dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

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  1. dartpy-7.0.0.dev0.dist-info/METADATA +86 -0
  2. dartpy-7.0.0.dev0.dist-info/RECORD +994 -0
  3. dartpy-7.0.0.dev0.dist-info/WHEEL +5 -0
  4. dartpy-7.0.0.dev0.dist-info/licenses/LICENSE +31 -0
  5. dartpy.cpython-312-x86_64-linux-gnu.so +0 -0
  6. dartpy.libs/libBulletCollision-f96eb02c.so.3.25 +0 -0
  7. dartpy.libs/libBulletDynamics-3cff1f18.so.3.25 +0 -0
  8. dartpy.libs/libBulletSoftBody-220f01bd.so.3.25 +0 -0
  9. dartpy.libs/libLinearMath-71568d02.so.3.25 +0 -0
  10. dartpy.libs/libOpenThreads-8bc434db.so.3.3.1 +0 -0
  11. dartpy.libs/libSDL2-2-3db87ac0.0.so.0.3200.56 +0 -0
  12. dartpy.libs/libassimp-44cf3e77.so.5.4.3 +0 -0
  13. dartpy.libs/libccd-4f119cf4.so.2.0 +0 -0
  14. dartpy.libs/libconsole_bridge-f26e11cc.so.1.0 +0 -0
  15. dartpy.libs/libfcl-2607815a.so.0.7.0 +0 -0
  16. dartpy.libs/libfmt-277170bf.so.11.2.0 +0 -0
  17. dartpy.libs/libfontconfig-559ff509.so.1.14.0 +0 -0
  18. dartpy.libs/libfreetype-64806fc6.so.6.20.4 +0 -0
  19. dartpy.libs/libglfw-6f066845.so.3.4 +0 -0
  20. dartpy.libs/libimgui-ab87b07d.so +0 -0
  21. dartpy.libs/libnlopt-78f9bc34.so.1.0.0 +0 -0
  22. dartpy.libs/liboctomap-38e56f99.so.1.10.0 +0 -0
  23. dartpy.libs/liboctomath-bff26442.so.1.10.0 +0 -0
  24. dartpy.libs/libode-caca20fc.so.8.2.0 +0 -0
  25. dartpy.libs/libosg-e67375e5.so.3.6.5 +0 -0
  26. dartpy.libs/libosgDB-22ae780f.so.3.6.5 +0 -0
  27. dartpy.libs/libosgGA-6af4078b.so.3.6.5 +0 -0
  28. dartpy.libs/libosgManipulator-3270f659.so.3.6.5 +0 -0
  29. dartpy.libs/libosgShadow-127a8d77.so.3.6.5 +0 -0
  30. dartpy.libs/libosgText-87d82d87.so.3.6.5 +0 -0
  31. dartpy.libs/libosgUtil-55896958.so.3.6.5 +0 -0
  32. dartpy.libs/libosgViewer-76d832e3.so.3.6.5 +0 -0
  33. dartpy.libs/libpng16-bd65464e.so.16.50.0 +0 -0
  34. dartpy.libs/libtinyxml2-8d10763c.so.11.0.0 +0 -0
  35. dartpy.libs/liburdfdom_model-7b26ae88.so.4.0 +0 -0
  36. dartpy.libs/liburdfdom_model_state-95a5ad6e.so.4.0 +0 -0
  37. dartpy.libs/liburdfdom_sensor-55a145ea.so.4.0 +0 -0
  38. dartpy.libs/liburdfdom_world-a32c7194.so.4.0 +0 -0
  39. dartpy.libs/libvulkan-8caf1954.so.1.4.328 +0 -0
  40. include/dart/collision/CollisionDetector.hpp +305 -0
  41. include/dart/collision/CollisionFilter.hpp +126 -0
  42. include/dart/collision/CollisionGroup.hpp +546 -0
  43. include/dart/collision/CollisionObject.hpp +90 -0
  44. include/dart/collision/CollisionOption.hpp +71 -0
  45. include/dart/collision/CollisionResult.hpp +109 -0
  46. include/dart/collision/Contact.hpp +103 -0
  47. include/dart/collision/DistanceFilter.hpp +66 -0
  48. include/dart/collision/DistanceOption.hpp +80 -0
  49. include/dart/collision/DistanceResult.hpp +123 -0
  50. include/dart/collision/Option.hpp +42 -0
  51. include/dart/collision/RaycastOption.hpp +58 -0
  52. include/dart/collision/RaycastResult.hpp +80 -0
  53. include/dart/collision/Result.hpp +42 -0
  54. include/dart/collision/SmartPointer.hpp +51 -0
  55. include/dart/collision/all.hpp +17 -0
  56. include/dart/collision/bullet/BulletCollisionDetector.hpp +168 -0
  57. include/dart/collision/bullet/BulletCollisionGroup.hpp +98 -0
  58. include/dart/collision/bullet/BulletCollisionObject.hpp +75 -0
  59. include/dart/collision/bullet/BulletCollisionShape.hpp +62 -0
  60. include/dart/collision/bullet/BulletInclude.hpp +47 -0
  61. include/dart/collision/bullet/BulletTypes.hpp +57 -0
  62. include/dart/collision/bullet/all.hpp +8 -0
  63. include/dart/collision/bullet/bullet.hpp +14 -0
  64. include/dart/collision/bullet/detail/BulletCollisionDispatcher.hpp +70 -0
  65. include/dart/collision/bullet/detail/BulletOverlapFilterCallback.hpp +72 -0
  66. include/dart/collision/collision.hpp +14 -0
  67. include/dart/collision/dart/DARTCollide.hpp +106 -0
  68. include/dart/collision/dart/DARTCollisionDetector.hpp +109 -0
  69. include/dart/collision/dart/DARTCollisionGroup.hpp +82 -0
  70. include/dart/collision/dart/DARTCollisionObject.hpp +63 -0
  71. include/dart/collision/dart/all.hpp +6 -0
  72. include/dart/collision/dart/dart.hpp +14 -0
  73. include/dart/collision/detail/CollisionDetector.hpp +66 -0
  74. include/dart/collision/detail/CollisionGroup.hpp +287 -0
  75. include/dart/collision/detail/Contact-impl.hpp +56 -0
  76. include/dart/collision/detail/UnorderedPairs.hpp +153 -0
  77. include/dart/collision/fcl/BackwardCompatibility.hpp +145 -0
  78. include/dart/collision/fcl/CollisionShapes.hpp +374 -0
  79. include/dart/collision/fcl/FCLCollisionDetector.hpp +204 -0
  80. include/dart/collision/fcl/FCLCollisionGroup.hpp +95 -0
  81. include/dart/collision/fcl/FCLCollisionObject.hpp +72 -0
  82. include/dart/collision/fcl/FCLTypes.hpp +62 -0
  83. include/dart/collision/fcl/TriTriIntersectionTest.hpp +17 -0
  84. include/dart/collision/fcl/all.hpp +9 -0
  85. include/dart/collision/fcl/fcl.hpp +14 -0
  86. include/dart/collision/fcl/tri_tri_intersection_test.hpp +332 -0
  87. include/dart/collision/ode/OdeCollisionDetector.hpp +131 -0
  88. include/dart/collision/ode/OdeCollisionGroup.hpp +87 -0
  89. include/dart/collision/ode/OdeCollisionObject.hpp +89 -0
  90. include/dart/collision/ode/OdeTypes.hpp +51 -0
  91. include/dart/collision/ode/all.hpp +6 -0
  92. include/dart/collision/ode/detail/OdeBox.hpp +58 -0
  93. include/dart/collision/ode/detail/OdeCapsule.hpp +58 -0
  94. include/dart/collision/ode/detail/OdeCylinder.hpp +58 -0
  95. include/dart/collision/ode/detail/OdeGeom.hpp +83 -0
  96. include/dart/collision/ode/detail/OdeHeightmap-impl.hpp +170 -0
  97. include/dart/collision/ode/detail/OdeHeightmap.hpp +70 -0
  98. include/dart/collision/ode/detail/OdeMesh.hpp +83 -0
  99. include/dart/collision/ode/detail/OdePlane.hpp +67 -0
  100. include/dart/collision/ode/detail/OdeSphere.hpp +58 -0
  101. include/dart/collision/ode/ode.hpp +14 -0
  102. include/dart/common/Aspect.hpp +215 -0
  103. include/dart/common/AspectWithVersion.hpp +180 -0
  104. include/dart/common/CAllocator.hpp +65 -0
  105. include/dart/common/Castable.hpp +102 -0
  106. include/dart/common/ClassWithVirtualBase.hpp +47 -0
  107. include/dart/common/Cloneable.hpp +327 -0
  108. include/dart/common/Composite.hpp +205 -0
  109. include/dart/common/CompositeJoiner.hpp +160 -0
  110. include/dart/common/Console.hpp +75 -0
  111. include/dart/common/Deprecated.hpp +126 -0
  112. include/dart/common/EmbeddedAspect.hpp +466 -0
  113. include/dart/common/Empty.hpp +55 -0
  114. include/dart/common/Factory.hpp +146 -0
  115. include/dart/common/Filesystem.hpp +112 -0
  116. include/dart/common/FreeListAllocator.hpp +162 -0
  117. include/dart/common/IncludeWindows.hpp +50 -0
  118. include/dart/common/LocalResource.hpp +76 -0
  119. include/dart/common/LocalResourceRetriever.hpp +63 -0
  120. include/dart/common/LockableReference.hpp +166 -0
  121. include/dart/common/Logging.hpp +146 -0
  122. include/dart/common/Macros.hpp +78 -0
  123. include/dart/common/Memory.hpp +215 -0
  124. include/dart/common/MemoryAllocator.hpp +120 -0
  125. include/dart/common/MemoryAllocatorDebugger.hpp +98 -0
  126. include/dart/common/MemoryManager.hpp +189 -0
  127. include/dart/common/Metaprogramming.hpp +68 -0
  128. include/dart/common/NameManager.hpp +184 -0
  129. include/dart/common/Observer.hpp +85 -0
  130. include/dart/common/Optional.hpp +48 -0
  131. include/dart/common/Platform.hpp +92 -0
  132. include/dart/common/PoolAllocator.hpp +141 -0
  133. include/dart/common/Profile.hpp +56 -0
  134. include/dart/common/ProxyAspect.hpp +93 -0
  135. include/dart/common/RequiresAspect.hpp +79 -0
  136. include/dart/common/Resource.hpp +96 -0
  137. include/dart/common/ResourceRetriever.hpp +82 -0
  138. include/dart/common/SharedLibrary.hpp +201 -0
  139. include/dart/common/Signal.hpp +250 -0
  140. include/dart/common/Singleton.hpp +85 -0
  141. include/dart/common/SmartPointer.hpp +63 -0
  142. include/dart/common/SpecializedForAspect.hpp +207 -0
  143. include/dart/common/StlAllocator.hpp +111 -0
  144. include/dart/common/StlHelpers.hpp +61 -0
  145. include/dart/common/Stopwatch.hpp +143 -0
  146. include/dart/common/String.hpp +71 -0
  147. include/dart/common/SubPtr.hpp +17 -0
  148. include/dart/common/Subject.hpp +84 -0
  149. include/dart/common/Timer.hpp +119 -0
  150. include/dart/common/Uri.hpp +229 -0
  151. include/dart/common/VersionCounter.hpp +68 -0
  152. include/dart/common/Virtual.hpp +51 -0
  153. include/dart/common/all.hpp +53 -0
  154. include/dart/common/common.hpp +14 -0
  155. include/dart/common/detail/Aspect.hpp +102 -0
  156. include/dart/common/detail/AspectWithVersion.hpp +455 -0
  157. include/dart/common/detail/Castable-impl.hpp +109 -0
  158. include/dart/common/detail/Cloneable.hpp +638 -0
  159. include/dart/common/detail/Composite.hpp +241 -0
  160. include/dart/common/detail/CompositeData.hpp +393 -0
  161. include/dart/common/detail/CompositeJoiner.hpp +128 -0
  162. include/dart/common/detail/ConnectionBody.hpp +157 -0
  163. include/dart/common/detail/EmbeddedAspect.hpp +487 -0
  164. include/dart/common/detail/Factory-impl.hpp +200 -0
  165. include/dart/common/detail/LockableReference-impl.hpp +156 -0
  166. include/dart/common/detail/Logging-impl.hpp +162 -0
  167. include/dart/common/detail/Memory-impl.hpp +66 -0
  168. include/dart/common/detail/MemoryAllocator-impl.hpp +97 -0
  169. include/dart/common/detail/MemoryAllocatorDebugger-impl.hpp +201 -0
  170. include/dart/common/detail/MemoryManager-impl.hpp +102 -0
  171. include/dart/common/detail/Metaprogramming-impl.hpp +89 -0
  172. include/dart/common/detail/NameManager.hpp +301 -0
  173. include/dart/common/detail/NoOp.hpp +57 -0
  174. include/dart/common/detail/ProxyAspect.hpp +172 -0
  175. include/dart/common/detail/RequiresAspect.hpp +51 -0
  176. include/dart/common/detail/SharedLibraryManager.hpp +106 -0
  177. include/dart/common/detail/Signal.hpp +242 -0
  178. include/dart/common/detail/Singleton-impl.hpp +74 -0
  179. include/dart/common/detail/SpecializedForAspect.hpp +331 -0
  180. include/dart/common/detail/StlAllocator-impl.hpp +108 -0
  181. include/dart/common/detail/Stopwatch-impl.hpp +242 -0
  182. include/dart/common/detail/SubPtr.hpp +17 -0
  183. include/dart/common/detail/TemplateJoinerDispatchMacro.hpp +59 -0
  184. include/dart/common/detail/sub_ptr.hpp +139 -0
  185. include/dart/common/sub_ptr.hpp +103 -0
  186. include/dart/config.hpp +100 -0
  187. include/dart/constraint/BalanceConstraint.hpp +202 -0
  188. include/dart/constraint/BallJointConstraint.hpp +142 -0
  189. include/dart/constraint/BoxedLcpConstraintSolver.hpp +182 -0
  190. include/dart/constraint/BoxedLcpSolver.hpp +101 -0
  191. include/dart/constraint/ConstrainedGroup.hpp +120 -0
  192. include/dart/constraint/ConstraintBase.hpp +141 -0
  193. include/dart/constraint/ConstraintSolver.hpp +325 -0
  194. include/dart/constraint/ContactConstraint.hpp +286 -0
  195. include/dart/constraint/ContactSurface.hpp +191 -0
  196. include/dart/constraint/DantzigBoxedLcpSolver.hpp +71 -0
  197. include/dart/constraint/DantzigLCPSolver.hpp +87 -0
  198. include/dart/constraint/DynamicJointConstraint.hpp +120 -0
  199. include/dart/constraint/JointConstraint.hpp +182 -0
  200. include/dart/constraint/JointCoulombFrictionConstraint.hpp +149 -0
  201. include/dart/constraint/JointLimitConstraint.hpp +185 -0
  202. include/dart/constraint/LCPSolver.hpp +71 -0
  203. include/dart/constraint/MimicMotorConstraint.hpp +164 -0
  204. include/dart/constraint/PGSLCPSolver.hpp +109 -0
  205. include/dart/constraint/PgsBoxedLcpSolver.hpp +106 -0
  206. include/dart/constraint/ServoMotorConstraint.hpp +151 -0
  207. include/dart/constraint/SmartPointer.hpp +69 -0
  208. include/dart/constraint/SoftContactConstraint.hpp +262 -0
