mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
32eccdff61
URDF/SDF: add a flag to force concave mesh collisiofor static objects. <collision concave="yes" name="pod_collision"> VR: support teleporting using buttong, allow multiple controllers to be used, fast wireframe rendering, Turn off warnings about deprecated C routine in btScalar.h/b3Scalar.h Add a dummy return to stop a warning Expose defaultContactERP in shared memory api/pybullet. First start to expose IK in shared memory api/pybullet (not working yet)
56 lines
1.2 KiB
XML
56 lines
1.2 KiB
XML
<?xml version="1.0" ?>
|
|
<sdf version="1.4">
|
|
<model name="Amazon Pod">
|
|
<static>1</static>
|
|
<pose>0 1 0 0 0 0</pose>
|
|
<link name="pod_link">
|
|
<inertial>
|
|
<pose>0.0 .0 1.2045 0 0 0</pose>
|
|
<mass>0</mass>
|
|
<inertia>
|
|
<ixx>0</ixx>
|
|
<ixy>0.0</ixy>
|
|
<ixz>0.0</ixz>
|
|
<izz>0.0</izz>
|
|
<iyz>0.0</iyz>
|
|
<iyy>0.0</iyy>
|
|
</inertia>
|
|
</inertial>
|
|
|
|
<visual name="pod_visual">
|
|
<pose>0 0 0 1.5707 0 0 </pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>meshes/pod_lowres.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<diffuse>0.9 0.8 0.5 1</diffuse>
|
|
</material>
|
|
</visual>
|
|
|
|
|
|
<collision concave="yes" name="pod_collision">
|
|
<pose>0 0 0 1.5707 0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>meshes/pod_lowres.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.8</mu>
|
|
<mu2>0.8</mu2>
|
|
<fdir1>0.0 0.0 0.0</fdir1>
|
|
<slip1>1.0</slip1>
|
|
<slip2>1.0</slip2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
|
|
</link>
|
|
</model>
|
|
</sdf>
|