mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
44 lines
1.2 KiB
Plaintext
44 lines
1.2 KiB
Plaintext
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<?xml version="1.0"?>
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<robot name="pan_tilt">
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<link name="base_link">
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<inertial>
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<mass value="1"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="pan_joint" type="revolute">
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<parent link="base_link"/>
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<child link="pan_link"/>
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<origin xyz="0 0 0.1"/>
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<axis xyz="0 0 1" />
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<limit effort="300" velocity="0.1" lower="-3.14" upper="3.14"/>
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<dynamics damping="50" friction="1"/>
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</joint>
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<link name="pan_link">
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<inertial>
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<mass value="1"/>
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<origin rpy="0 0 0" xyz="0 0 1"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="tilt_joint" type="revolute">
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<parent link="pan_link"/>
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<child link="tilt_link"/>
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<origin rpy="0.0 0.0 0.0" xyz="4 0 1"/>
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<axis xyz="0.0 1.0 0.0" />
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<limit effort="300" velocity="1.0" lower="-4.64" upper="4.64"/>
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</joint>
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<link name="tilt_link">
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<inertial>
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<mass value="5"/>
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<origin rpy="0 0 0" xyz="1.001 1 1"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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</robot>
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