  209. include/dart/constraint/WeldJointConstraint.hpp +133 -0
  210. include/dart/constraint/all.hpp +25 -0
  211. include/dart/constraint/constraint.hpp +14 -0
  212. include/dart/constraint/detail/ConstraintSolver-impl.hpp +78 -0
  213. include/dart/dart.hpp +44 -0
  214. include/dart/dynamics/ArrowShape.hpp +121 -0
  215. include/dart/dynamics/AssimpInputResourceAdaptor.hpp +129 -0
  216. include/dart/dynamics/BallJoint.hpp +143 -0
  217. include/dart/dynamics/BodyNode.hpp +1279 -0
  218. include/dart/dynamics/BoxShape.hpp +90 -0
  219. include/dart/dynamics/Branch.hpp +107 -0
  220. include/dart/dynamics/CapsuleShape.hpp +105 -0
  221. include/dart/dynamics/Chain.hpp +142 -0
  222. include/dart/dynamics/CompositeNode.hpp +114 -0
  223. include/dart/dynamics/ConeShape.hpp +107 -0
  224. include/dart/dynamics/CylinderShape.hpp +96 -0
  225. include/dart/dynamics/DegreeOfFreedom.hpp +415 -0
  226. include/dart/dynamics/EllipsoidShape.hpp +115 -0
  227. include/dart/dynamics/EndEffector.hpp +158 -0
  228. include/dart/dynamics/Entity.hpp +258 -0
  229. include/dart/dynamics/EntityNode.hpp +77 -0
  230. include/dart/dynamics/EulerJoint.hpp +174 -0
  231. include/dart/dynamics/FixedFrame.hpp +105 -0
  232. include/dart/dynamics/FixedJacobianNode.hpp +168 -0
  233. include/dart/dynamics/Frame.hpp +388 -0
  234. include/dart/dynamics/FreeJoint.hpp +369 -0
  235. include/dart/dynamics/GenericJoint.hpp +825 -0
  236. include/dart/dynamics/Group.hpp +270 -0
  237. include/dart/dynamics/HeightmapShape.hpp +195 -0
  238. include/dart/dynamics/HierarchicalIK.hpp +419 -0
  239. include/dart/dynamics/IkFast.hpp +277 -0
  240. include/dart/dynamics/Inertia.hpp +176 -0
  241. include/dart/dynamics/InvalidIndex.hpp +46 -0
  242. include/dart/dynamics/InverseKinematics.hpp +1401 -0
  243. include/dart/dynamics/JacobianNode.hpp +312 -0
  244. include/dart/dynamics/Joint.hpp +1128 -0
  245. include/dart/dynamics/LineSegmentShape.hpp +140 -0
  246. include/dart/dynamics/Linkage.hpp +246 -0
  247. include/dart/dynamics/Marker.hpp +126 -0
  248. include/dart/dynamics/MeshShape.hpp +225 -0
  249. include/dart/dynamics/MetaSkeleton.hpp +1034 -0
  250. include/dart/dynamics/MimicDofProperties.hpp +62 -0
  251. include/dart/dynamics/MultiSphereConvexHullShape.hpp +111 -0
  252. include/dart/dynamics/MultiSphereShape.hpp +42 -0
  253. include/dart/dynamics/Node.hpp +273 -0
  254. include/dart/dynamics/NodeManagerJoiner.hpp +190 -0
  255. include/dart/dynamics/PlanarJoint.hpp +161 -0
  256. include/dart/dynamics/PlaneShape.hpp +105 -0
  257. include/dart/dynamics/PointCloudShape.hpp +186 -0
  258. include/dart/dynamics/PointMass.hpp +709 -0
  259. include/dart/dynamics/PrismaticJoint.hpp +120 -0
  260. include/dart/dynamics/PyramidShape.hpp +122 -0
  261. include/dart/dynamics/ReferentialSkeleton.hpp +550 -0
  262. include/dart/dynamics/RevoluteJoint.hpp +120 -0
  263. include/dart/dynamics/ScrewJoint.hpp +126 -0
  264. include/dart/dynamics/Shape.hpp +231 -0
  265. include/dart/dynamics/ShapeFrame.hpp +291 -0
  266. include/dart/dynamics/ShapeNode.hpp +134 -0
  267. include/dart/dynamics/SharedLibraryIkFast.hpp +147 -0
  268. include/dart/dynamics/SimpleFrame.hpp +247 -0
  269. include/dart/dynamics/Skeleton.hpp +1350 -0
  270. include/dart/dynamics/SmartPointer.hpp +185 -0
  271. include/dart/dynamics/SoftBodyNode.hpp +472 -0
  272. include/dart/dynamics/SoftMeshShape.hpp +100 -0
  273. include/dart/dynamics/SpecializedNodeManager.hpp +230 -0
  274. include/dart/dynamics/SphereShape.hpp +89 -0
  275. include/dart/dynamics/TemplatedJacobianNode.hpp +128 -0
  276. include/dart/dynamics/TranslationalJoint.hpp +105 -0
  277. include/dart/dynamics/TranslationalJoint2D.hpp +156 -0
  278. include/dart/dynamics/UniversalJoint.hpp +128 -0
  279. include/dart/dynamics/VoxelGridShape.hpp +171 -0
  280. include/dart/dynamics/WeldJoint.hpp +116 -0
  281. include/dart/dynamics/ZeroDofJoint.hpp +562 -0
  282. include/dart/dynamics/all.hpp +69 -0
  283. include/dart/dynamics/detail/BasicNodeManager.hpp +539 -0
  284. include/dart/dynamics/detail/BodyNode.hpp +344 -0
  285. include/dart/dynamics/detail/BodyNodeAspect.hpp +177 -0
  286. include/dart/dynamics/detail/BodyNodePtr.hpp +351 -0
  287. include/dart/dynamics/detail/CompositeNode.hpp +93 -0
  288. include/dart/dynamics/detail/DegreeOfFreedomPtr.hpp +338 -0
  289. include/dart/dynamics/detail/EndEffectorAspect.hpp +106 -0
  290. include/dart/dynamics/detail/EntityNode.hpp +81 -0
  291. include/dart/dynamics/detail/EntityNodeAspect.hpp +101 -0
  292. include/dart/dynamics/detail/EulerJointAspect.hpp +93 -0
  293. include/dart/dynamics/detail/FixedFrameAspect.hpp +58 -0
  294. include/dart/dynamics/detail/FixedJacobianNode.hpp +55 -0
  295. include/dart/dynamics/detail/GenericJoint.hpp +2471 -0
  296. include/dart/dynamics/detail/GenericJointAspect.hpp +353 -0
  297. include/dart/dynamics/detail/HeightmapShape-impl.hpp +243 -0
  298. include/dart/dynamics/detail/InverseKinematics.hpp +83 -0
  299. include/dart/dynamics/detail/InverseKinematicsPtr.hpp +341 -0
  300. include/dart/dynamics/detail/JointAspect.hpp +161 -0
  301. include/dart/dynamics/detail/JointPtr.hpp +293 -0
  302. include/dart/dynamics/detail/MarkerAspect.hpp +68 -0
  303. include/dart/dynamics/detail/MetaSkeleton-impl.hpp +151 -0
  304. include/dart/dynamics/detail/Node.hpp +532 -0
  305. include/dart/dynamics/detail/NodeManagerJoiner.hpp +184 -0
  306. include/dart/dynamics/detail/NodePtr.hpp +259 -0
  307. include/dart/dynamics/detail/PlanarJointAspect.hpp +136 -0
  308. include/dart/dynamics/detail/PrismaticJointAspect.hpp +85 -0
  309. include/dart/dynamics/detail/RevoluteJointAspect.hpp +86 -0
  310. include/dart/dynamics/detail/ScrewJointAspect.hpp +90 -0
  311. include/dart/dynamics/detail/ShapeFrameAspect.hpp +169 -0
  312. include/dart/dynamics/detail/ShapeNode.hpp +51 -0
  313. include/dart/dynamics/detail/Skeleton.hpp +92 -0
  314. include/dart/dynamics/detail/SkeletonAspect.hpp +181 -0
  315. include/dart/dynamics/detail/SoftBodyNodeAspect.hpp +132 -0
  316. include/dart/dynamics/detail/SpecializedNodeManager.hpp +324 -0
  317. include/dart/dynamics/detail/TemplatedJacobianNode.hpp +294 -0
  318. include/dart/dynamics/detail/TranslationalJoint2DAspect.hpp +140 -0
  319. include/dart/dynamics/detail/UniversalJointAspect.hpp +86 -0
  320. include/dart/dynamics/dynamics.hpp +14 -0
  321. include/dart/dynamics/ikfast.h +345 -0
  322. include/dart/external/convhull_3d/convhull_3d.h +1878 -0
  323. include/dart/external/convhull_3d/safe_convhull_3d.h +53 -0
  324. include/dart/external/odelcpsolver/common.h +418 -0
  325. include/dart/external/odelcpsolver/error.h +62 -0
  326. include/dart/external/odelcpsolver/lcp.h +75 -0
  327. include/dart/external/odelcpsolver/matrix.h +277 -0
  328. include/dart/external/odelcpsolver/misc.h +82 -0
  329. include/dart/external/odelcpsolver/odeconfig.h +110 -0
  330. include/dart/gui/osg/DefaultEventHandler.hpp +237 -0
  331. include/dart/gui/osg/DragAndDrop.hpp +360 -0
  332. include/dart/gui/osg/GridVisual.hpp +218 -0
  333. include/dart/gui/osg/ImGuiHandler.hpp +113 -0
  334. include/dart/gui/osg/ImGuiViewer.hpp +83 -0
  335. include/dart/gui/osg/ImGuiWidget.hpp +91 -0
  336. include/dart/gui/osg/IncludeImGui.hpp +75 -0
  337. include/dart/gui/osg/InteractiveFrame.hpp +170 -0
  338. include/dart/gui/osg/MouseEventHandler.hpp +76 -0
  339. include/dart/gui/osg/RealTimeWorldNode.hpp +126 -0
  340. include/dart/gui/osg/ShapeFrameNode.hpp +117 -0
  341. include/dart/gui/osg/SupportPolygonVisual.hpp +202 -0
  342. include/dart/gui/osg/TrackballManipulator.hpp +97 -0
  343. include/dart/gui/osg/Utils.hpp +120 -0
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  884. share/doc/dart/examples/hardcoded_design/README.md +27 -0
  885. share/doc/dart/examples/hardcoded_design/main.cpp +186 -0
  886. share/doc/dart/examples/heightmap/CMakeLists.txt +19 -0
  887. share/doc/dart/examples/heightmap/README.md +20 -0
  888. share/doc/dart/examples/heightmap/main.cpp +460 -0
  889. share/doc/dart/examples/hello_world/CMakeLists.txt +19 -0
  890. share/doc/dart/examples/hello_world/README.md +20 -0
  891. share/doc/dart/examples/hello_world/main.cpp +114 -0
  892. share/doc/dart/examples/hubo_puppet/CMakeLists.txt +19 -0
  893. share/doc/dart/examples/hubo_puppet/README.md +20 -0
  894. share/doc/dart/examples/hubo_puppet/main.cpp +1464 -0
  895. share/doc/dart/examples/human_joint_limits/CMakeLists.txt +49 -0
  896. share/doc/dart/examples/human_joint_limits/HumanArmJointLimitConstraint.cpp +411 -0
  897. share/doc/dart/examples/human_joint_limits/HumanArmJointLimitConstraint.hpp +182 -0
  898. share/doc/dart/examples/human_joint_limits/HumanLegJointLimitConstraint.cpp +432 -0
  899. share/doc/dart/examples/human_joint_limits/HumanLegJointLimitConstraint.hpp +179 -0
  900. share/doc/dart/examples/human_joint_limits/main.cpp +157 -0
  901. share/doc/dart/examples/hybrid_dynamics/CMakeLists.txt +19 -0
  902. share/doc/dart/examples/hybrid_dynamics/README.md +17 -0
  903. share/doc/dart/examples/hybrid_dynamics/main.cpp +187 -0
  904. share/doc/dart/examples/imgui/CMakeLists.txt +19 -0
  905. share/doc/dart/examples/imgui/README.md +20 -0
  906. share/doc/dart/examples/imgui/main.cpp +289 -0
  907. share/doc/dart/examples/joint_constraints/CMakeLists.txt +19 -0
  908. share/doc/dart/examples/joint_constraints/Controller.cpp +110 -0
  909. share/doc/dart/examples/joint_constraints/Controller.hpp +105 -0
  910. share/doc/dart/examples/joint_constraints/README.md +22 -0
  911. share/doc/dart/examples/joint_constraints/main.cpp +242 -0
  912. share/doc/dart/examples/mixed_chain/CMakeLists.txt +19 -0
  913. share/doc/dart/examples/mixed_chain/README.md +35 -0
  914. share/doc/dart/examples/mixed_chain/main.cpp +188 -0
  915. share/doc/dart/examples/operational_space_control/CMakeLists.txt +19 -0
  916. share/doc/dart/examples/operational_space_control/README.md +20 -0
  917. share/doc/dart/examples/operational_space_control/main.cpp +338 -0
  918. share/doc/dart/examples/point_cloud/CMakeLists.txt +19 -0
  919. share/doc/dart/examples/point_cloud/README.md +20 -0
  920. share/doc/dart/examples/point_cloud/main.cpp +740 -0
  921. share/doc/dart/examples/rerun/CMakeLists.txt +19 -0
  922. share/doc/dart/examples/rigid_chain/CMakeLists.txt +19 -0
  923. share/doc/dart/examples/rigid_chain/README.md +19 -0
  924. share/doc/dart/examples/rigid_chain/main.cpp +110 -0
  925. share/doc/dart/examples/rigid_cubes/CMakeLists.txt +19 -0
  926. share/doc/dart/examples/rigid_cubes/README.md +91 -0
  927. share/doc/dart/examples/rigid_cubes/main.cpp +201 -0
  928. share/doc/dart/examples/rigid_loop/CMakeLists.txt +19 -0
  929. share/doc/dart/examples/rigid_loop/README.md +34 -0
  930. share/doc/dart/examples/rigid_loop/main.cpp +127 -0
  931. share/doc/dart/examples/rigid_shapes/CMakeLists.txt +19 -0
  932. share/doc/dart/examples/rigid_shapes/README.md +19 -0
  933. share/doc/dart/examples/rigid_shapes/main.cpp +250 -0
  934. share/doc/dart/examples/simple_frames/CMakeLists.txt +19 -0
  935. share/doc/dart/examples/simple_frames/README.md +27 -0
  936. share/doc/dart/examples/simple_frames/main.cpp +124 -0
  937. share/doc/dart/examples/simulation_event_handler/CMakeLists.txt +19 -0
  938. share/doc/dart/examples/simulation_event_handler/README.md +189 -0
  939. share/doc/dart/examples/simulation_event_handler/SimulationEventHandler.cpp +572 -0
  940. share/doc/dart/examples/simulation_event_handler/SimulationEventHandler.hpp +211 -0
  941. share/doc/dart/examples/simulation_event_handler/main.cpp +277 -0
  942. share/doc/dart/examples/soft_bodies/CMakeLists.txt +19 -0
  943. share/doc/dart/examples/soft_bodies/README.md +20 -0
  944. share/doc/dart/examples/soft_bodies/main.cpp +219 -0
