mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-17 06:51:05 +00:00
f5e65197f4
add lego.urdf, duck.urdf (optimized using VHACD convex decomposition) optimize Kiva shelf collision model (by hand, using boxes/Blender) physics timescale toggle between 1 -> 0,25 -> 0
33 lines
841 B
XML
33 lines
841 B
XML
<?xml version="0.0" ?>
|
|
<robot name="cube.urdf">
|
|
<link name="baseLink">
|
|
<contact>
|
|
<lateral_friction value="1.0"/>
|
|
<rolling_friction value="0.0"/>
|
|
<contact_cfm value="0.0"/>
|
|
<contact_erp value="1.0"/>
|
|
</contact>
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0.0 0.02 0.0"/>
|
|
<mass value=".1"/>
|
|
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="duck.obj" scale=".05 .05 .05"/>
|
|
</geometry>
|
|
<material name="yellow">
|
|
<color rgba="1 1 0.4 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="duck_vhacd.obj" scale=".05 .05 .05"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
</robot>
|
|
|