.15 2.15</size>
                    </box>
                </geometry>
            </visual>
        </link>
        <joint name='upper_joint' type='revolute'>
            <pose relative_to='base_link'>0.15 0 2 -1.5708 0 0</pose>
            <parent>base_link</parent>
            <child>upper_link</child>
            <axis>
                <xyz>1 0 0</xyz>
                <limit>
                    <lower>-5</lower>
                    <upper>5</upper>
                    <effort>100</effort>
                    <velocity>100</velocity>
                </limit>
                <dynamics>
                    <damping>0.0</damping>
                    <spring_reference>0</spring_reference>
                    <spring_stiffness>0.0</spring_stiffness>
                </dynamics>
            </axis>
        </joint>
        <link name='upper_link'>
            <pose relative_to='upper_joint'>0 0 0 0 0 0</pose>
            <self_collide>0</self_collide>
            <inertial>
                <pose>0 0 0.5 0 0 0</pose>
                <mass>1</mass>
                <inertia>
                    <ixx>0.0852</ixx>
                    <ixy>0</ixy>
                    <ixz>0</ixz>
                    <iyy>0.0852</iyy>
                    <iyz>0</iyz>
                    <izz>0.0037</izz>
                </inertia>
            </inertial>
            <collision name='upper_link_collision'>
                <pose>0 0 0.5 0 0 0</pose>
                <geometry>
                    <box>
                        <size>0.15 0.15 1.0</size>
                    </box>
                </geometry>
            </collision>
            <visual name='upper_link_visual'>
                <pose>0 0 0.5 0 0 0</pose>
                <geometry>
                    <box>
                        <size>0.15 0.15 1.0</size>
                    </box>
                </geometry>
            </visual>
        </link>

        <!-- Launch the other YARP devices, in this case a controlBoard_nws_yarp to expose the
        controlboard functionalities via YARP ports -->
        <plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
            <yarpConfigurationFile>
                model://single_pendulum/conf/gazebo_controlboard.ini
            </yarpConfigurationFile>
            <!-- This initialConfiguration is specified here, but it is overriden in single_pendulum_world
                 to show how to spawn the model in a different configuration from the default one of the model -->
            <initialConfiguration>0.0</initialConfiguration>
        </plugin>
        <plugin name="gzyarp::RobotInterface" filename="gz-sim-yarp-robotinterface-system">
            <yarpRobotInterfaceConfigurationFile>
                model://single_pendulum/conf/single_pendulum_nws.xml
            </yarpRobotInterfaceConfigurationFile>
        </plugin>
    </model>

</sdf>