  945. share/doc/dart/examples/speed_test/CMakeLists.txt +19 -0
  946. share/doc/dart/examples/speed_test/README.md +20 -0
  947. share/doc/dart/examples/speed_test/main.cpp +250 -0
  948. share/doc/dart/examples/tinkertoy/CMakeLists.txt +19 -0
  949. share/doc/dart/examples/tinkertoy/README.md +20 -0
  950. share/doc/dart/examples/tinkertoy/TinkertoyWidget.cpp +208 -0
  951. share/doc/dart/examples/tinkertoy/TinkertoyWidget.hpp +70 -0
  952. share/doc/dart/examples/tinkertoy/TinkertoyWorldNode.cpp +35 -0
  953. share/doc/dart/examples/tinkertoy/TinkertoyWorldNode.hpp +470 -0
  954. share/doc/dart/examples/tinkertoy/main.cpp +186 -0
  955. share/doc/dart/examples/vehicle/CMakeLists.txt +19 -0
  956. share/doc/dart/examples/vehicle/README.md +22 -0
  957. share/doc/dart/examples/vehicle/main.cpp +195 -0
  958. share/doc/dart/examples/wam_ikfast/CMakeLists.txt +22 -0
  959. share/doc/dart/examples/wam_ikfast/Helpers.cpp +148 -0
  960. share/doc/dart/examples/wam_ikfast/Helpers.hpp +46 -0
  961. share/doc/dart/examples/wam_ikfast/InputHandler.cpp +110 -0
  962. share/doc/dart/examples/wam_ikfast/InputHandler.hpp +73 -0
  963. share/doc/dart/examples/wam_ikfast/README.md +20 -0
  964. share/doc/dart/examples/wam_ikfast/WamWorld.cpp +46 -0
  965. share/doc/dart/examples/wam_ikfast/WamWorld.hpp +53 -0
  966. share/doc/dart/examples/wam_ikfast/ikfast/CMakeLists.txt +11 -0
  967. share/doc/dart/examples/wam_ikfast/ikfast/ikfast71.Transform6D.4_6_9_10_11_12_f8.cpp +14930 -0
  968. share/doc/dart/examples/wam_ikfast/osgWamIkFast.cpp +96 -0
  969. share/doc/dart/tutorials/CMakeLists.txt +12 -0
  970. share/doc/dart/tutorials/README.md +45 -0
  971. share/doc/dart/tutorials/tutorial_biped/CMakeLists.txt +19 -0
  972. share/doc/dart/tutorials/tutorial_biped/README +18 -0
  973. share/doc/dart/tutorials/tutorial_biped/main.cpp +374 -0
  974. share/doc/dart/tutorials/tutorial_biped_finished/CMakeLists.txt +19 -0
  975. share/doc/dart/tutorials/tutorial_biped_finished/README +18 -0
  976. share/doc/dart/tutorials/tutorial_biped_finished/main.cpp +532 -0
  977. share/doc/dart/tutorials/tutorial_collisions/CMakeLists.txt +19 -0
  978. share/doc/dart/tutorials/tutorial_collisions/README +18 -0
  979. share/doc/dart/tutorials/tutorial_collisions/main.cpp +506 -0
  980. share/doc/dart/tutorials/tutorial_collisions_finished/CMakeLists.txt +19 -0
  981. share/doc/dart/tutorials/tutorial_collisions_finished/README +18 -0
  982. share/doc/dart/tutorials/tutorial_collisions_finished/main.cpp +679 -0
  983. share/doc/dart/tutorials/tutorial_dominoes/CMakeLists.txt +19 -0
  984. share/doc/dart/tutorials/tutorial_dominoes/README +18 -0
  985. share/doc/dart/tutorials/tutorial_dominoes/main.cpp +394 -0
  986. share/doc/dart/tutorials/tutorial_dominoes_finished/CMakeLists.txt +19 -0
  987. share/doc/dart/tutorials/tutorial_dominoes_finished/README +18 -0
  988. share/doc/dart/tutorials/tutorial_dominoes_finished/main.cpp +559 -0
  989. share/doc/dart/tutorials/tutorial_multi_pendulum/CMakeLists.txt +19 -0
  990. share/doc/dart/tutorials/tutorial_multi_pendulum/README +18 -0
  991. share/doc/dart/tutorials/tutorial_multi_pendulum/main.cpp +443 -0
  992. share/doc/dart/tutorials/tutorial_multi_pendulum_finished/CMakeLists.txt +19 -0
  993. share/doc/dart/tutorials/tutorial_multi_pendulum_finished/README +18 -0
  994. share/doc/dart/tutorials/tutorial_multi_pendulum_finished/main.cpp +512 -0
share/doc/dart/data/sdf/benchmark.world ADDED
@@ -0,0 +1,2510 @@
1
+ <?xml version="1.0" ?>
2
+ <sdf version="1.4">
3
+ <world name="default">
4
+ <!-- A global light source -->
5
+ <include>
6
+ <uri>model://sun</uri>
7
+ </include>
8
+ <!-- A ground plane -->
9
+ <!--include>
10
+ <uri>model://ground_plane</uri>
11
+ </include-->
12
+
13
+ <physics type="ode">
14
+ <gravity>0.0 0.0 -9.81</gravity>
15
+ <real_time_update_rate>0.000000</real_time_update_rate>
16
+ <max_step_size>0.001000</max_step_size>
17
+ </physics>
18
+
19
+ <model name="ground_plane">
20
+ <static>true</static>
21
+ <link name="link">
22
+ <collision name="collision">
23
+ <geometry>
24
+ <plane>
25
+ <normal>0 0 1</normal>
26
+ <size>100 100</size>
27
+ </plane>
28
+ </geometry>
29
+ <surface>
30
+ <friction>
31
+ <ode>
32
+ <mu>100</mu>
33
+ <mu2>50</mu2>
34
+ </ode>
35
+ </friction>
36
+ </surface>
37
+ </collision>
38
+ <visual name="visual">
39
+ <cast_shadows>false</cast_shadows>
40
+ <geometry>
41
+ <plane>
42
+ <normal>0 0 1</normal>
43
+ <size>100 100</size>
44
+ </plane>
45
+ </geometry>
46
+ <material>
47
+ <script>
48
+ <uri>file://media/materials/scripts/gazebo.material</uri>
49
+ <name>Gazebo/Grey</name>
50
+ </script>
51
+ </material>
52
+ </visual>
53
+ </link>
54
+ </model>
55
+
56
+ <model name="double_pendulum_with_base">
57
+ <pose>0 0 0 0 0 0</pose>
58
+ <!-- upper link, length 1, IC -90 degrees -->
59
+ <link name="upper_link">
60
+ <pose>0 0 2.1 -1.5708 0 0</pose>
61
+ <self_collide>0</self_collide>
62
+ <inertial>
63
+ <pose>0 0 0.5 0 0 0</pose>
64
+ </inertial>
65
+ <visual name="vis_upper_joint">
66
+ <pose>-0.05 0 0 0 1.5708 0</pose>
67
+ <geometry>
68
+ <cylinder>
69
+ <radius>0.1</radius>
70
+ <length>0.3</length>
71
+ </cylinder>
72
+ </geometry>
73
+ <material>
74
+ <script>
75
+ <uri>file://media/materials/scripts/gazebo.material</uri>
76
+ <name>Gazebo/Grey</name>
77
+ </script>
78
+ </material>
79
+ </visual>
80
+ <visual name="vis_lower_joint">
81
+ <pose>0 0 1.0 0 1.5708 0</pose>
82
+ <geometry>
83
+ <cylinder>
84
+ <radius>0.1</radius>
85
+ <length>0.2</length>
86
+ </cylinder>
87
+ </geometry>
88
+ <material>
89
+ <script>
90
+ <uri>file://media/materials/scripts/gazebo.material</uri>
91
+ <name>Gazebo/Grey</name>
92
+ </script>
93
+ </material>
94
+ </visual>
95
+ <visual name="vis_cylinder">
96
+ <pose>0 0 0.5 0 0 0</pose>
97
+ <geometry>
98
+ <cylinder>
99
+ <radius>0.1</radius>
100
+ <length>0.9</length>
101
+ </cylinder>
102
+ </geometry>
103
+ <material>
104
+ <script>
105
+ <uri>file://media/materials/scripts/gazebo.material</uri>
106
+ <name>Gazebo/Grey</name>
107
+ </script>
108
+ </material>
109
+ </visual>
110
+ </link>
111
+ <!-- lower link, length 1, IC ~-120 degrees more -->
112
+ <link name="lower_link">
113
+ <pose>0.25 1.0 2.1 -2 0 0</pose>
114
+ <self_collide>0</self_collide>
115
+ <inertial>
116
+ <pose>0 0 0.5 0 0 0</pose>
117
+ </inertial>
118
+ <visual name="vis_lower_joint">
119
+ <pose>0 0 0 0 1.5708 0</pose>
120
+ <geometry>
121
+ <cylinder>
122
+ <radius>0.08</radius>
123
+ <length>0.3</length>
124
+ </cylinder>
125
+ </geometry>
126
+ <material>
127
+ <script>
128
+ <uri>file://media/materials/scripts/gazebo.material</uri>
129
+ <name>Gazebo/Grey</name>
130
+ </script>
131
+ </material>
132
+ </visual>
133
+ <visual name="vis_cylinder">
134
+ <pose>0 0 0.5 0 0 0</pose>
135
+ <geometry>
136
+ <cylinder>
137
+ <radius>0.1</radius>
138
+ <length>0.9</length>
139
+ </cylinder>
140
+ </geometry>
141
+ <material>
142
+ <script>
143
+ <uri>file://media/materials/scripts/gazebo.material</uri>
144
+ <name>Gazebo/Grey</name>
145
+ </script>
146
+ </material>
147
+ </visual>
148
+ </link>
149
+ <!-- pin joint for upper link, at origin of upper link -->
150
+ <joint name="upper_joint" type="revolute">
151
+ <parent>world</parent>
152
+ <child>upper_link</child>
153
+ <axis>
154
+ <xyz>1.0 0 0</xyz>
155
+ </axis>
156
+ </joint>
157
+ <!-- pin joint for lower link, at origin of child link -->
158
+ <joint name="lower_joint" type="revolute">
159
+ <parent>upper_link</parent>
160
+ <child>lower_link</child>
161
+ <axis>
162
+ <xyz>1.0 0 0</xyz>
163
+ </axis>
164
+ </joint>
165
+ </model>
166
+
167
+ <model name="double_pendulum_with_base1">
168
+ <pose>1 0 0 0 0 0</pose>
169
+ <!-- upper link, length 1, IC -90 degrees -->
170
+ <link name="upper_link">
171
+ <pose>0 0 2.1 -1.5708 0 0</pose>
172
+ <self_collide>0</self_collide>
173
+ <inertial>
174
+ <pose>0 0 0.5 0 0 0</pose>
175
+ </inertial>
176
+ <visual name="vis_upper_joint">
177
+ <pose>-0.05 0 0 0 1.5708 0</pose>
178
+ <geometry>
179
+ <cylinder>
180
+ <radius>0.1</radius>
181
+ <length>0.3</length>
182
+ </cylinder>
183
+ </geometry>
184
+ <material>
185
+ <script>
186
+ <uri>file://media/materials/scripts/gazebo.material</uri>
187
+ <name>Gazebo/Grey</name>
188
+ </script>
189
+ </material>
190
+ </visual>
191
+ <visual name="vis_lower_joint">
192
+ <pose>0 0 1.0 0 1.5708 0</pose>
193
+ <geometry>
194
+ <cylinder>
195
+ <radius>0.1</radius>
196
+ <length>0.2</length>
197
+ </cylinder>
198
+ </geometry>
199
+ <material>
200
+ <script>
201
+ <uri>file://media/materials/scripts/gazebo.material</uri>
202
+ <name>Gazebo/Grey</name>
203
+ </script>
204
+ </material>
205
+ </visual>
206
+ <visual name="vis_cylinder">
207
+ <pose>0 0 0.5 0 0 0</pose>
208
+ <geometry>
209
+ <cylinder>
210
+ <radius>0.1</radius>
211
+ <length>0.9</length>
212
+ </cylinder>
213
+ </geometry>
214
+ <material>
215
+ <script>
216
+ <uri>file://media/materials/scripts/gazebo.material</uri>
217
+ <name>Gazebo/Grey</name>
218
+ </script>
219
+ </material>
220
+ </visual>
221
+ </link>
222
+ <!-- lower link, length 1, IC ~-120 degrees more -->
223
+ <link name="lower_link">
224
+ <pose>0.25 1.0 2.1 -2 0 0</pose>
225
+ <self_collide>0</self_collide>
226
+ <inertial>
227
+ <pose>0 0 0.5 0 0 0</pose>
228
+ </inertial>
229
+ <visual name="vis_lower_joint">
230
+ <pose>0 0 0 0 1.5708 0</pose>
231
+ <geometry>
232
+ <cylinder>
233
+ <radius>0.08</radius>
234
+ <length>0.3</length>
235
+ </cylinder>
236
+ </geometry>
237
+ <material>
238
+ <script>
239
+ <uri>file://media/materials/scripts/gazebo.material</uri>
240
+ <name>Gazebo/Grey</name>
241
+ </script>
242
+ </material>
243
+ </visual>
244
+ <visual name="vis_cylinder">
245
+ <pose>0 0 0.5 0 0 0</pose>
246
+ <geometry>
247
+ <cylinder>
248
+ <radius>0.1</radius>
249
+ <length>0.9</length>
250
+ </cylinder>
251
+ </geometry>
252
+ <material>
253
+ <script>
254
+ <uri>file://media/materials/scripts/gazebo.material</uri>
255
+ <name>Gazebo/Grey</name>
256
+ </script>
257
+ </material>
258
+ </visual>
259
+ </link>
260
+ <!-- pin joint for upper link, at origin of upper link -->
261
+ <joint name="upper_joint" type="revolute">
262
+ <parent>world</parent>
263
+ <child>upper_link</child>
264
+ <axis>
265
+ <xyz>1.0 0 0</xyz>
266
+ </axis>
267
+ </joint>
268
+ <!-- pin joint for lower link, at origin of child link -->
269
+ <joint name="lower_joint" type="revolute">
270
+ <parent>upper_link</parent>
271
+ <child>lower_link</child>
272
+ <axis>
273
+ <xyz>1.0 0 0</xyz>
274
+ </axis>
275
+ </joint>
276
+ </model>
277
+
278
+ <model name="double_pendulum_with_base2">
279
+ <pose>2 0 0 0 0 0</pose>
280
+ <!-- upper link, length 1, IC -90 degrees -->
281
+ <link name="upper_link">
282
+ <pose>0 0 2.1 -1.5708 0 0</pose>
283
+ <self_collide>0</self_collide>
284
+ <inertial>
285
+ <pose>0 0 0.5 0 0 0</pose>
286
+ </inertial>
287
+ <visual name="vis_upper_joint">
288
+ <pose>-0.05 0 0 0 1.5708 0</pose>
289
+ <geometry>
290
+ <cylinder>
291
+ <radius>0.1</radius>
292
+ <length>0.3</length>
293
+ </cylinder>
294
+ </geometry>
295
+ <material>
296
+ <script>
297
+ <uri>file://media/materials/scripts/gazebo.material</uri>
298
+ <name>Gazebo/Grey</name>
299
+ </script>
300
+ </material>
301
+ </visual>
302
+ <visual name="vis_lower_joint">
303
+ <pose>0 0 1.0 0 1.5708 0</pose>
304
+ <geometry>
305
+ <cylinder>
306
+ <radius>0.1</radius>
307
+ <length>0.2</length>
308
+ </cylinder>
309
+ </geometry>
310
+ <material>
311
+ <script>
312
+ <uri>file://media/materials/scripts/gazebo.material</uri>
313
+ <name>Gazebo/Grey</name>
314
+ </script>
315
+ </material>
316
+ </visual>
317
+ <visual name="vis_cylinder">
318
+ <pose>0 0 0.5 0 0 0</pose>
319
+ <geometry>
320
+ <cylinder>
321
+ <radius>0.1</radius>
322
+ <length>0.9</length>
323
+ </cylinder>
324
+ </geometry>
