mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 13:20:07 +00:00
65 lines
1.5 KiB
XML
65 lines
1.5 KiB
XML
<?xml version="1.0"?>
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<!--https://valerolab.org/-->
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<!--
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Code used for PID control of an inverted pendulum actuated by strings.
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-->
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<robot name="myfirst">
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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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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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<material name="other">
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<color rgba="1 0 0.8 1"/>
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</material>
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<velocity name="vel">
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<speed spd="50"/>
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</velocity>
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<link name="Base">
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<visual>
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<geometry>
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<box size="0.3 0.3 1.5"/>
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</geometry>
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<material name="other"/>
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</visual>
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<collision>
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<geometry>
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<box size="0.3 0.3 1.5"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="100"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<link name="pulley1">
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<visual>
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<geometry>
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<cylinder length=".1" radius=".5"/>
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</geometry>
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<material name="blue"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius=".5"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="2"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<joint name="Base_pulley1" type="revolute">
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<axis xyz="0 0 1"/>
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<parent link="Base"/>
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<child link="pulley1"/>
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<limit effort="0" lower="1" upper="0" velocity="50"/>
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<origin rpy="-1.57075 0 0" xyz="0 .35 .15"/>
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</joint>
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<!---->
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</robot> |