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Add pendulum for ApplyForceTorque and MouseDrag demo #19

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merged 3 commits into from
Sep 25, 2023
Merged

Add pendulum for ApplyForceTorque and MouseDrag demo #19

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feae46c
Add pendulum for ApplyForceTorque and MouseDrag demo
Henrique-BO Sep 24, 2023
8f30e37
Add newlines
Henrique-BO Sep 24, 2023
8f31178
Fix pendulum collision
Henrique-BO Sep 25, 2023
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16 changes: 16 additions & 0 deletions harmonic_demo/Pendulum/model.config
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Original file line number Diff line number Diff line change
@@ -0,0 +1,16 @@
<?xml version="1.0"?>
<model>
<name>Pendulum</name>
<version>1.0</version>
<sdf version="1.11">model.sdf</sdf>

<author>
<name>Henrique Barros Oliveira</name>
<email>henrique.barrosoliveira@usp.br</email>
</author>

<description>
Pendulum for demonstrating ApplyForceTorque and MouseDrag plugins
</description>

</model>
119 changes: 119 additions & 0 deletions harmonic_demo/Pendulum/model.sdf
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Original file line number Diff line number Diff line change
@@ -0,0 +1,119 @@
<?xml version="1.0" encoding="UTF-8"?>
<sdf version="1.11">
<model name="pendulum">
<link name="base">
<inertial auto="true"/>
<visual name="vis_plate_on_ground">
<pose>0 0 0.01 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.02</length>
</cylinder>
</geometry>
<material>
<diffuse>0.2 0.1 0.1</diffuse>
<specular>0.2 0.2 0.2</specular>
</material>
</visual>
<visual name="vis_pole">
<pose>-0.05 0 0.2 0 0 0</pose>
<geometry>
<box>
<size>0.05 0.05 0.4</size>
</box>
</geometry>
<material>
<diffuse>0.2 0.1 0.1</diffuse>
<specular>0.2 0.2 0.2</specular>
</material>
</visual>
<collision name="col_plate_on_ground">
<density>1</density>
<pose>0 0 0.01 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.02</length>
</cylinder>
</geometry>
</collision>
<collision name="col_pole">
<density>1000</density>
<pose>-0.05 0 0.2 0 0 0</pose>
<geometry>
<box>
<size>0.05 0.05 0.4</size>
</box>
</geometry>
</collision>
</link>

<!-- upper link, length 1, IC -90 degrees -->
<link name="upper_link">
<pose>0 0 0.35 3.1415 0 0</pose>
<self_collide>0</self_collide>
<inertial auto="true"/>
<visual name="vis_upper_joint">
<pose>0.04 0 0 0 1.5708 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.2</length>
</cylinder>
</geometry>
<material>
<diffuse>0.0 1.0 1.0</diffuse>
<specular>1.0 1.0 1.0</specular>
</material>
</visual>
<visual name="vis_cylinder">
<pose>0.1 0 0.15 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.3</length>
</cylinder>
</geometry>
<material>
<diffuse>0.0 1.0 1.0</diffuse>
<specular>1.0 1.0 1.0</specular>
</material>
</visual>
<collision name="col_upper_joint">
<density>1000</density>
<pose>0.04 0 0 0 1.5708 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.2</length>
</cylinder>
</geometry>
</collision>
<collision name="col_cylinder">
<density>1000</density>
<pose>0.1 0 0.15 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.3</length>
</cylinder>
</geometry>
</collision>
</link>

<!-- pin joint for upper link, at origin of upper link -->
<joint name="upper_joint" type="revolute">
<parent>base</parent>
<child>upper_link</child>
<axis>
<xyz>1.0 0 0</xyz>
</axis>
</joint>

<joint name="fix_to_world" type="fixed">
<parent>world</parent>
<child>base</child>
</joint>
</model>
</sdf>
23 changes: 22 additions & 1 deletion harmonic_demo/harmonic.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -246,6 +246,23 @@
<property type="string" key="state">docked_collapsed</property>
</gz-gui>
</plugin>

<!-- Apply Force and Torque -->
<plugin filename="ApplyForceTorque">
<gz-gui>
<property type="string" key="state">docked_collapsed</property>
</gz-gui>
</plugin>

<!-- Mouse Drag -->
<plugin filename="MouseDrag">
<gz-gui>
<property type="string" key="state">docked_collapsed</property>
</gz-gui>

<rotation_stiffness>50</rotation_stiffness>
<position_stiffness>200</position_stiffness>
</plugin>

</gui>

Expand Down Expand Up @@ -443,6 +460,11 @@
<name>Office Chair</name>
<uri>Office Chair</uri>
</include>
<include>
<pose>1.85 -5.05 7.82 0 0 0</pose>
<name>Pendulum</name>
<uri>Pendulum</uri>
</include>
<include>
<name>Pendulum_sculpture</name>
<pose>3.43 -3.82 7.64 0 0 1.57</pose>
Expand Down Expand Up @@ -496,4 +518,3 @@
</model>
</world>
</sdf>