mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-12 21:00:11 +00:00
17219f84c6
add PyBullet.resetJointStateMultiDof / getJointStateMultiDof, for preliminary support for spherical and planar joints
75 lines
1.9 KiB
XML
75 lines
1.9 KiB
XML
<?xml version="1.0" ?>
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<robot name="urdf_robot">
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<link name="baseLink">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0.35"/>
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<mass value="0.0"/>
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.35"/>
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<geometry>
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<box size="0.08 0.16 0.7"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0.35"/>
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<geometry>
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<box size="0.08 0.16 0.7"/>
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</geometry>
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</collision>
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</link>
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<link name="childA">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 -0.36"/>
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<mass value="1.0"/>
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<inertia ixx="0.048966669" ixy="0" ixz="0" iyy="0.046466667" iyz="0" izz="0.0041666669"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 -0.36"/>
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<geometry>
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<box size="0.1 0.2 0.72"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 -0.36"/>
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<geometry>
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<box size="0.1 0.2 0.72 "/>
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</geometry>
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</collision>
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</link>
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<joint name="joint_baseLink_childA" type="spherical">
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<parent link="baseLink"/>
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<child link="childA"/>
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<origin xyz="0 0 0"/>
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<axis xyz="1 0 0"/>
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</joint>
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<link name="childB">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 -0.36"/>
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<mass value="1.0"/>
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<inertia ixx="0.048966669" ixy="0" ixz="0" iyy="0.046466667" iyz="0" izz="0.0041666669"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 -0.36"/>
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<geometry>
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<box size="0.1 0.2 0.3 "/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 -0.36"/>
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<geometry>
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<box size="0.1 0.2 0.3 "/>
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</geometry>
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</collision>
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</link>
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<joint name="joint_childA_childB" type="continuous">
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<parent link="childA"/>
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<child link="childB"/>
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<origin xyz="0 0 -0.2"/>
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<axis xyz="1 0 0"/>
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</joint>
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</robot>
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