325
+ <material>
326
+ <script>
327
+ <uri>file://media/materials/scripts/gazebo.material</uri>
328
+ <name>Gazebo/Grey</name>
329
+ </script>
330
+ </material>
331
+ </visual>
332
+ </link>
333
+ <!-- lower link, length 1, IC ~-120 degrees more -->
334
+ <link name="lower_link">
335
+ <pose>0.25 1.0 2.1 -2 0 0</pose>
336
+ <self_collide>0</self_collide>
337
+ <inertial>
338
+ <pose>0 0 0.5 0 0 0</pose>
339
+ </inertial>
340
+ <visual name="vis_lower_joint">
341
+ <pose>0 0 0 0 1.5708 0</pose>
342
+ <geometry>
343
+ <cylinder>
344
+ <radius>0.08</radius>
345
+ <length>0.3</length>
346
+ </cylinder>
347
+ </geometry>
348
+ <material>
349
+ <script>
350
+ <uri>file://media/materials/scripts/gazebo.material</uri>
351
+ <name>Gazebo/Grey</name>
352
+ </script>
353
+ </material>
354
+ </visual>
355
+ <visual name="vis_cylinder">
356
+ <pose>0 0 0.5 0 0 0</pose>
357
+ <geometry>
358
+ <cylinder>
359
+ <radius>0.1</radius>
360
+ <length>0.9</length>
361
+ </cylinder>
362
+ </geometry>
363
+ <material>
364
+ <script>
365
+ <uri>file://media/materials/scripts/gazebo.material</uri>
366
+ <name>Gazebo/Grey</name>
367
+ </script>
368
+ </material>
369
+ </visual>
370
+ </link>
371
+ <!-- pin joint for upper link, at origin of upper link -->
372
+ <joint name="upper_joint" type="revolute">
373
+ <parent>world</parent>
374
+ <child>upper_link</child>
375
+ <axis>
376
+ <xyz>1.0 0 0</xyz>
377
+ </axis>
378
+ </joint>
379
+ <!-- pin joint for lower link, at origin of child link -->
380
+ <joint name="lower_joint" type="revolute">
381
+ <parent>upper_link</parent>
382
+ <child>lower_link</child>
383
+ <axis>
384
+ <xyz>1.0 0 0</xyz>
385
+ </axis>
386
+ </joint>
387
+ </model>
388
+
389
+ <model name="double_pendulum_with_base3">
390
+ <pose>3 0 0 0 0 0</pose>
391
+ <!-- upper link, length 1, IC -90 degrees -->
392
+ <link name="upper_link">
393
+ <pose>0 0 2.1 -1.5708 0 0</pose>
394
+ <self_collide>0</self_collide>
395
+ <inertial>
396
+ <pose>0 0 0.5 0 0 0</pose>
397
+ </inertial>
398
+ <visual name="vis_upper_joint">
399
+ <pose>-0.05 0 0 0 1.5708 0</pose>
400
+ <geometry>
401
+ <cylinder>
402
+ <radius>0.1</radius>
403
+ <length>0.3</length>
404
+ </cylinder>
405
+ </geometry>
406
+ <material>
407
+ <script>
408
+ <uri>file://media/materials/scripts/gazebo.material</uri>
409
+ <name>Gazebo/Grey</name>
410
+ </script>
411
+ </material>
412
+ </visual>
413
+ <visual name="vis_lower_joint">
414
+ <pose>0 0 1.0 0 1.5708 0</pose>
415
+ <geometry>
416
+ <cylinder>
417
+ <radius>0.1</radius>
418
+ <length>0.2</length>
419
+ </cylinder>
420
+ </geometry>
421
+ <material>
422
+ <script>
423
+ <uri>file://media/materials/scripts/gazebo.material</uri>
424
+ <name>Gazebo/Grey</name>
425
+ </script>
426
+ </material>
427
+ </visual>
428
+ <visual name="vis_cylinder">
429
+ <pose>0 0 0.5 0 0 0</pose>
430
+ <geometry>
431
+ <cylinder>
432
+ <radius>0.1</radius>
433
+ <length>0.9</length>
434
+ </cylinder>
435
+ </geometry>
436
+ <material>
437
+ <script>
438
+ <uri>file://media/materials/scripts/gazebo.material</uri>
439
+ <name>Gazebo/Grey</name>
440
+ </script>
441
+ </material>
442
+ </visual>
443
+ </link>
444
+ <!-- lower link, length 1, IC ~-120 degrees more -->
445
+ <link name="lower_link">
446
+ <pose>0.25 1.0 2.1 -2 0 0</pose>
447
+ <self_collide>0</self_collide>
448
+ <inertial>
449
+ <pose>0 0 0.5 0 0 0</pose>
450
+ </inertial>
451
+ <visual name="vis_lower_joint">
452
+ <pose>0 0 0 0 1.5708 0</pose>
453
+ <geometry>
454
+ <cylinder>
455
+ <radius>0.08</radius>
456
+ <length>0.3</length>
457
+ </cylinder>
458
+ </geometry>
459
+ <material>
460
+ <script>
461
+ <uri>file://media/materials/scripts/gazebo.material</uri>
462
+ <name>Gazebo/Grey</name>
463
+ </script>
464
+ </material>
465
+ </visual>
466
+ <visual name="vis_cylinder">
467
+ <pose>0 0 0.5 0 0 0</pose>
468
+ <geometry>
469
+ <cylinder>
470
+ <radius>0.1</radius>
471
+ <length>0.9</length>
472
+ </cylinder>
473
+ </geometry>
474
+ <material>
475
+ <script>
476
+ <uri>file://media/materials/scripts/gazebo.material</uri>
477
+ <name>Gazebo/Grey</name>
478
+ </script>
479
+ </material>
480
+ </visual>
481
+ </link>
482
+ <!-- pin joint for upper link, at origin of upper link -->
483
+ <joint name="upper_joint" type="revolute">
484
+ <parent>world</parent>
485
+ <child>upper_link</child>
486
+ <axis>
487
+ <xyz>1.0 0 0</xyz>
488
+ </axis>
489
+ </joint>
490
+ <!-- pin joint for lower link, at origin of child link -->
491
+ <joint name="lower_joint" type="revolute">
492
+ <parent>upper_link</parent>
493
+ <child>lower_link</child>
494
+ <axis>
495
+ <xyz>1.0 0 0</xyz>
496
+ </axis>
497
+ </joint>
498
+ </model>
499
+
500
+ <model name="double_pendulum_with_base4">
501
+ <pose>4 0 0 0 0 0</pose>
502
+ <!-- upper link, length 1, IC -90 degrees -->
503
+ <link name="upper_link">
504
+ <pose>0 0 2.1 -1.5708 0 0</pose>
505
+ <self_collide>0</self_collide>
506
+ <inertial>
507
+ <pose>0 0 0.5 0 0 0</pose>
508
+ </inertial>
509
+ <visual name="vis_upper_joint">
510
+ <pose>-0.05 0 0 0 1.5708 0</pose>
511
+ <geometry>
512
+ <cylinder>
513
+ <radius>0.1</radius>
514
+ <length>0.3</length>
515
+ </cylinder>
516
+ </geometry>
517
+ <material>
518
+ <script>
519
+ <uri>file://media/materials/scripts/gazebo.material</uri>
520
+ <name>Gazebo/Grey</name>
521
+ </script>
522
+ </material>
523
+ </visual>
524
+ <visual name="vis_lower_joint">
525
+ <pose>0 0 1.0 0 1.5708 0</pose>
526
+ <geometry>
527
+ <cylinder>
528
+ <radius>0.1</radius>
529
+ <length>0.2</length>
530
+ </cylinder>
531
+ </geometry>
532
+ <material>
533
+ <script>
534
+ <uri>file://media/materials/scripts/gazebo.material</uri>
535
+ <name>Gazebo/Grey</name>
536
+ </script>
537
+ </material>
538
+ </visual>
539
+ <visual name="vis_cylinder">
540
+ <pose>0 0 0.5 0 0 0</pose>
541
+ <geometry>
542
+ <cylinder>
543
+ <radius>0.1</radius>
544
+ <length>0.9</length>
545
+ </cylinder>
546
+ </geometry>
547
+ <material>
548
+ <script>
549
+ <uri>file://media/materials/scripts/gazebo.material</uri>
550
+ <name>Gazebo/Grey</name>
551
+ </script>
552
+ </material>
553
+ </visual>
554
+ </link>
555
+ <!-- lower link, length 1, IC ~-120 degrees more -->
556
+ <link name="lower_link">
557
+ <pose>0.25 1.0 2.1 -2 0 0</pose>
558
+ <self_collide>0</self_collide>
559
+ <inertial>
560
+ <pose>0 0 0.5 0 0 0</pose>
561
+ </inertial>
562
+ <visual name="vis_lower_joint">
563
+ <pose>0 0 0 0 1.5708 0</pose>
564
+ <geometry>
565
+ <cylinder>
566
+ <radius>0.08</radius>
567
+ <length>0.3</length>
568
+ </cylinder>
569
+ </geometry>
570
+ <material>
571
+ <script>
572
+ <uri>file://media/materials/scripts/gazebo.material</uri>
573
+ <name>Gazebo/Grey</name>
574
+ </script>
575
+ </material>
576
+ </visual>
577
+ <visual name="vis_cylinder">
578
+ <pose>0 0 0.5 0 0 0</pose>
579
+ <geometry>
580
+ <cylinder>
581
+ <radius>0.1</radius>
582
+ <length>0.9</length>
583
+ </cylinder>
584
+ </geometry>
585
+ <material>
586
+ <script>
587
+ <uri>file://media/materials/scripts/gazebo.material</uri>
588
+ <name>Gazebo/Grey</name>
589
+ </script>
590
+ </material>
591
+ </visual>
592
+ </link>
593
+ <!-- pin joint for upper link, at origin of upper link -->
594
+ <joint name="upper_joint" type="revolute">
595
+ <parent>world</parent>
596
+ <child>upper_link</child>
597
+ <axis>
598
+ <xyz>1.0 0 0</xyz>
599
+ </axis>
600
+ </joint>
601
+ <!-- pin joint for lower link, at origin of child link -->
602
+ <joint name="lower_joint" type="revolute">
603
+ <parent>upper_link</parent>
604
+ <child>lower_link</child>
605
+ <axis>
606
+ <xyz>1.0 0 0</xyz>
607
+ </axis>
608
+ </joint>
609
+ </model>
610
+
611
+ <model name="double_pendulum_with_base5">
612
+ <pose>5 0 0 0 0 0</pose>
613
+ <!-- upper link, length 1, IC -90 degrees -->
614
+ <link name="upper_link">
615
+ <pose>0 0 2.1 -1.5708 0 0</pose>
616
+ <self_collide>0</self_collide>
617
+ <inertial>
618
+ <pose>0 0 0.5 0 0 0</pose>
619
+ </inertial>
620
+ <visual name="vis_upper_joint">
621
+ <pose>-0.05 0 0 0 1.5708 0</pose>
622
+ <geometry>
623
+ <cylinder>
624
+ <radius>0.1</radius>
625
+ <length>0.3</length>
626
+ </cylinder>
627
+ </geometry>
628
+ <material>
629
+ <script>
630
+ <uri>file://media/materials/scripts/gazebo.material</uri>
631
+ <name>Gazebo/Grey</name>
632
+ </script>
633
+ </material>
634
+ </visual>
635
+ <visual name="vis_lower_joint">
636
+ <pose>0 0 1.0 0 1.5708 0</pose>
637
+ <geometry>
638
+ <cylinder>
639
+ <radius>0.1</radius>
640
+ <length>0.2</length>
641
+ </cylinder>
642
+ </geometry>
643
+ <material>
644
+ <script>
645
+ <uri>file://media/materials/scripts/gazebo.material</uri>
646
+ <name>Gazebo/Grey</name>
647
+ </script>
648
+ </material>
649
+ </visual>
650
+ <visual name="vis_cylinder">
651
+ <pose>0 0 0.5 0 0 0</pose>
652
+ <geometry>
653
+ <cylinder>
654
+ <radius>0.1</radius>
655
+ <length>0.9</length>
656
+ </cylinder>
657
+ </geometry>
658
+ <material>
659
+ <script>
660
+ <uri>file://media/materials/scripts/gazebo.material</uri>
661
+ <name>Gazebo/Grey</name>
662
+ </script>
663
+ </material>
664
+ </visual>
665
+ </link>
666
+ <!-- lower link, length 1, IC ~-120 degrees more -->
667
+ <link name="lower_link">
668
+ <pose>0.25 1.0 2.1 -2 0 0</pose>
669
+ <self_collide>0</self_collide>
670
+ <inertial>
671
+ <pose>0 0 0.5 0 0 0</pose>
672
+ </inertial>
673
+ <visual name="vis_lower_joint">
674
+ <pose>0 0 0 0 1.5708 0</pose>
675
+ <geometry>
676
+ <cylinder>
677
+ <radius>0.08</radius>
678
+ <length>0.3</length>
679
+ </cylinder>
680
+ </geometry>
681
+ <material>
682
+ <script>
683
+ <uri>file://media/materials/scripts/gazebo.material</uri>
684
+ <name>Gazebo/Grey</name>
685
+ </script>
686
+ </material>
687
+ </visual>
688
+ <visual name="vis_cylinder">
689
+ <pose>0 0 0.5 0 0 0</pose>
690
+ <geometry>
691
+ <cylinder>
692
+ <radius>0.1</radius>
693
+ <length>0.9</length>
694
+ </cylinder>
695
+ </geometry>
696
+ <material>
697
+ <script>
698
+ <uri>file://media/materials/scripts/gazebo.material</uri>
699
+ <name>Gazebo/Grey</name>
700
+ </script>
701
+ </material>
702
+ </visual>
703
+ </link>
704
+ <!-- pin joint for upper link, at origin of upper link -->
705
+ <joint name="upper_joint" type="revolute">
706
+ <parent>world</parent>
707
+ <child>upper_link</child>
708
+ <axis>
709
+ <xyz>1.0 0 0</xyz>
710
+ </axis>
711
+ </joint>
712
+ <!-- pin joint for lower link, at origin of child link -->
713
+ <joint name="lower_joint" type="revolute">
714
+ <parent>upper_link</parent>
715
+ <child>lower_link</child>
716
+ <axis>
717
+ <xyz>1.0 0 0</xyz>
718
+ </axis>
719
+ </joint>
720
+ </model>
721
+
722
+ <model name="double_pendulum_with_base6">
723
+ <pose>6 0 0 0 0 0</pose>
724
+ <!-- upper link, length 1, IC -90 degrees -->
725
+ <link name="upper_link">
726
+ <pose>0 0 2.1 -1.5708 0 0</pose>
727
+ <self_collide>0</self_collide>
728
+ <inertial>
729
+ <pose>0 0 0.5 0 0 0</pose>
730
+ </inertial>
731
+ <visual name="vis_upper_joint">
732
+ <pose>-0.05 0 0 0 1.5708 0</pose>
733
+ <geometry>
734
+ <cylinder>
735
+ <radius>0.1</radius>
736
+ <length>0.3</length>
737
+ </cylinder>
738
+ </geometry>
739
+ <material>
740
+ <script>
741
+ <uri>file://media/materials/scripts/gazebo.material</uri>
742
+ <name>Gazebo/Grey</name>
743
+ </script>
744
+ </material>
745
+ </visual>
746
+ <visual name="vis_lower_joint">
747
+ <pose>0 0 1.0 0 1.5708 0</pose>
748
+ <geometry>
749
+ <cylinder>
750
+ <radius>0.1</radius>
751
+ <length>0.2</length>
752
+ </cylinder>
753
+ </geometry>
754
+ <material>
755
+ <script>
756
+ <uri>file://media/materials/scripts/gazebo.material</uri>
757
+ <name>Gazebo/Grey</name>
758
+ </script>
759
+ </material>
760
+ </visual>
761
+ <visual name="vis_cylinder">
762
+ <pose>0 0 0.5 0 0 0</pose>
763
+ <geometry>
764
+ <cylinder>
765
+ <radius>0.1</radius>
766
+ <length>0.9</length>
767
+ </cylinder>
768
+ </geometry>
769
+ <material>
