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Added tutorial for Automatic Inertia Calculator (#2119)
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Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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jasmeet0915 authored Sep 20, 2023
1 parent 509d01a commit 4d4b680
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367 changes: 367 additions & 0 deletions examples/worlds/auto_inertia_pendulum.sdf
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<?xml version="1.0" ?>
<!--
Demo of Automatic Inertia Calculations using a pendulum setup
-->
<sdf version="1.11">
<world name="auto_inertia_pendulum">
<physics name="1ms" type="ignored">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin
filename="gz-sim-user-commands-system"
name="gz::sim::systems::UserCommands">
</plugin>
<plugin
filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>

<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>

<model name="pendulum">
<link name="base">
<inertial>
<pose>-0.188749 0 0.75813399999999997 -0.13567899999999999 0 1.5708</pose>
<mass>256.42500000000001</mass>
<inertia>
<ixx>154.202</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>152.286</iyy>
<iyz>0</iyz>
<izz>28.8249</izz>
</inertia>
</inertial>
<visual name="vis_plate_on_ground">
<pose>0 0 0.01 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.8</radius>
<length>0.02</length>
</cylinder>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
<visual name="vis_pole">
<pose>-0.275 0 1.1 0 0 0</pose>
<geometry>
<box>
<size>0.2 0.2 2.2</size>
</box>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
<collision name="col_plate_on_ground">
<pose>0 0 0.01 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.8</radius>
<length>0.02</length>
</cylinder>
</geometry>
</collision>
<collision name="col_pole">
<pose>-0.275 0 1.1 0 0 0</pose>
<geometry>
<box>
<size>0.2 0.2 2.2</size>
</box>
</geometry>
</collision>
</link>

<!-- upper link, length 1, IC -90 degrees -->
<link name="upper_link">
<pose>0 0 2.1 -1.5708 0 0</pose>
<self_collide>0</self_collide>
<inertial auto="true" />
<visual name="vis_upper_joint">
<pose>-0.05 0 0 0 1.5708 0</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.3</length>
</cylinder>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
<visual name="vis_bob">
<pose>0 0 1.0 0 1.5708 0</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.2</length>
</cylinder>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
<visual name="vis_cylinder">
<pose>0 0 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.9</length>
</cylinder>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
<collision name="col_upper_joint">
<density>8000</density>
<pose>-0.05 0 0 0 1.5708 0</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.3</length>
</cylinder>
</geometry>
</collision>
<collision name="col_bob">
<density>1000</density>
<pose>0 0 1.0 0 1.5708 0</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.3</length>
</cylinder>
</geometry>
</collision>
<collision name="col_cylinder">
<density>1000</density>
<pose>0 0 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.9</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>
</model>

<model name="pendulum2">
<pose>0 3 0 0 0 0</pose>
<link name="base">
<inertial>
<pose>-0.188749 0 0.75813399999999997 -0.13567899999999999 0 1.5708</pose>
<mass>256.42500000000001</mass>
<inertia>
<ixx>154.202</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>152.286</iyy>
<iyz>0</iyz>
<izz>28.8249</izz>
</inertia>
</inertial>
<visual name="vis_plate_on_ground">
<pose>0 0 0.01 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.8</radius>
<length>0.02</length>
</cylinder>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
<visual name="vis_pole">
<pose>-0.275 0 1.1 0 0 0</pose>
<geometry>
<box>
<size>0.2 0.2 2.2</size>
</box>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
<collision name="col_plate_on_ground">
<pose>0 0 0.01 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.8</radius>
<length>0.02</length>
</cylinder>
</geometry>
</collision>
<collision name="col_pole">
<pose>-0.275 0 1.1 0 0 0</pose>
<geometry>
<box>
<size>0.2 0.2 2.2</size>
</box>
</geometry>
</collision>
</link>

<!-- upper link, length 1, IC -90 degrees -->
<link name="upper_link">
<pose>0 0 2.1 -1.5708 0 0</pose>
<self_collide>0</self_collide>
<inertial auto="true" />
<visual name="vis_upper_joint">
<pose>-0.05 0 0 0 1.5708 0</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.3</length>
</cylinder>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
<visual name="vis_bob">
<pose>0 0 1.0 0 1.5708 0</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.2</length>
</cylinder>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
<visual name="vis_cylinder">
<pose>0 0 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.9</length>
</cylinder>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
<collision name="col_upper_joint">
<density>100</density>
<pose>-0.05 0 0 0 1.5708 0</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.3</length>
</cylinder>
</geometry>
</collision>
<collision name="col_bob">
<density>10000</density>
<pose>0 0 1.0 0 1.5708 0</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.3</length>
</cylinder>
</geometry>
</collision>
<collision name="col_cylinder">
<density>100</density>
<pose>0 0 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.9</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>
</model>

</world>
</sdf>
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