mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-12 12:50:08 +00:00
44 lines
1.2 KiB
XML
Executable File
44 lines
1.2 KiB
XML
Executable File
<?xml version="1.0"?>
|
|
<robot name="pan_tilt">
|
|
|
|
<link name="base_link">
|
|
<inertial>
|
|
<mass value="1"/>
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="pan_joint" type="revolute">
|
|
<parent link="base_link"/>
|
|
<child link="pan_link"/>
|
|
<origin xyz="0 0 0.1"/>
|
|
<axis xyz="0 0 1" />
|
|
<limit effort="300" velocity="0.1" lower="-3.14" upper="3.14"/>
|
|
<dynamics damping="50" friction="1"/>
|
|
</joint>
|
|
|
|
<link name="pan_link">
|
|
<inertial>
|
|
<mass value="1"/>
|
|
<origin rpy="0 0 0" xyz="0 0 1"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="tilt_joint" type="revolute">
|
|
<parent link="pan_link"/>
|
|
<child link="tilt_link"/>
|
|
<origin rpy="0.0 0.0 0.0" xyz="4 0 1"/>
|
|
<axis xyz="0.0 1.0 0.0" />
|
|
<limit effort="300" velocity="1.0" lower="-4.64" upper="4.64"/>
|
|
</joint>
|
|
|
|
<link name="tilt_link">
|
|
<inertial>
|
|
<mass value="5"/>
|
|
<origin rpy="0 0 0" xyz="1.001 1 1"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
</robot> |