770
+ <script>
771
+ <uri>file://media/materials/scripts/gazebo.material</uri>
772
+ <name>Gazebo/Grey</name>
773
+ </script>
774
+ </material>
775
+ </visual>
776
+ </link>
777
+ <!-- lower link, length 1, IC ~-120 degrees more -->
778
+ <link name="lower_link">
779
+ <pose>0.25 1.0 2.1 -2 0 0</pose>
780
+ <self_collide>0</self_collide>
781
+ <inertial>
782
+ <pose>0 0 0.5 0 0 0</pose>
783
+ </inertial>
784
+ <visual name="vis_lower_joint">
785
+ <pose>0 0 0 0 1.5708 0</pose>
786
+ <geometry>
787
+ <cylinder>
788
+ <radius>0.08</radius>
789
+ <length>0.3</length>
790
+ </cylinder>
791
+ </geometry>
792
+ <material>
793
+ <script>
794
+ <uri>file://media/materials/scripts/gazebo.material</uri>
795
+ <name>Gazebo/Grey</name>
796
+ </script>
797
+ </material>
798
+ </visual>
799
+ <visual name="vis_cylinder">
800
+ <pose>0 0 0.5 0 0 0</pose>
801
+ <geometry>
802
+ <cylinder>
803
+ <radius>0.1</radius>
804
+ <length>0.9</length>
805
+ </cylinder>
806
+ </geometry>
807
+ <material>
808
+ <script>
809
+ <uri>file://media/materials/scripts/gazebo.material</uri>
810
+ <name>Gazebo/Grey</name>
811
+ </script>
812
+ </material>
813
+ </visual>
814
+ </link>
815
+ <!-- pin joint for upper link, at origin of upper link -->
816
+ <joint name="upper_joint" type="revolute">
817
+ <parent>world</parent>
818
+ <child>upper_link</child>
819
+ <axis>
820
+ <xyz>1.0 0 0</xyz>
821
+ </axis>
822
+ </joint>
823
+ <!-- pin joint for lower link, at origin of child link -->
824
+ <joint name="lower_joint" type="revolute">
825
+ <parent>upper_link</parent>
826
+ <child>lower_link</child>
827
+ <axis>
828
+ <xyz>1.0 0 0</xyz>
829
+ </axis>
830
+ </joint>
831
+ </model>
832
+
833
+ <model name="double_pendulum_with_base7">
834
+ <pose>7 0 0 0 0 0</pose>
835
+ <!-- upper link, length 1, IC -90 degrees -->
836
+ <link name="upper_link">
837
+ <pose>0 0 2.1 -1.5708 0 0</pose>
838
+ <self_collide>0</self_collide>
839
+ <inertial>
840
+ <pose>0 0 0.5 0 0 0</pose>
841
+ </inertial>
842
+ <visual name="vis_upper_joint">
843
+ <pose>-0.05 0 0 0 1.5708 0</pose>
844
+ <geometry>
845
+ <cylinder>
846
+ <radius>0.1</radius>
847
+ <length>0.3</length>
848
+ </cylinder>
849
+ </geometry>
850
+ <material>
851
+ <script>
852
+ <uri>file://media/materials/scripts/gazebo.material</uri>
853
+ <name>Gazebo/Grey</name>
854
+ </script>
855
+ </material>
856
+ </visual>
857
+ <visual name="vis_lower_joint">
858
+ <pose>0 0 1.0 0 1.5708 0</pose>
859
+ <geometry>
860
+ <cylinder>
861
+ <radius>0.1</radius>
862
+ <length>0.2</length>
863
+ </cylinder>
864
+ </geometry>
865
+ <material>
866
+ <script>
867
+ <uri>file://media/materials/scripts/gazebo.material</uri>
868
+ <name>Gazebo/Grey</name>
869
+ </script>
870
+ </material>
871
+ </visual>
872
+ <visual name="vis_cylinder">
873
+ <pose>0 0 0.5 0 0 0</pose>
874
+ <geometry>
875
+ <cylinder>
876
+ <radius>0.1</radius>
877
+ <length>0.9</length>
878
+ </cylinder>
879
+ </geometry>
880
+ <material>
881
+ <script>
882
+ <uri>file://media/materials/scripts/gazebo.material</uri>
883
+ <name>Gazebo/Grey</name>
884
+ </script>
885
+ </material>
886
+ </visual>
887
+ </link>
888
+ <!-- lower link, length 1, IC ~-120 degrees more -->
889
+ <link name="lower_link">
890
+ <pose>0.25 1.0 2.1 -2 0 0</pose>
891
+ <self_collide>0</self_collide>
892
+ <inertial>
893
+ <pose>0 0 0.5 0 0 0</pose>
894
+ </inertial>
895
+ <visual name="vis_lower_joint">
896
+ <pose>0 0 0 0 1.5708 0</pose>
897
+ <geometry>
898
+ <cylinder>
899
+ <radius>0.08</radius>
900
+ <length>0.3</length>
901
+ </cylinder>
902
+ </geometry>
903
+ <material>
904
+ <script>
905
+ <uri>file://media/materials/scripts/gazebo.material</uri>
906
+ <name>Gazebo/Grey</name>
907
+ </script>
908
+ </material>
909
+ </visual>
910
+ <visual name="vis_cylinder">
911
+ <pose>0 0 0.5 0 0 0</pose>
912
+ <geometry>
913
+ <cylinder>
914
+ <radius>0.1</radius>
915
+ <length>0.9</length>
916
+ </cylinder>
917
+ </geometry>
918
+ <material>
919
+ <script>
920
+ <uri>file://media/materials/scripts/gazebo.material</uri>
921
+ <name>Gazebo/Grey</name>
922
+ </script>
923
+ </material>
924
+ </visual>
925
+ </link>
926
+ <!-- pin joint for upper link, at origin of upper link -->
927
+ <joint name="upper_joint" type="revolute">
928
+ <parent>world</parent>
929
+ <child>upper_link</child>
930
+ <axis>
931
+ <xyz>1.0 0 0</xyz>
932
+ </axis>
933
+ </joint>
934
+ <!-- pin joint for lower link, at origin of child link -->
935
+ <joint name="lower_joint" type="revolute">
936
+ <parent>upper_link</parent>
937
+ <child>lower_link</child>
938
+ <axis>
939
+ <xyz>1.0 0 0</xyz>
940
+ </axis>
941
+ </joint>
942
+ </model>
943
+
944
+ <model name="double_pendulum_with_base8">
945
+ <pose>8 0 0 0 0 0</pose>
946
+ <!-- upper link, length 1, IC -90 degrees -->
947
+ <link name="upper_link">
948
+ <pose>0 0 2.1 -1.5708 0 0</pose>
949
+ <self_collide>0</self_collide>
950
+ <inertial>
951
+ <pose>0 0 0.5 0 0 0</pose>
952
+ </inertial>
953
+ <visual name="vis_upper_joint">
954
+ <pose>-0.05 0 0 0 1.5708 0</pose>
955
+ <geometry>
956
+ <cylinder>
957
+ <radius>0.1</radius>
958
+ <length>0.3</length>
959
+ </cylinder>
960
+ </geometry>
961
+ <material>
962
+ <script>
963
+ <uri>file://media/materials/scripts/gazebo.material</uri>
964
+ <name>Gazebo/Grey</name>
965
+ </script>
966
+ </material>
967
+ </visual>
968
+ <visual name="vis_lower_joint">
969
+ <pose>0 0 1.0 0 1.5708 0</pose>
970
+ <geometry>
971
+ <cylinder>
972
+ <radius>0.1</radius>
973
+ <length>0.2</length>
974
+ </cylinder>
975
+ </geometry>
976
+ <material>
977
+ <script>
978
+ <uri>file://media/materials/scripts/gazebo.material</uri>
979
+ <name>Gazebo/Grey</name>
980
+ </script>
981
+ </material>
982
+ </visual>
983
+ <visual name="vis_cylinder">
984
+ <pose>0 0 0.5 0 0 0</pose>
985
+ <geometry>
986
+ <cylinder>
987
+ <radius>0.1</radius>
988
+ <length>0.9</length>
989
+ </cylinder>
990
+ </geometry>
991
+ <material>
992
+ <script>
993
+ <uri>file://media/materials/scripts/gazebo.material</uri>
994
+ <name>Gazebo/Grey</name>
995
+ </script>
996
+ </material>
997
+ </visual>
998
+ </link>
999
+ <!-- lower link, length 1, IC ~-120 degrees more -->
1000
+ <link name="lower_link">
1001
+ <pose>0.25 1.0 2.1 -2 0 0</pose>
1002
+ <self_collide>0</self_collide>
1003
+ <inertial>
1004
+ <pose>0 0 0.5 0 0 0</pose>
1005
+ </inertial>
1006
+ <visual name="vis_lower_joint">
1007
+ <pose>0 0 0 0 1.5708 0</pose>
1008
+ <geometry>
1009
+ <cylinder>
1010
+ <radius>0.08</radius>
1011
+ <length>0.3</length>
1012
+ </cylinder>
1013
+ </geometry>
1014
+ <material>
1015
+ <script>
1016
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1017
+ <name>Gazebo/Grey</name>
1018
+ </script>
1019
+ </material>
1020
+ </visual>
1021
+ <visual name="vis_cylinder">
1022
+ <pose>0 0 0.5 0 0 0</pose>
1023
+ <geometry>
1024
+ <cylinder>
1025
+ <radius>0.1</radius>
1026
+ <length>0.9</length>
1027
+ </cylinder>
1028
+ </geometry>
1029
+ <material>
1030
+ <script>
1031
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1032
+ <name>Gazebo/Grey</name>
1033
+ </script>
1034
+ </material>
1035
+ </visual>
1036
+ </link>
1037
+ <!-- pin joint for upper link, at origin of upper link -->
1038
+ <joint name="upper_joint" type="revolute">
1039
+ <parent>world</parent>
1040
+ <child>upper_link</child>
1041
+ <axis>
1042
+ <xyz>1.0 0 0</xyz>
1043
+ </axis>
1044
+ </joint>
1045
+ <!-- pin joint for lower link, at origin of child link -->
1046
+ <joint name="lower_joint" type="revolute">
1047
+ <parent>upper_link</parent>
1048
+ <child>lower_link</child>
1049
+ <axis>
1050
+ <xyz>1.0 0 0</xyz>
1051
+ </axis>
1052
+ </joint>
1053
+ </model>
1054
+
1055
+ <model name="double_pendulum_with_base9">
1056
+ <pose>9 0 0 0 0 0</pose>
1057
+ <!-- upper link, length 1, IC -90 degrees -->
1058
+ <link name="upper_link">
1059
+ <pose>0 0 2.1 -1.5708 0 0</pose>
1060
+ <self_collide>0</self_collide>
1061
+ <inertial>
1062
+ <pose>0 0 0.5 0 0 0</pose>
1063
+ </inertial>
1064
+ <visual name="vis_upper_joint">
1065
+ <pose>-0.05 0 0 0 1.5708 0</pose>
1066
+ <geometry>
1067
+ <cylinder>
1068
+ <radius>0.1</radius>
1069
+ <length>0.3</length>
1070
+ </cylinder>
1071
+ </geometry>
1072
+ <material>
1073
+ <script>
1074
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1075
+ <name>Gazebo/Grey</name>
1076
+ </script>
1077
+ </material>
1078
+ </visual>
1079
+ <visual name="vis_lower_joint">
1080
+ <pose>0 0 1.0 0 1.5708 0</pose>
1081
+ <geometry>
1082
+ <cylinder>
1083
+ <radius>0.1</radius>
1084
+ <length>0.2</length>
1085
+ </cylinder>
1086
+ </geometry>
1087
+ <material>
1088
+ <script>
1089
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1090
+ <name>Gazebo/Grey</name>
1091
+ </script>
1092
+ </material>
1093
+ </visual>
1094
+ <visual name="vis_cylinder">
1095
+ <pose>0 0 0.5 0 0 0</pose>
1096
+ <geometry>
1097
+ <cylinder>
1098
+ <radius>0.1</radius>
1099
+ <length>0.9</length>
1100
+ </cylinder>
1101
+ </geometry>
1102
+ <material>
1103
+ <script>
1104
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1105
+ <name>Gazebo/Grey</name>
1106
+ </script>
1107
+ </material>
1108
+ </visual>
1109
+ </link>
1110
+ <!-- lower link, length 1, IC ~-120 degrees more -->
1111
+ <link name="lower_link">
1112
+ <pose>0.25 1.0 2.1 -2 0 0</pose>
1113
+ <self_collide>0</self_collide>
1114
+ <inertial>
1115
+ <pose>0 0 0.5 0 0 0</pose>
1116
+ </inertial>
1117
+ <visual name="vis_lower_joint">
1118
+ <pose>0 0 0 0 1.5708 0</pose>
1119
+ <geometry>
1120
+ <cylinder>
1121
+ <radius>0.08</radius>
1122
+ <length>0.3</length>
1123
+ </cylinder>
1124
+ </geometry>
1125
+ <material>
1126
+ <script>
1127
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1128
+ <name>Gazebo/Grey</name>
1129
+ </script>
1130
+ </material>
1131
+ </visual>
1132
+ <visual name="vis_cylinder">
1133
+ <pose>0 0 0.5 0 0 0</pose>
1134
+ <geometry>
1135
+ <cylinder>
1136
+ <radius>0.1</radius>
1137
+ <length>0.9</length>
1138
+ </cylinder>
1139
+ </geometry>
1140
+ <material>
1141
+ <script>
1142
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1143
+ <name>Gazebo/Grey</name>
1144
+ </script>
1145
+ </material>
1146
+ </visual>
1147
+ </link>
1148
+ <!-- pin joint for upper link, at origin of upper link -->
1149
+ <joint name="upper_joint" type="revolute">
1150
+ <parent>world</parent>
1151
+ <child>upper_link</child>
1152
+ <axis>
1153
+ <xyz>1.0 0 0</xyz>
1154
+ </axis>
1155
+ </joint>
1156
+ <!-- pin joint for lower link, at origin of child link -->
1157
+ <joint name="lower_joint" type="revolute">
1158
+ <parent>upper_link</parent>
1159
+ <child>lower_link</child>
1160
+ <axis>
1161
+ <xyz>1.0 0 0</xyz>
1162
+ </axis>
1163
+ </joint>
1164
+ </model>
1165
+
1166
+ <model name="double_pendulum_with_base10">
1167
+ <pose>10 0 0 0 0 0</pose>
1168
+ <!-- upper link, length 1, IC -90 degrees -->
1169
+ <link name="upper_link">
1170
+ <pose>0 0 2.1 -1.5708 0 0</pose>
1171
+ <self_collide>0</self_collide>
1172
+ <inertial>
1173
+ <pose>0 0 0.5 0 0 0</pose>
1174
+ </inertial>
1175
+ <visual name="vis_upper_joint">
1176
+ <pose>-0.05 0 0 0 1.5708 0</pose>
1177
+ <geometry>
1178
+ <cylinder>
1179
+ <radius>0.1</radius>
1180
+ <length>0.3</length>
1181
+ </cylinder>
1182
+ </geometry>
1183
+ <material>
1184
+ <script>
1185
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1186
+ <name>Gazebo/Grey</name>
1187
+ </script>
1188
+ </material>
1189
+ </visual>
1190
+ <visual name="vis_lower_joint">
1191
+ <pose>0 0 1.0 0 1.5708 0</pose>
1192
+ <geometry>
1193
+ <cylinder>
1194
+ <radius>0.1</radius>
1195
+ <length>0.2</length>
1196
+ </cylinder>
1197
+ </geometry>
1198
+ <material>
1199
+ <script>
1200
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1201
+ <name>Gazebo/Grey</name>
1202
+ </script>
1203
+ </material>
1204
+ </visual>
1205
+ <visual name="vis_cylinder">
1206
+ <pose>0 0 0.5 0 0 0</pose>
1207
