mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
88 lines
1.9 KiB
XML
88 lines
1.9 KiB
XML
<?xml version="1.0"?>
|
|
<robot name="physics">
|
|
<link name="DOF_ArmRotate">
|
|
<visual>
|
|
<geometry>
|
|
<box size="0.42 0.11 0.22"/>
|
|
</geometry>
|
|
<origin rpy="0 0 0" xyz="0.21 0 0"/>
|
|
<material name="blue">
|
|
<color rgba="0 0 0.8 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size="0.42 0.11 0.22"/>
|
|
</geometry>
|
|
<origin rpy="0 0 0" xyz="0.21 0 0"/>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0"/>
|
|
<origin rpy="0 0 0" xyz="0.21 0 0 "/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<link name="DOF_Snodo1">
|
|
<visual>
|
|
<geometry>
|
|
<box size="0.68 0.23 0.64"/>
|
|
</geometry>
|
|
<origin rpy="0 0 0" xyz="0.34 0 0.32"/>
|
|
<material name="white">
|
|
<color rgba="1 1 1 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size="0.68 0.23 0.64"/>
|
|
</geometry>
|
|
<origin rpy="0 0 0" xyz="0.34 0 0.32"/>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="2"/>
|
|
<origin rpy="0 0 0" xyz="0.34 0 0.32"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="Rotate_White_Joint" type="revolute">
|
|
<axis xyz="0 1 0"/>
|
|
<limit effort="1000.0" lower="-0.785" upper="0.785" velocity="0.5"/>
|
|
<origin rpy="0 0 0" xyz="0.42 0.0 0.0"/>
|
|
<parent link="DOF_ArmRotate"/>
|
|
<child link="DOF_Snodo1"/>
|
|
</joint>
|
|
|
|
<link name="DOF_Snodo2">
|
|
<visual>
|
|
<geometry>
|
|
<box size="0.42 0.12 0.20"/>
|
|
</geometry>
|
|
<origin rpy="0 0 0" xyz="0.21 0 0.10"/>
|
|
<material name="red">
|
|
<color rgba="1 0 0 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size="0.42 0.12 0.20"/>
|
|
</geometry>
|
|
<origin rpy="0 0 0" xyz="0.21 0 0.10"/>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="1"/>
|
|
<origin rpy="0 0 0" xyz="0.21 0 0.10"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="Rotate_Red_Joint" type="revolute">
|
|
<axis xyz="0 1 0"/>
|
|
<limit effort="1000.0" lower="-0.785" upper="0.785" velocity="0.5"/>
|
|
<origin rpy="0 0 0" xyz="0.68 0.0 0.64"/>
|
|
<parent link="DOF_Snodo1"/>
|
|
<child link="DOF_Snodo2"/>
|
|
</joint>
|
|
</robot>
|