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https://github.com/bulletphysics/bullet3
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db3122233f
add rolling/spinning friction to cube, remove it from plane/samurai.urdf URDF2Bullet: support joint limits for revolute and prismatic, only if defined (if upper < lower, disable limit) add some profiling markers to improve performance
31 lines
732 B
XML
31 lines
732 B
XML
<?xml version="0.0" ?>
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<robot name="cube.urdf">
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<link name="baseLink">
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<contact>
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<lateral_friction value="1.0"/>
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<inertia_scaling value="3.0"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value=".1"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="cube.obj" scale=".05 .05 .05"/>
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</geometry>
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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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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size=".05 .05 .05"/>
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</geometry>
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</collision>
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</link>
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</robot>
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