+ <geometry>
1208
+ <cylinder>
1209
+ <radius>0.1</radius>
1210
+ <length>0.9</length>
1211
+ </cylinder>
1212
+ </geometry>
1213
+ <material>
1214
+ <script>
1215
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1216
+ <name>Gazebo/Grey</name>
1217
+ </script>
1218
+ </material>
1219
+ </visual>
1220
+ </link>
1221
+ <!-- lower link, length 1, IC ~-120 degrees more -->
1222
+ <link name="lower_link">
1223
+ <pose>0.25 1.0 2.1 -2 0 0</pose>
1224
+ <self_collide>0</self_collide>
1225
+ <inertial>
1226
+ <pose>0 0 0.5 0 0 0</pose>
1227
+ </inertial>
1228
+ <visual name="vis_lower_joint">
1229
+ <pose>0 0 0 0 1.5708 0</pose>
1230
+ <geometry>
1231
+ <cylinder>
1232
+ <radius>0.08</radius>
1233
+ <length>0.3</length>
1234
+ </cylinder>
1235
+ </geometry>
1236
+ <material>
1237
+ <script>
1238
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1239
+ <name>Gazebo/Grey</name>
1240
+ </script>
1241
+ </material>
1242
+ </visual>
1243
+ <visual name="vis_cylinder">
1244
+ <pose>0 0 0.5 0 0 0</pose>
1245
+ <geometry>
1246
+ <cylinder>
1247
+ <radius>0.1</radius>
1248
+ <length>0.9</length>
1249
+ </cylinder>
1250
+ </geometry>
1251
+ <material>
1252
+ <script>
1253
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1254
+ <name>Gazebo/Grey</name>
1255
+ </script>
1256
+ </material>
1257
+ </visual>
1258
+ </link>
1259
+ <!-- pin joint for upper link, at origin of upper link -->
1260
+ <joint name="upper_joint" type="revolute">
1261
+ <parent>world</parent>
1262
+ <child>upper_link</child>
1263
+ <axis>
1264
+ <xyz>1.0 0 0</xyz>
1265
+ </axis>
1266
+ </joint>
1267
+ <!-- pin joint for lower link, at origin of child link -->
1268
+ <joint name="lower_joint" type="revolute">
1269
+ <parent>upper_link</parent>
1270
+ <child>lower_link</child>
1271
+ <axis>
1272
+ <xyz>1.0 0 0</xyz>
1273
+ </axis>
1274
+ </joint>
1275
+ </model>
1276
+
1277
+
1278
+
1279
+
1280
+
1281
+
1282
+
1283
+
1284
+
1285
+
1286
+
1287
+
1288
+
1289
+ <model name="double_pendulum_with_baseb">
1290
+ <pose>0 1 0 0 0 0</pose>
1291
+ <!-- upper link, length 1, IC -90 degrees -->
1292
+ <link name="upper_link">
1293
+ <pose>0 0 2.1 -1.5708 0 0</pose>
1294
+ <self_collide>0</self_collide>
1295
+ <inertial>
1296
+ <pose>0 0 0.5 0 0 0</pose>
1297
+ </inertial>
1298
+ <visual name="vis_upper_joint">
1299
+ <pose>-0.05 0 0 0 1.5708 0</pose>
1300
+ <geometry>
1301
+ <cylinder>
1302
+ <radius>0.1</radius>
1303
+ <length>0.3</length>
1304
+ </cylinder>
1305
+ </geometry>
1306
+ <material>
1307
+ <script>
1308
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1309
+ <name>Gazebo/Grey</name>
1310
+ </script>
1311
+ </material>
1312
+ </visual>
1313
+ <visual name="vis_lower_joint">
1314
+ <pose>0 0 1.0 0 1.5708 0</pose>
1315
+ <geometry>
1316
+ <cylinder>
1317
+ <radius>0.1</radius>
1318
+ <length>0.2</length>
1319
+ </cylinder>
1320
+ </geometry>
1321
+ <material>
1322
+ <script>
1323
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1324
+ <name>Gazebo/Grey</name>
1325
+ </script>
1326
+ </material>
1327
+ </visual>
1328
+ <visual name="vis_cylinder">
1329
+ <pose>0 0 0.5 0 0 0</pose>
1330
+ <geometry>
1331
+ <cylinder>
1332
+ <radius>0.1</radius>
1333
+ <length>0.9</length>
1334
+ </cylinder>
1335
+ </geometry>
1336
+ <material>
1337
+ <script>
1338
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1339
+ <name>Gazebo/Grey</name>
1340
+ </script>
1341
+ </material>
1342
+ </visual>
1343
+ </link>
1344
+ <!-- lower link, length 1, IC ~-120 degrees more -->
1345
+ <link name="lower_link">
1346
+ <pose>0.25 1.0 2.1 -2 0 0</pose>
1347
+ <self_collide>0</self_collide>
1348
+ <inertial>
1349
+ <pose>0 0 0.5 0 0 0</pose>
1350
+ </inertial>
1351
+ <visual name="vis_lower_joint">
1352
+ <pose>0 0 0 0 1.5708 0</pose>
1353
+ <geometry>
1354
+ <cylinder>
1355
+ <radius>0.08</radius>
1356
+ <length>0.3</length>
1357
+ </cylinder>
1358
+ </geometry>
1359
+ <material>
1360
+ <script>
1361
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1362
+ <name>Gazebo/Grey</name>
1363
+ </script>
1364
+ </material>
1365
+ </visual>
1366
+ <visual name="vis_cylinder">
1367
+ <pose>0 0 0.5 0 0 0</pose>
1368
+ <geometry>
1369
+ <cylinder>
1370
+ <radius>0.1</radius>
1371
+ <length>0.9</length>
1372
+ </cylinder>
1373
+ </geometry>
1374
+ <material>
1375
+ <script>
1376
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1377
+ <name>Gazebo/Grey</name>
1378
+ </script>
1379
+ </material>
1380
+ </visual>
1381
+ </link>
1382
+ <!-- pin joint for upper link, at origin of upper link -->
1383
+ <joint name="upper_joint" type="revolute">
1384
+ <parent>world</parent>
1385
+ <child>upper_link</child>
1386
+ <axis>
1387
+ <xyz>1.0 0 0</xyz>
1388
+ </axis>
1389
+ </joint>
1390
+ <!-- pin joint for lower link, at origin of child link -->
1391
+ <joint name="lower_joint" type="revolute">
1392
+ <parent>upper_link</parent>
1393
+ <child>lower_link</child>
1394
+ <axis>
1395
+ <xyz>1.0 0 0</xyz>
1396
+ </axis>
1397
+ </joint>
1398
+ </model>
1399
+
1400
+ <model name="double_pendulum_with_base1b">
1401
+ <pose>1 1 0 0 0 0</pose>
1402
+ <!-- upper link, length 1, IC -90 degrees -->
1403
+ <link name="upper_link">
1404
+ <pose>0 0 2.1 -1.5708 0 0</pose>
1405
+ <self_collide>0</self_collide>
1406
+ <inertial>
1407
+ <pose>0 0 0.5 0 0 0</pose>
1408
+ </inertial>
1409
+ <visual name="vis_upper_joint">
1410
+ <pose>-0.05 0 0 0 1.5708 0</pose>
1411
+ <geometry>
1412
+ <cylinder>
1413
+ <radius>0.1</radius>
1414
+ <length>0.3</length>
1415
+ </cylinder>
1416
+ </geometry>
1417
+ <material>
1418
+ <script>
1419
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1420
+ <name>Gazebo/Grey</name>
1421
+ </script>
1422
+ </material>
1423
+ </visual>
1424
+ <visual name="vis_lower_joint">
1425
+ <pose>0 0 1.0 0 1.5708 0</pose>
1426
+ <geometry>
1427
+ <cylinder>
1428
+ <radius>0.1</radius>
1429
+ <length>0.2</length>
1430
+ </cylinder>
1431
+ </geometry>
1432
+ <material>
1433
+ <script>
1434
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1435
+ <name>Gazebo/Grey</name>
1436
+ </script>
1437
+ </material>
1438
+ </visual>
1439
+ <visual name="vis_cylinder">
1440
+ <pose>0 0 0.5 0 0 0</pose>
1441
+ <geometry>
1442
+ <cylinder>
1443
+ <radius>0.1</radius>
1444
+ <length>0.9</length>
1445
+ </cylinder>
1446
+ </geometry>
1447
+ <material>
1448
+ <script>
1449
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1450
+ <name>Gazebo/Grey</name>
1451
+ </script>
1452
+ </material>
1453
+ </visual>
1454
+ </link>
1455
+ <!-- lower link, length 1, IC ~-120 degrees more -->
1456
+ <link name="lower_link">
1457
+ <pose>0.25 1.0 2.1 -2 0 0</pose>
1458
+ <self_collide>0</self_collide>
1459
+ <inertial>
1460
+ <pose>0 0 0.5 0 0 0</pose>
1461
+ </inertial>
1462
+ <visual name="vis_lower_joint">
1463
+ <pose>0 0 0 0 1.5708 0</pose>
1464
+ <geometry>
1465
+ <cylinder>
1466
+ <radius>0.08</radius>
1467
+ <length>0.3</length>
1468
+ </cylinder>
1469
+ </geometry>
1470
+ <material>
1471
+ <script>
1472
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1473
+ <name>Gazebo/Grey</name>
1474
+ </script>
1475
+ </material>
1476
+ </visual>
1477
+ <visual name="vis_cylinder">
1478
+ <pose>0 0 0.5 0 0 0</pose>
1479
+ <geometry>
1480
+ <cylinder>
1481
+ <radius>0.1</radius>
1482
+ <length>0.9</length>
1483
+ </cylinder>
1484
+ </geometry>
1485
+ <material>
1486
+ <script>
1487
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1488
+ <name>Gazebo/Grey</name>
1489
+ </script>
1490
+ </material>
1491
+ </visual>
1492
+ </link>
1493
+ <!-- pin joint for upper link, at origin of upper link -->
1494
+ <joint name="upper_joint" type="revolute">
1495
+ <parent>world</parent>
1496
+ <child>upper_link</child>
1497
+ <axis>
1498
+ <xyz>1.0 0 0</xyz>
1499
+ </axis>
1500
+ </joint>
1501
+ <!-- pin joint for lower link, at origin of child link -->
1502
+ <joint name="lower_joint" type="revolute">
1503
+ <parent>upper_link</parent>
1504
+ <child>lower_link</child>
1505
+ <axis>
1506
+ <xyz>1.0 0 0</xyz>
1507
+ </axis>
1508
+ </joint>
1509
+ </model>
1510
+
1511
+ <model name="double_pendulum_with_base2b">
1512
+ <pose>2 1 0 0 0 0</pose>
1513
+ <!-- upper link, length 1, IC -90 degrees -->
1514
+ <link name="upper_link">
1515
+ <pose>0 0 2.1 -1.5708 0 0</pose>
1516
+ <self_collide>0</self_collide>
1517
+ <inertial>
1518
+ <pose>0 0 0.5 0 0 0</pose>
1519
+ </inertial>
1520
+ <visual name="vis_upper_joint">
1521
+ <pose>-0.05 0 0 0 1.5708 0</pose>
1522
+ <geometry>
1523
+ <cylinder>
1524
+ <radius>0.1</radius>
1525
+ <length>0.3</length>
1526
+ </cylinder>
1527
+ </geometry>
1528
+ <material>
1529
+ <script>
1530
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1531
+ <name>Gazebo/Grey</name>
1532
+ </script>
1533
+ </material>
1534
+ </visual>
1535
+ <visual name="vis_lower_joint">
1536
+ <pose>0 0 1.0 0 1.5708 0</pose>
1537
+ <geometry>
1538
+ <cylinder>
1539
+ <radius>0.1</radius>
1540
+ <length>0.2</length>
1541
+ </cylinder>
1542
+ </geometry>
1543
+ <material>
1544
+ <script>
1545
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1546
+ <name>Gazebo/Grey</name>
1547
+ </script>
1548
+ </material>
1549
+ </visual>
1550
+ <visual name="vis_cylinder">
1551
+ <pose>0 0 0.5 0 0 0</pose>
1552
+ <geometry>
1553
+ <cylinder>
1554
+ <radius>0.1</radius>
1555
+ <length>0.9</length>
1556
+ </cylinder>
1557
+ </geometry>
1558
+ <material>
1559
+ <script>
1560
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1561
+ <name>Gazebo/Grey</name>
1562
+ </script>
1563
+ </material>
1564
+ </visual>
1565
+ </link>
1566
+ <!-- lower link, length 1, IC ~-120 degrees more -->
1567
+ <link name="lower_link">
1568
+ <pose>0.25 1.0 2.1 -2 0 0</pose>
1569
+ <self_collide>0</self_collide>
1570
+ <inertial>
1571
+ <pose>0 0 0.5 0 0 0</pose>
1572
+ </inertial>
1573
+ <visual name="vis_lower_joint">
1574
+ <pose>0 0 0 0 1.5708 0</pose>
1575
+ <geometry>
1576
+ <cylinder>
1577
+ <radius>0.08</radius>
1578
+ <length>0.3</length>
1579
+ </cylinder>
1580
+ </geometry>
1581
+ <material>
1582
+ <script>
1583
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1584
+ <name>Gazebo/Grey</name>
1585
+ </script>
1586
+ </material>
1587
+ </visual>
1588
+ <visual name="vis_cylinder">
1589
+ <pose>0 0 0.5 0 0 0</pose>
1590
+ <geometry>
1591
+ <cylinder>
1592
+ <radius>0.1</radius>
1593
+ <length>0.9</length>
1594
+ </cylinder>
1595
+ </geometry>
1596
+ <material>
1597
+ <script>
1598
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1599
+ <name>Gazebo/Grey</name>
1600
+ </script>
1601
+ </material>
1602
+ </visual>
1603
+ </link>
1604
+ <!-- pin joint for upper link, at origin of upper link -->
1605
+ <joint name="upper_joint" type="revolute">
1606
+ <parent>world</parent>
1607
+ <child>upper_link</child>
1608
+ <axis>
1609
+ <xyz>1.0 0 0</xyz>
1610
+ </axis>
1611
+ </joint>
1612
+ <!-- pin joint for lower link, at origin of child link -->
1613
+ <joint name="lower_joint" type="revolute">
1614
+ <parent>upper_link</parent>
1615
+ <child>lower_link</child>
1616
+ <axis>
1617
+ <xyz>1.0 0 0</xyz>
1618
+ </axis>
1619
+ </joint>
1620
+ </model>
1621
+
1622
+ <model name="double_pendulum_with_base3b">
1623
+ <pose>3 1 0 0 0 0</pose>
1624
+ <!-- upper link, length 1, IC -90 degrees -->
1625
+ <link name="upper_link">
1626
+ <pose>0 0 2.1 -1.5708 0 0</pose>
1627
+ <self_collide>0</self_collide>
1628
+ <inertial>
1629
+ <pose>0 0 0.5 0 0 0</pose>
1630
+ </inertial>
1631
+ <visual name="vis_upper_joint">
1632
+ <pose>-0.05 0 0 0 1.5708 0</pose>
1633
+ <geometry>
1634
+ <cylinder>
1635
+ <radius>0.1</radius>
1636
+ <length>0.3</length>
1637
+ </cylinder>
1638
+ </geometry>
1639
+ <material>
1640
+ <script>
1641
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1642
+ <name>Gazebo/Grey</name>
1643
+ </script>
1644
+ </material>
1645
+ </visual>
1646
+ <visual name="vis_lower_joint">
1647
+ <pose>0 0 1.0 0 1.5708 0</pose>
