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bullet3/data/hinge.urdf

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mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
2015-07-15 19:57:45 +00:00
<?xml version="0.0" ?>
<robot name="urdf_robot">
<link name="baseLink">
<inertial>
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
2015-08-20 05:51:16 +00:00
<origin rpy="0 0 0" xyz="0 0 0.35"/>
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
2015-07-15 19:57:45 +00:00
<mass value="0.0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
2015-08-20 05:51:16 +00:00
<origin rpy="0 0 0" xyz="0 0 0.35"/>
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
2015-07-15 19:57:45 +00:00
<geometry>
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
2015-08-20 05:51:16 +00:00
<box size="0.08 0.16 0.7"/>
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
2015-07-15 19:57:45 +00:00
</geometry>
</visual>
<collision>
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
2015-08-20 05:51:16 +00:00
<origin rpy="0 0 0" xyz="0 0 0.35"/>
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
2015-07-15 19:57:45 +00:00
<geometry>
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
2015-08-20 05:51:16 +00:00
<box size="0.08 0.16 0.7"/>
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
2015-07-15 19:57:45 +00:00
</geometry>
</collision>
</link>
<link name="childA">
<inertial>
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
2015-08-20 05:51:16 +00:00
<origin rpy="0 0 0" xyz="0 0 -0.36"/>
<mass value="1.0"/>
<inertia ixx="0.048966669" ixy="0" ixz="0" iyy="0.046466667" iyz="0" izz="0.0041666669"/>
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
2015-07-15 19:57:45 +00:00
</inertial>
<visual>
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
2015-08-20 05:51:16 +00:00
<origin rpy="0 0 0" xyz="0 0 -0.36"/>
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
2015-07-15 19:57:45 +00:00
<geometry>
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
2015-08-20 05:51:16 +00:00
<box size="0.1 0.2 0.72"/>
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
2015-07-15 19:57:45 +00:00
</geometry>
</visual>
<collision>
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
2015-08-20 05:51:16 +00:00
<origin rpy="0 0 0" xyz="0 0 -0.36"/>
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
2015-07-15 19:57:45 +00:00
<geometry>
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
2015-08-20 05:51:16 +00:00
<box size="0.1 0.2 0.72 "/>
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
2015-07-15 19:57:45 +00:00
</geometry>
</collision>
</link>
<joint name="joint_baseLink_childA" type="continuous">
<parent link="baseLink"/>
<child link="childA"/>
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
2015-08-20 05:51:16 +00:00
<origin xyz="0 0 0"/>
<axis xyz="1 0 0"/>
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
2015-07-15 19:57:45 +00:00
</joint>
initial implementation to send debug lines from physics server to client, need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
2015-08-20 05:51:16 +00:00
<link name="childB">
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.36"/>
<mass value="1.0"/>
<inertia ixx="0.048966669" ixy="0" ixz="0" iyy="0.046466667" iyz="0" izz="0.0041666669"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.36"/>
<geometry>
<sphere radius="0.2"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.36"/>
<geometry>
<sphere radius="0.2"/>
</geometry>
</collision>
</link>
<joint name="joint_childA_childB" type="fixed">
<parent link="childA"/>
<child link="childB"/>
<origin xyz="0 0 -0.2"/>
</joint>
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
2015-07-15 19:57:45 +00:00
</robot>
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