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add urdf file for testing

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This commit is contained in:
Erwin Coumans 2020-02-11 15:10:22 -08:00
parent b1e3668be5
commit e7ad8a9d67
1 changed files with 63 additions and 0 deletions
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63
examples/pybullet/gym/pybullet_data/sphere8cube.urdf Normal file
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<?xml version="0.0" ?>
<robot name="urdf_robot">
<link name="baseLink">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="10.0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="cube.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
<specular rgb="11 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.4 0.4 0.4"/>
<geometry>
<sphere radius="0.1"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-0.4 0.4 0.4"/>
<geometry>
<sphere radius="0.1"/>
</geometry>
</collision><collision>
<origin rpy="0 0 0" xyz="0.4 -0.4 0.4"/>
<geometry>
<sphere radius="0.1"/>
</geometry>
</collision><collision>
<origin rpy="0 0 0" xyz="-0.4 -0.4 0.4"/>
<geometry>
<sphere radius="0.1"/>
</geometry>
</collision><collision>
<origin rpy="0 0 0" xyz="0.4 0.4 -0.4"/>
<geometry>
<sphere radius="0.1"/>
</geometry>
</collision><collision>
<origin rpy="0 0 0" xyz="-0.4 0.4 -0.4"/>
<geometry>
<sphere radius="0.1"/>
</geometry>
</collision><collision>
<origin rpy="0 0 0" xyz="0.4 -0.4 -0.4"/>
<geometry>
<sphere radius="0.1"/>
</geometry>
</collision><collision>
<origin rpy="0 0 0" xyz="-0.4 -0.4 -0.4"/>
<geometry>
<sphere radius="0.1"/>
</geometry>
</collision>
</link>
</robot>