mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 06:00:12 +00:00
88 lines
1.9 KiB
Plaintext
88 lines
1.9 KiB
Plaintext
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<?xml version="1.0"?>
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<robot name="physics">
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<link name="DOF_ArmRotate">
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<visual>
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<geometry>
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<box size="0.42 0.11 0.22"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0.21 0 0"/>
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<material name="blue">
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<color rgba="0 0 0.8 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<box size="0.42 0.11 0.22"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0.21 0 0"/>
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</collision>
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<inertial>
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<mass value="0"/>
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<origin rpy="0 0 0" xyz="0.21 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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<link name="DOF_Snodo1">
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<visual>
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<geometry>
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<box size="0.68 0.23 0.64"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0.34 0 0.32"/>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<box size="0.68 0.23 0.64"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0.34 0 0.32"/>
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</collision>
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<inertial>
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<mass value="2"/>
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<origin rpy="0 0 0" xyz="0.34 0 0.32"/>
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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="Rotate_White_Joint" type="revolute">
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<axis xyz="0 1 0"/>
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<limit effort="1000.0" lower="-0.785" upper="0.785" velocity="0.5"/>
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<origin rpy="0 0 0" xyz="0.42 0.0 0.0"/>
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<parent link="DOF_ArmRotate"/>
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<child link="DOF_Snodo1"/>
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</joint>
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<link name="DOF_Snodo2">
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<visual>
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<geometry>
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<box size="0.42 0.12 0.20"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0.21 0 0.10"/>
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<material name="red">
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<color rgba="1 0 0 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<box size="0.42 0.12 0.20"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0.21 0 0.10"/>
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</collision>
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<inertial>
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<mass value="1"/>
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<origin rpy="0 0 0" xyz="0.21 0 0.10"/>
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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="Rotate_Red_Joint" type="revolute">
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<axis xyz="0 1 0"/>
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<limit effort="1000.0" lower="-0.785" upper="0.785" velocity="0.5"/>
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<origin rpy="0 0 0" xyz="0.68 0.0 0.64"/>
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<parent link="DOF_Snodo1"/>
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<child link="DOF_Snodo2"/>
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</joint>
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</robot>
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