1648
+ <geometry>
1649
+ <cylinder>
1650
+ <radius>0.1</radius>
1651
+ <length>0.2</length>
1652
+ </cylinder>
1653
+ </geometry>
1654
+ <material>
1655
+ <script>
1656
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1657
+ <name>Gazebo/Grey</name>
1658
+ </script>
1659
+ </material>
1660
+ </visual>
1661
+ <visual name="vis_cylinder">
1662
+ <pose>0 0 0.5 0 0 0</pose>
1663
+ <geometry>
1664
+ <cylinder>
1665
+ <radius>0.1</radius>
1666
+ <length>0.9</length>
1667
+ </cylinder>
1668
+ </geometry>
1669
+ <material>
1670
+ <script>
1671
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1672
+ <name>Gazebo/Grey</name>
1673
+ </script>
1674
+ </material>
1675
+ </visual>
1676
+ </link>
1677
+ <!-- lower link, length 1, IC ~-120 degrees more -->
1678
+ <link name="lower_link">
1679
+ <pose>0.25 1.0 2.1 -2 0 0</pose>
1680
+ <self_collide>0</self_collide>
1681
+ <inertial>
1682
+ <pose>0 0 0.5 0 0 0</pose>
1683
+ </inertial>
1684
+ <visual name="vis_lower_joint">
1685
+ <pose>0 0 0 0 1.5708 0</pose>
1686
+ <geometry>
1687
+ <cylinder>
1688
+ <radius>0.08</radius>
1689
+ <length>0.3</length>
1690
+ </cylinder>
1691
+ </geometry>
1692
+ <material>
1693
+ <script>
1694
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1695
+ <name>Gazebo/Grey</name>
1696
+ </script>
1697
+ </material>
1698
+ </visual>
1699
+ <visual name="vis_cylinder">
1700
+ <pose>0 0 0.5 0 0 0</pose>
1701
+ <geometry>
1702
+ <cylinder>
1703
+ <radius>0.1</radius>
1704
+ <length>0.9</length>
1705
+ </cylinder>
1706
+ </geometry>
1707
+ <material>
1708
+ <script>
1709
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1710
+ <name>Gazebo/Grey</name>
1711
+ </script>
1712
+ </material>
1713
+ </visual>
1714
+ </link>
1715
+ <!-- pin joint for upper link, at origin of upper link -->
1716
+ <joint name="upper_joint" type="revolute">
1717
+ <parent>world</parent>
1718
+ <child>upper_link</child>
1719
+ <axis>
1720
+ <xyz>1.0 0 0</xyz>
1721
+ </axis>
1722
+ </joint>
1723
+ <!-- pin joint for lower link, at origin of child link -->
1724
+ <joint name="lower_joint" type="revolute">
1725
+ <parent>upper_link</parent>
1726
+ <child>lower_link</child>
1727
+ <axis>
1728
+ <xyz>1.0 0 0</xyz>
1729
+ </axis>
1730
+ </joint>
1731
+ </model>
1732
+
1733
+ <model name="double_pendulum_with_base4b">
1734
+ <pose>4 1 0 0 0 0</pose>
1735
+ <!-- upper link, length 1, IC -90 degrees -->
1736
+ <link name="upper_link">
1737
+ <pose>0 0 2.1 -1.5708 0 0</pose>
1738
+ <self_collide>0</self_collide>
1739
+ <inertial>
1740
+ <pose>0 0 0.5 0 0 0</pose>
1741
+ </inertial>
1742
+ <visual name="vis_upper_joint">
1743
+ <pose>-0.05 0 0 0 1.5708 0</pose>
1744
+ <geometry>
1745
+ <cylinder>
1746
+ <radius>0.1</radius>
1747
+ <length>0.3</length>
1748
+ </cylinder>
1749
+ </geometry>
1750
+ <material>
1751
+ <script>
1752
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1753
+ <name>Gazebo/Grey</name>
1754
+ </script>
1755
+ </material>
1756
+ </visual>
1757
+ <visual name="vis_lower_joint">
1758
+ <pose>0 0 1.0 0 1.5708 0</pose>
1759
+ <geometry>
1760
+ <cylinder>
1761
+ <radius>0.1</radius>
1762
+ <length>0.2</length>
1763
+ </cylinder>
1764
+ </geometry>
1765
+ <material>
1766
+ <script>
1767
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1768
+ <name>Gazebo/Grey</name>
1769
+ </script>
1770
+ </material>
1771
+ </visual>
1772
+ <visual name="vis_cylinder">
1773
+ <pose>0 0 0.5 0 0 0</pose>
1774
+ <geometry>
1775
+ <cylinder>
1776
+ <radius>0.1</radius>
1777
+ <length>0.9</length>
1778
+ </cylinder>
1779
+ </geometry>
1780
+ <material>
1781
+ <script>
1782
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1783
+ <name>Gazebo/Grey</name>
1784
+ </script>
1785
+ </material>
1786
+ </visual>
1787
+ </link>
1788
+ <!-- lower link, length 1, IC ~-120 degrees more -->
1789
+ <link name="lower_link">
1790
+ <pose>0.25 1.0 2.1 -2 0 0</pose>
1791
+ <self_collide>0</self_collide>
1792
+ <inertial>
1793
+ <pose>0 0 0.5 0 0 0</pose>
1794
+ </inertial>
1795
+ <visual name="vis_lower_joint">
1796
+ <pose>0 0 0 0 1.5708 0</pose>
1797
+ <geometry>
1798
+ <cylinder>
1799
+ <radius>0.08</radius>
1800
+ <length>0.3</length>
1801
+ </cylinder>
1802
+ </geometry>
1803
+ <material>
1804
+ <script>
1805
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1806
+ <name>Gazebo/Grey</name>
1807
+ </script>
1808
+ </material>
1809
+ </visual>
1810
+ <visual name="vis_cylinder">
1811
+ <pose>0 0 0.5 0 0 0</pose>
1812
+ <geometry>
1813
+ <cylinder>
1814
+ <radius>0.1</radius>
1815
+ <length>0.9</length>
1816
+ </cylinder>
1817
+ </geometry>
1818
+ <material>
1819
+ <script>
1820
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1821
+ <name>Gazebo/Grey</name>
1822
+ </script>
1823
+ </material>
1824
+ </visual>
1825
+ </link>
1826
+ <!-- pin joint for upper link, at origin of upper link -->
1827
+ <joint name="upper_joint" type="revolute">
1828
+ <parent>world</parent>
1829
+ <child>upper_link</child>
1830
+ <axis>
1831
+ <xyz>1.0 0 0</xyz>
1832
+ </axis>
1833
+ </joint>
1834
+ <!-- pin joint for lower link, at origin of child link -->
1835
+ <joint name="lower_joint" type="revolute">
1836
+ <parent>upper_link</parent>
1837
+ <child>lower_link</child>
1838
+ <axis>
1839
+ <xyz>1.0 0 0</xyz>
1840
+ </axis>
1841
+ </joint>
1842
+ </model>
1843
+
1844
+ <model name="double_pendulum_with_base5b">
1845
+ <pose>5 1 0 0 0 0</pose>
1846
+ <!-- upper link, length 1, IC -90 degrees -->
1847
+ <link name="upper_link">
1848
+ <pose>0 0 2.1 -1.5708 0 0</pose>
1849
+ <self_collide>0</self_collide>
1850
+ <inertial>
1851
+ <pose>0 0 0.5 0 0 0</pose>
1852
+ </inertial>
1853
+ <visual name="vis_upper_joint">
1854
+ <pose>-0.05 0 0 0 1.5708 0</pose>
1855
+ <geometry>
1856
+ <cylinder>
1857
+ <radius>0.1</radius>
1858
+ <length>0.3</length>
1859
+ </cylinder>
1860
+ </geometry>
1861
+ <material>
1862
+ <script>
1863
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1864
+ <name>Gazebo/Grey</name>
1865
+ </script>
1866
+ </material>
1867
+ </visual>
1868
+ <visual name="vis_lower_joint">
1869
+ <pose>0 0 1.0 0 1.5708 0</pose>
1870
+ <geometry>
1871
+ <cylinder>
1872
+ <radius>0.1</radius>
1873
+ <length>0.2</length>
1874
+ </cylinder>
1875
+ </geometry>
1876
+ <material>
1877
+ <script>
1878
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1879
+ <name>Gazebo/Grey</name>
1880
+ </script>
1881
+ </material>
1882
+ </visual>
1883
+ <visual name="vis_cylinder">
1884
+ <pose>0 0 0.5 0 0 0</pose>
1885
+ <geometry>
1886
+ <cylinder>
1887
+ <radius>0.1</radius>
1888
+ <length>0.9</length>
1889
+ </cylinder>
1890
+ </geometry>
1891
+ <material>
1892
+ <script>
1893
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1894
+ <name>Gazebo/Grey</name>
1895
+ </script>
1896
+ </material>
1897
+ </visual>
1898
+ </link>
1899
+ <!-- lower link, length 1, IC ~-120 degrees more -->
1900
+ <link name="lower_link">
1901
+ <pose>0.25 1.0 2.1 -2 0 0</pose>
1902
+ <self_collide>0</self_collide>
1903
+ <inertial>
1904
+ <pose>0 0 0.5 0 0 0</pose>
1905
+ </inertial>
1906
+ <visual name="vis_lower_joint">
1907
+ <pose>0 0 0 0 1.5708 0</pose>
1908
+ <geometry>
1909
+ <cylinder>
1910
+ <radius>0.08</radius>
1911
+ <length>0.3</length>
1912
+ </cylinder>
1913
+ </geometry>
1914
+ <material>
1915
+ <script>
1916
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1917
+ <name>Gazebo/Grey</name>
1918
+ </script>
1919
+ </material>
1920
+ </visual>
1921
+ <visual name="vis_cylinder">
1922
+ <pose>0 0 0.5 0 0 0</pose>
1923
+ <geometry>
1924
+ <cylinder>
1925
+ <radius>0.1</radius>
1926
+ <length>0.9</length>
1927
+ </cylinder>
1928
+ </geometry>
1929
+ <material>
1930
+ <script>
1931
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1932
+ <name>Gazebo/Grey</name>
1933
+ </script>
1934
+ </material>
1935
+ </visual>
1936
+ </link>
1937
+ <!-- pin joint for upper link, at origin of upper link -->
1938
+ <joint name="upper_joint" type="revolute">
1939
+ <parent>world</parent>
1940
+ <child>upper_link</child>
1941
+ <axis>
1942
+ <xyz>1.0 0 0</xyz>
1943
+ </axis>
1944
+ </joint>
1945
+ <!-- pin joint for lower link, at origin of child link -->
1946
+ <joint name="lower_joint" type="revolute">
1947
+ <parent>upper_link</parent>
1948
+ <child>lower_link</child>
1949
+ <axis>
1950
+ <xyz>1.0 0 0</xyz>
1951
+ </axis>
1952
+ </joint>
1953
+ </model>
1954
+
1955
+ <model name="double_pendulum_with_base6b">
1956
+ <pose>6 1 0 0 0 0</pose>
1957
+ <!-- upper link, length 1, IC -90 degrees -->
1958
+ <link name="upper_link">
1959
+ <pose>0 0 2.1 -1.5708 0 0</pose>
1960
+ <self_collide>0</self_collide>
1961
+ <inertial>
1962
+ <pose>0 0 0.5 0 0 0</pose>
1963
+ </inertial>
1964
+ <visual name="vis_upper_joint">
1965
+ <pose>-0.05 0 0 0 1.5708 0</pose>
1966
+ <geometry>
1967
+ <cylinder>
1968
+ <radius>0.1</radius>
1969
+ <length>0.3</length>
1970
+ </cylinder>
1971
+ </geometry>
1972
+ <material>
1973
+ <script>
1974
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1975
+ <name>Gazebo/Grey</name>
1976
+ </script>
1977
+ </material>
1978
+ </visual>
1979
+ <visual name="vis_lower_joint">
1980
+ <pose>0 0 1.0 0 1.5708 0</pose>
1981
+ <geometry>
1982
+ <cylinder>
1983
+ <radius>0.1</radius>
1984
+ <length>0.2</length>
1985
+ </cylinder>
1986
+ </geometry>
1987
+ <material>
1988
+ <script>
1989
+ <uri>file://media/materials/scripts/gazebo.material</uri>
1990
+ <name>Gazebo/Grey</name>
1991
+ </script>
1992
+ </material>
1993
+ </visual>
1994
+ <visual name="vis_cylinder">
1995
+ <pose>0 0 0.5 0 0 0</pose>
1996
+ <geometry>
1997
+ <cylinder>
1998
+ <radius>0.1</radius>
1999
+ <length>0.9</length>
2000
+ </cylinder>
2001
+ </geometry>
2002
+ <material>
2003
+ <script>
2004
+ <uri>file://media/materials/scripts/gazebo.material</uri>
2005
+ <name>Gazebo/Grey</name>
2006
+ </script>
2007
+ </material>
2008
+ </visual>
2009
+ </link>
2010
+ <!-- lower link, length 1, IC ~-120 degrees more -->
2011
+ <link name="lower_link">
2012
+ <pose>0.25 1.0 2.1 -2 0 0</pose>
2013
+ <self_collide>0</self_collide>
2014
+ <inertial>
2015
+ <pose>0 0 0.5 0 0 0</pose>
2016
+ </inertial>
2017
+ <visual name="vis_lower_joint">
2018
+ <pose>0 0 0 0 1.5708 0</pose>
2019
+ <geometry>
2020
+ <cylinder>
2021
+ <radius>0.08</radius>
2022
+ <length>0.3</length>
2023
+ </cylinder>
2024
+ </geometry>
2025
+ <material>
2026
+ <script>
2027
+ <uri>file://media/materials/scripts/gazebo.material</uri>
2028
+ <name>Gazebo/Grey</name>
2029
+ </script>
2030
+ </material>
2031
+ </visual>
2032
+ <visual name="vis_cylinder">
2033
+ <pose>0 0 0.5 0 0 0</pose>
2034
+ <geometry>
2035
+ <cylinder>
2036
+ <radius>0.1</radius>
2037
+ <length>0.9</length>
2038
+ </cylinder>
2039
+ </geometry>
2040
+ <material>
2041
+ <script>
2042
+ <uri>file://media/materials/scripts/gazebo.material</uri>
2043
+ <name>Gazebo/Grey</name>
2044
+ </script>
2045
+ </material>
2046
+ </visual>
2047
+ </link>
2048
+ <!-- pin joint for upper link, at origin of upper link -->
2049
+ <joint name="upper_joint" type="revolute">
2050
+ <parent>world</parent>
2051
+ <child>upper_link</child>
2052
+ <axis>
2053
+ <xyz>1.0 0 0</xyz>
2054
+ </axis>
2055
+ </joint>
2056
+ <!-- pin joint for lower link, at origin of child link -->
2057
+ <joint name="lower_joint" type="revolute">
2058
+ <parent>upper_link</parent>
2059
+ <child>lower_link</child>
2060
+ <axis>
2061
+ <xyz>1.0 0 0</xyz>
2062
+ </axis>
2063
+ </joint>
2064
+ </model>
2065
+
2066
+ <model name="double_pendulum_with_base7b">
2067
+ <pose>7 1 0 0 0 0</pose>
2068
+ <!-- upper link, length 1, IC -90 degrees -->
2069
+ <link name="upper_link">
2070
+ <pose>0 0 2.1 -1.5708 0 0</pose>
2071
+ <self_collide>0</self_collide>
2072
+ <inertial>
2073
+ <pose>0 0 0.5 0 0 0</pose>
2074
+ </inertial>
2075
+ <visual name="vis_upper_joint">
2076
+ <pose>-0.05 0 0 0 1.5708 0</pose>
2077
+ <geometry>
2078
+ <cylinder>
2079
+ <radius>0.1</radius>
