mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-06 07:40:06 +00:00
149 lines
3.9 KiB
XML
149 lines
3.9 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
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<robot name="pendulum">
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<!--
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Author: Erwin Coumans <erwincoumans@google.com>
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Contributers:
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-->
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<link name="world"/>
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<material name="Blue">
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<color rgba="0.28 0.52 0.92 1.0"/>
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</material>
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<link name="link0">
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<visual>
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<geometry>
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<sphere radius="0.05"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0.5 0"/>
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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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<sphere radius="0.05"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0.5 0"/>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0.0 0.5 0.0"/>
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<mass value="1."/>
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<inertia ixx="0.00494875" ixy="0" ixz="0" iyy="0.00494174" iyz="0" izz="0.002219"/>
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</inertial>
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</link>
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<joint name="joint0" type="continuous">
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<parent link="world"/>
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<child link="link0"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<axis xyz="1 0 0"/>
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<dynamics damping="1.0" friction="1.0"/>
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</joint>
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<link name="link1">
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<visual>
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<geometry>
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<sphere radius="0.05"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0.5 0"/>
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<material name="Red"/>
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</visual>
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<collision>
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<geometry>
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<sphere radius="0.05"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0.5 0"/>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0.5 0"/>
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<mass value="2.16"/>
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<inertia ixx="0.00539427" ixy="0" ixz="0" iyy="0.0048979" iyz="0" izz="0.00311573"/>
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</inertial>
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</link>
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<joint name="joint1" type="continuous">
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<parent link="link0"/>
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<child link="link1"/>
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<origin rpy="0 0 0" xyz="0 0.5 0"/>
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<axis xyz="1 0 0"/>
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<dynamics damping="1.0" friction="1.0"/>
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</joint>
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<link name="link2">
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<visual>
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<geometry>
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<sphere radius="0.05"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0.5 0"/>
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<material name="Red"/>
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</visual>
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<collision>
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<geometry>
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<sphere radius="0.05"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0.5 0"/>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0.5 0"/>
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<mass value="2.16"/>
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<inertia ixx="0.00539427" ixy="0" ixz="0" iyy="0.0048979" iyz="0" izz="0.00311573"/>
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</inertial>
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</link>
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<joint name="joint2" type="continuous">
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<parent link="link1"/>
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<child link="link2"/>
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<origin rpy="0 0 0" xyz="0 0.5 0"/>
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<axis xyz="1 0 0"/>
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<dynamics damping="1.0" friction="1.0"/>
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</joint>
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<link name="link3">
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<visual>
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<geometry>
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<sphere radius="0.05"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0.5 0"/>
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<material name="Red"/>
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</visual>
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<collision>
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<geometry>
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<sphere radius="0.05"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0.5 0"/>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0.5 0"/>
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<mass value="2.16"/>
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<inertia ixx="0.00539427" ixy="0" ixz="0" iyy="0.0048979" iyz="0" izz="0.00311573"/>
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</inertial>
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</link>
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<joint name="joint3" type="continuous">
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<parent link="link2"/>
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<child link="link3"/>
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<origin rpy="0 0 0" xyz="0 0.5 0"/>
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<axis xyz="1 0 0"/>
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<dynamics damping="1.0" friction="1.0"/>
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</joint>
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<link name="link4">
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<visual>
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<geometry>
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<sphere radius="0.05"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0.5 0"/>
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<material name="Red"/>
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</visual>
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<collision>
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<geometry>
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<sphere radius="0.05"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0.5 0"/>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0.5 0"/>
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<mass value="2.16"/>
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<inertia ixx="0.00539427" ixy="0" ixz="0" iyy="0.0048979" iyz="0" izz="0.00311573"/>
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</inertial>
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</link>
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<joint name="joint4" type="continuous">
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<parent link="link3"/>
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<child link="link4"/>
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<origin rpy="0 0 0" xyz="0 0.5 0"/>
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<axis xyz="1 0 0"/>
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<dynamics damping="1.0" friction="1.0"/>
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</joint>
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</robot>
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