mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
52761f5578
fix inertial frame for door.urdf allow picking of links of multi-bodies with a fixed base
106 lines
2.5 KiB
XML
106 lines
2.5 KiB
XML
<?xml version="0.0" ?>
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<robot name="urdf_door">
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<link name="world"/>
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<joint name="fixed" type="fixed">
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<parent link="world"/>
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<child link="baseLink"/>
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<origin xyz="0 0 0"/>
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</joint>
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<link name="baseLink">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0.35"/>
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<mass value="1.0"/>
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<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0.05 0 0.5"/>
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<geometry>
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<box size="0.1 0.1 1"/>
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</geometry>
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<material name="framemat0">
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<color
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rgba="0.9 0.4 0. 1" />
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</material>
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</visual>
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<visual>
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<origin rpy="0 0 0" xyz="0.95 0 0.5"/>
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<geometry>
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<box size="0.1 0.1 1"/>
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</geometry>
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<material name="framemat0"/>
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</visual>
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<visual>
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<origin rpy="0 0 0" xyz="0.5 0 0.95"/>
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<geometry>
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<box size="1 0.1 0.1"/>
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</geometry>
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<material name="framemat0"/>
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</visual>
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<visual>
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<origin rpy="0 0 0" xyz="0.5 0 0.05"/>
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<geometry>
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<box size="1 0.1 0.1"/>
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</geometry>
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<material name="framemat0"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0.05 0 0.5"/>
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<geometry>
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<box size="0.1 0.1 1"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="0.95 0 0.5"/>
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<geometry>
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<box size="0.1 0.1 1"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="0.5 0 0.95"/>
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<geometry>
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<box size="1 0.1 0.1"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="0.5 0 0.05"/>
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<geometry>
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<box size="1 0.1 0.1"/>
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</geometry>
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</collision>
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</link>
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<link name="childA">
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<inertial>
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<origin rpy="0 0 0" xyz="0.4 0 0.4"/>
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<mass value="1.0"/>
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<inertia ixx="0.048966669" ixy="0" ixz="0" iyy="0.046466667" iyz="0" izz="0.0041666669"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0.4 0 0.4"/>
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<geometry>
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<box size="0.9 0.05 0.8"/>
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</geometry>
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<material name="doormat0">
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<color rgba="0.8 0.8 0.3 1" />
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0.4 0 0.4"/>
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<geometry>
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<box size="0.9 0.05 0.8"/>
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</geometry>
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</collision>
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</link>
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<joint name="joint_baseLink_childA" type="continuous">
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<parent link="baseLink"/>
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<child link="childA"/>
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<dynamics damping="1.0" friction="0.0001"/>
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<origin xyz="0.05 0 0.1"/>
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<axis xyz="0 0 1"/>
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</joint>
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</robot>
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