mirror of
https://github.com/bulletphysics/bullet3
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d830681674
compare joint feedback between multi body and rigid body. initial results are promising (not exactly the same, but reasonably close)
74 lines
1.7 KiB
XML
74 lines
1.7 KiB
XML
<?xml version="0.0" ?>
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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"/>
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<mass value="10.0"/>
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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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<sphere radius="0.5"/>
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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"/>
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<geometry>
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<sphere radius="0.5"/>
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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"/>
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<mass value="10.0"/>
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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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<sphere radius="0.5"/>
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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"/>
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<geometry>
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<sphere radius="0.5"/>
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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="fixed">
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<parent link="baseLink"/>
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<child link="childA"/>
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<origin xyz="0 0 1.0"/>
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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 0.5"/>
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<mass value="10.0"/>
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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 0.5"/>
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<geometry>
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<sphere radius="0.5"/>
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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 0.5"/>
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<geometry>
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<sphere radius="0.5"/>
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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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<axis xyz="0 1 0"/>
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<origin xyz="0 0 0.5"/>
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</joint>
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</robot>
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