2080
+ <length>0.3</length>
2081
+ </cylinder>
2082
+ </geometry>
2083
+ <material>
2084
+ <script>
2085
+ <uri>file://media/materials/scripts/gazebo.material</uri>
2086
+ <name>Gazebo/Grey</name>
2087
+ </script>
2088
+ </material>
2089
+ </visual>
2090
+ <visual name="vis_lower_joint">
2091
+ <pose>0 0 1.0 0 1.5708 0</pose>
2092
+ <geometry>
2093
+ <cylinder>
2094
+ <radius>0.1</radius>
2095
+ <length>0.2</length>
2096
+ </cylinder>
2097
+ </geometry>
2098
+ <material>
2099
+ <script>
2100
+ <uri>file://media/materials/scripts/gazebo.material</uri>
2101
+ <name>Gazebo/Grey</name>
2102
+ </script>
2103
+ </material>
2104
+ </visual>
2105
+ <visual name="vis_cylinder">
2106
+ <pose>0 0 0.5 0 0 0</pose>
2107
+ <geometry>
2108
+ <cylinder>
2109
+ <radius>0.1</radius>
2110
+ <length>0.9</length>
2111
+ </cylinder>
2112
+ </geometry>
2113
+ <material>
2114
+ <script>
2115
+ <uri>file://media/materials/scripts/gazebo.material</uri>
2116
+ <name>Gazebo/Grey</name>
2117
+ </script>
2118
+ </material>
2119
+ </visual>
2120
+ </link>
2121
+ <!-- lower link, length 1, IC ~-120 degrees more -->
2122
+ <link name="lower_link">
2123
+ <pose>0.25 1.0 2.1 -2 0 0</pose>
2124
+ <self_collide>0</self_collide>
2125
+ <inertial>
2126
+ <pose>0 0 0.5 0 0 0</pose>
2127
+ </inertial>
2128
+ <visual name="vis_lower_joint">
2129
+ <pose>0 0 0 0 1.5708 0</pose>
2130
+ <geometry>
2131
+ <cylinder>
2132
+ <radius>0.08</radius>
2133
+ <length>0.3</length>
2134
+ </cylinder>
2135
+ </geometry>
2136
+ <material>
2137
+ <script>
2138
+ <uri>file://media/materials/scripts/gazebo.material</uri>
2139
+ <name>Gazebo/Grey</name>
2140
+ </script>
2141
+ </material>
2142
+ </visual>
2143
+ <visual name="vis_cylinder">
2144
+ <pose>0 0 0.5 0 0 0</pose>
2145
+ <geometry>
2146
+ <cylinder>
2147
+ <radius>0.1</radius>
2148
+ <length>0.9</length>
2149
+ </cylinder>
2150
+ </geometry>
2151
+ <material>
2152
+ <script>
2153
+ <uri>file://media/materials/scripts/gazebo.material</uri>
2154
+ <name>Gazebo/Grey</name>
2155
+ </script>
2156
+ </material>
2157
+ </visual>
2158
+ </link>
2159
+ <!-- pin joint for upper link, at origin of upper link -->
2160
+ <joint name="upper_joint" type="revolute">
2161
+ <parent>world</parent>
2162
+ <child>upper_link</child>
2163
+ <axis>
2164
+ <xyz>1.0 0 0</xyz>
2165
+ </axis>
2166
+ </joint>
2167
+ <!-- pin joint for lower link, at origin of child link -->
2168
+ <joint name="lower_joint" type="revolute">
2169
+ <parent>upper_link</parent>
2170
+ <child>lower_link</child>
2171
+ <axis>
2172
+ <xyz>1.0 0 0</xyz>
2173
+ </axis>
2174
+ </joint>
2175
+ </model>
2176
+
2177
+ <model name="double_pendulum_with_base8b">
2178
+ <pose>8 1 0 0 0 0</pose>
2179
+ <!-- upper link, length 1, IC -90 degrees -->
2180
+ <link name="upper_link">
2181
+ <pose>0 0 2.1 -1.5708 0 0</pose>
2182
+ <self_collide>0</self_collide>
2183
+ <inertial>
2184
+ <pose>0 0 0.5 0 0 0</pose>
2185
+ </inertial>
2186
+ <visual name="vis_upper_joint">
2187
+ <pose>-0.05 0 0 0 1.5708 0</pose>
2188
+ <geometry>
2189
+ <cylinder>
2190
+ <radius>0.1</radius>
2191
+ <length>0.3</length>
2192
+ </cylinder>
2193
+ </geometry>
2194
+ <material>
2195
+ <script>
2196
+ <uri>file://media/materials/scripts/gazebo.material</uri>
2197
+ <name>Gazebo/Grey</name>
2198
+ </script>
2199
+ </material>
2200
+ </visual>
2201
+ <visual name="vis_lower_joint">
2202
+ <pose>0 0 1.0 0 1.5708 0</pose>
2203
+ <geometry>
2204
+ <cylinder>
2205
+ <radius>0.1</radius>
2206
+ <length>0.2</length>
2207
+ </cylinder>
2208
+ </geometry>
2209
+ <material>
2210
+ <script>
2211
+ <uri>file://media/materials/scripts/gazebo.material</uri>
2212
+ <name>Gazebo/Grey</name>
2213
+ </script>
2214
+ </material>
2215
+ </visual>
2216
+ <visual name="vis_cylinder">
2217
+ <pose>0 0 0.5 0 0 0</pose>
2218
+ <geometry>
2219
+ <cylinder>
2220
+ <radius>0.1</radius>
2221
+ <length>0.9</length>
2222
+ </cylinder>
2223
+ </geometry>
2224
+ <material>
2225
+ <script>
2226
+ <uri>file://media/materials/scripts/gazebo.material</uri>
2227
+ <name>Gazebo/Grey</name>
2228
+ </script>
2229
+ </material>
2230
+ </visual>
2231
+ </link>
2232
+ <!-- lower link, length 1, IC ~-120 degrees more -->
2233
+ <link name="lower_link">
2234
+ <pose>0.25 1.0 2.1 -2 0 0</pose>
2235
+ <self_collide>0</self_collide>
2236
+ <inertial>
2237
+ <pose>0 0 0.5 0 0 0</pose>
2238
+ </inertial>
2239
+ <visual name="vis_lower_joint">
2240
+ <pose>0 0 0 0 1.5708 0</pose>
2241
+ <geometry>
2242
+ <cylinder>
2243
+ <radius>0.08</radius>
2244
+ <length>0.3</length>
2245
+ </cylinder>
2246
+ </geometry>
2247
+ <material>
2248
+ <script>
2249
+ <uri>file://media/materials/scripts/gazebo.material</uri>
2250
+ <name>Gazebo/Grey</name>
2251
+ </script>
2252
+ </material>
2253
+ </visual>
2254
+ <visual name="vis_cylinder">
2255
+ <pose>0 0 0.5 0 0 0</pose>
2256
+ <geometry>
2257
+ <cylinder>
2258
+ <radius>0.1</radius>
2259
+ <length>0.9</length>
2260
+ </cylinder>
2261
+ </geometry>
2262
+ <material>
2263
+ <script>
2264
+ <uri>file://media/materials/scripts/gazebo.material</uri>
2265
+ <name>Gazebo/Grey</name>
2266
+ </script>
2267
+ </material>
2268
+ </visual>
2269
+ </link>
2270
+ <!-- pin joint for upper link, at origin of upper link -->
2271
+ <joint name="upper_joint" type="revolute">
2272
+ <parent>world</parent>
2273
+ <child>upper_link</child>
2274
+ <axis>
2275
+ <xyz>1.0 0 0</xyz>
2276
+ </axis>
2277
+ </joint>
2278
+ <!-- pin joint for lower link, at origin of child link -->
2279
+ <joint name="lower_joint" type="revolute">
2280
+ <parent>upper_link</parent>
2281
+ <child>lower_link</child>
2282
+ <axis>
2283
+ <xyz>1.0 0 0</xyz>
2284
+ </axis>
2285
+ </joint>
2286
+ </model>
2287
+
2288
+ <model name="double_pendulum_with_base9b">
2289
+ <pose>9 1 0 0 0 0</pose>
2290
+ <!-- upper link, length 1, IC -90 degrees -->
2291
+ <link name="upper_link">
2292
+ <pose>0 0 2.1 -1.5708 0 0</pose>
2293
+ <self_collide>0</self_collide>
2294
+ <inertial>
2295
+ <pose>0 0 0.5 0 0 0</pose>
2296
+ </inertial>
2297
+ <visual name="vis_upper_joint">
2298
+ <pose>-0.05 0 0 0 1.5708 0</pose>
2299
+ <geometry>
2300
+ <cylinder>
2301
+ <radius>0.1</radius>
2302
+ <length>0.3</length>
2303
+ </cylinder>
2304
+ </geometry>
2305
+ <material>
2306
+ <script>
2307
+ <uri>file://media/materials/scripts/gazebo.material</uri>
2308
+ <name>Gazebo/Grey</name>
2309
+ </script>
2310
+ </material>
2311
+ </visual>
2312
+ <visual name="vis_lower_joint">
2313
+ <pose>0 0 1.0 0 1.5708 0</pose>
2314
+ <geometry>
2315
+ <cylinder>
2316
+ <radius>0.1</radius>
2317
+ <length>0.2</length>
2318
+ </cylinder>
2319
+ </geometry>
2320
+ <material>
2321
+ <script>
2322
+ <uri>file://media/materials/scripts/gazebo.material</uri>
2323
+ <name>Gazebo/Grey</name>
2324
+ </script>
2325
+ </material>
2326
+ </visual>
2327
+ <visual name="vis_cylinder">
2328
+ <pose>0 0 0.5 0 0 0</pose>
2329
+ <geometry>
2330
+ <cylinder>
2331
+ <radius>0.1</radius>
2332
+ <length>0.9</length>
2333
+ </cylinder>
2334
+ </geometry>
2335
+ <material>
2336
+ <script>
2337
+ <uri>file://media/materials/scripts/gazebo.material</uri>
2338
+ <name>Gazebo/Grey</name>
2339
+ </script>
2340
+ </material>
2341
+ </visual>
2342
+ </link>
2343
+ <!-- lower link, length 1, IC ~-120 degrees more -->
2344
+ <link name="lower_link">
2345
+ <pose>0.25 1.0 2.1 -2 0 0</pose>
2346
+ <self_collide>0</self_collide>
2347
+ <inertial>
2348
+ <pose>0 0 0.5 0 0 0</pose>
2349
+ </inertial>
2350
+ <visual name="vis_lower_joint">
2351
+ <pose>0 0 0 0 1.5708 0</pose>
2352
+ <geometry>
2353
+ <cylinder>
2354
+ <radius>0.08</radius>
2355
+ <length>0.3</length>
2356
+ </cylinder>
2357
+ </geometry>
2358
+ <material>
2359
+ <script>
2360
+ <uri>file://media/materials/scripts/gazebo.material</uri>
2361
+ <name>Gazebo/Grey</name>
2362
+ </script>
2363
+ </material>
2364
+ </visual>
2365
+ <visual name="vis_cylinder">
2366
+ <pose>0 0 0.5 0 0 0</pose>
2367
+ <geometry>
2368
+ <cylinder>
2369
+ <radius>0.1</radius>
2370
+ <length>0.9</length>
2371
+ </cylinder>
2372
+ </geometry>
2373
+ <material>
2374
+ <script>
2375
+ <uri>file://media/materials/scripts/gazebo.material</uri>
2376
+ <name>Gazebo/Grey</name>
2377
+ </script>
2378
+ </material>
2379
+ </visual>
2380
+ </link>
2381
+ <!-- pin joint for upper link, at origin of upper link -->
2382
+ <joint name="upper_joint" type="revolute">
2383
+ <parent>world</parent>
2384
+ <child>upper_link</child>
2385
+ <axis>
2386
+ <xyz>1.0 0 0</xyz>
2387
+ </axis>
2388
+ </joint>
2389
+ <!-- pin joint for lower link, at origin of child link -->
2390
+ <joint name="lower_joint" type="revolute">
2391
+ <parent>upper_link</parent>
2392
+ <child>lower_link</child>
2393
+ <axis>
2394
+ <xyz>1.0 0 0</xyz>
2395
+ </axis>
2396
+ </joint>
2397
+ </model>
2398
+
2399
+ <model name="double_pendulum_with_base10b">
2400
+ <pose>10 1 0 0 0 0</pose>
2401
+ <!-- upper link, length 1, IC -90 degrees -->
2402
+ <link name="upper_link">
2403
+ <pose>0 0 2.1 -1.5708 0 0</pose>
2404
+ <self_collide>0</self_collide>
2405
+ <inertial>
2406
+ <pose>0 0 0.5 0 0 0</pose>
2407
+ </inertial>
2408
+ <visual name="vis_upper_joint">
2409
+ <pose>-0.05 0 0 0 1.5708 0</pose>
2410
+ <geometry>
2411
+ <cylinder>
2412
+ <radius>0.1</radius>
2413
+ <length>0.3</length>
2414
+ </cylinder>
2415
+ </geometry>
2416
+ <material>
2417
+ <script>
2418
+ <uri>file://media/materials/scripts/gazebo.material</uri>
2419
+ <name>Gazebo/Grey</name>
2420
+ </script>
2421
+ </material>
2422
+ </visual>
2423
+ <visual name="vis_lower_joint">
2424
+ <pose>0 0 1.0 0 1.5708 0</pose>
2425
+ <geometry>
2426
+ <cylinder>
2427
+ <radius>0.1</radius>
2428
+ <length>0.2</length>
2429
+ </cylinder>
2430
+ </geometry>
2431
+ <material>
2432
+ <script>
2433
+ <uri>file://media/materials/scripts/gazebo.material</uri>
2434
+ <name>Gazebo/Grey</name>
2435
+ </script>
2436
+ </material>
2437
+ </visual>
2438
+ <visual name="vis_cylinder">
2439
+ <pose>0 0 0.5 0 0 0</pose>
2440
+ <geometry>
2441
+ <cylinder>
2442
+ <radius>0.1</radius>
2443
+ <length>0.9</length>
2444
+ </cylinder>
2445
+ </geometry>
2446
+ <material>
2447
+ <script>
2448
+ <uri>file://media/materials/scripts/gazebo.material</uri>
2449
+ <name>Gazebo/Grey</name>
2450
+ </script>
2451
+ </material>
2452
+ </visual>
2453
+ </link>
2454
+ <!-- lower link, length 1, IC ~-120 degrees more -->
2455
+ <link name="lower_link">
2456
+ <pose>0.25 1.0 2.1 -2 0 0</pose>
2457
+ <self_collide>0</self_collide>
2458
+ <inertial>
2459
+ <pose>0 0 0.5 0 0 0</pose>
2460
+ </inertial>
2461
+ <visual name="vis_lower_joint">
2462
+ <pose>0 0 0 0 1.5708 0</pose>
2463
+ <geometry>
2464
+ <cylinder>
2465
+ <radius>0.08</radius>
2466
+ <length>0.3</length>
2467
+ </cylinder>
2468
+ </geometry>
2469
+ <material>
2470
+ <script>
2471
+ <uri>file://media/materials/scripts/gazebo.material</uri>
2472
+ <name>Gazebo/Grey</name>
2473
+ </script>
2474
+ </material>
2475
+ </visual>
2476
+ <visual name="vis_cylinder">
2477
+ <pose>0 0 0.5 0 0 0</pose>
2478
+ <geometry>
2479
+ <cylinder>
2480
+ <radius>0.1</radius>
2481
+ <length>0.9</length>
2482
+ </cylinder>
2483
+ </geometry>
2484
+ <material>
2485
+ <script>
2486
+ <uri>file://media/materials/scripts/gazebo.material</uri>
2487
+ <name>Gazebo/Grey</name>
2488
+ </script>
2489
+ </material>
2490
+ </visual>
2491
+ </link>
2492
+ <!-- pin joint for upper link, at origin of upper link -->
2493
+ <joint name="upper_joint" type="revolute">
2494
+ <parent>world</parent>
2495
+ <child>upper_link</child>
2496
+ <axis>
2497
+ <xyz>1.0 0 0</xyz>
2498
+ </axis>
2499
+ </joint>
2500
+ <!-- pin joint for lower link, at origin of child link -->
2501
+ <joint name="lower_joint" type="revolute">
2502
+ <parent>upper_link</parent>
2503
+ <child>lower_link</child>
2504
+ <axis>
2505
+ <xyz>1.0 0 0</xyz>
2506
+ </axis>
2507
+ </joint>
2508
+ </model>
2509
+ </world>
2510
+ </sdf>