bullet3/data/capsule.urdf

<?xml version="1.0" ?>
<robot name="urdf_robot">
  <link name="base_link">
    <contact>
      <rolling_friction value="0.001"/>
      <spinning_friction value="0.001"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
       <mass value=".1"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
	 	<capsule length="0.1" radius="0.02"/>
      </geometry>
    </collision>
  </link>
</robot>
Change URDF xml version from "0.0" to "1.0" 2018-08-16 19:44:43 +00:00			`<?xml version="1.0" ?>`
add capsule support in urdf parser (non-standard extension), capsule.urdf fix btCapsuleShape (X,Y,Z) margin issue fix uninitialized variables in TinyRenderer: m_hasLightDistance, m_hasLightAmbientCoeff, m_hasLightDiffuseCoeff, m_hasLightSpecularCoeff pybullet/shared memory API 'getClosestPoints' / b3InitClosestDistanceQuery, only report contacts equal/smaller distance than given 2017-01-24 00:45:18 +00:00			`<robot name="urdf_robot">`
			`<link name="base_link">`
			`<contact>`
			`<rolling_friction value="0.001"/>`
			`<spinning_friction value="0.001"/>`
			`</contact>`
			`<inertial>`
			`<origin rpy="0 0 0" xyz="0 0 0"/>`
			`<mass value=".1"/>`
			`<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>`
			`</inertial>`
			`<collision>`
			`<origin rpy="0 0 0" xyz="0 0 0"/>`
			`<geometry>`
			`<capsule length="0.1" radius="0.02"/>`
			`</geometry>`
			`</collision>`
			`</link>`
			`</robot>`