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Inverted Pendulum Actuated by Tendons #2950

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merged 4 commits into from
Aug 7, 2020
Merged

Inverted Pendulum Actuated by Tendons #2950

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01d74be
Seeing the relatonship and understanding of the creation of two contr…
DarioUrbina Jul 13, 2020
5081ac5
Inverted Pendulum Tendon Actutation
DarioUrbina Jul 22, 2020
370b2f7
valerolab
DarioUrbina Jul 23, 2020
2bc3d87
Delete constraint.py
erwincoumans Aug 7, 2020
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65 changes: 65 additions & 0 deletions data/Base_1.urdf
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Original file line number Diff line number Diff line change
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<?xml version="1.0"?>
<!--https://valerolab.org/-->
<!--
Code used for PID control of an inverted pendulum actuated by strings.
-->
<robot name="myfirst">
<material name="blue">
<color rgba="0 0 0.8 1"/>
</material>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
<material name="other">
<color rgba="1 0 0.8 1"/>
</material>
<velocity name="vel">
<speed spd="50"/>
</velocity>


<link name="Base">
<visual>
<geometry>
<box size="0.3 0.3 1.5"/>
</geometry>
<material name="other"/>
</visual>
<collision>
<geometry>
<box size="0.3 0.3 1.5"/>
</geometry>
</collision>
<inertial>
<mass value="100"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>

<link name="pulley1">
<visual>
<geometry>
<cylinder length=".1" radius=".5"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<geometry>
<cylinder length=".1" radius=".5"/>
</geometry>
</collision>
<inertial>
<mass value="2"/>
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>
<joint name="Base_pulley1" type="revolute">
<axis xyz="0 0 1"/>
<parent link="Base"/>
<child link="pulley1"/>
<limit effort="0" lower="1" upper="0" velocity="50"/>
<origin rpy="-1.57075 0 0" xyz="0 .35 .15"/>
</joint>
<!---->
</robot>
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