mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 06:00:12 +00:00
81 lines
1.9 KiB
XML
81 lines
1.9 KiB
XML
<?xml version="1.0"?>
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<robot name="physics">
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<link name="slideBar">
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<visual>
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<geometry>
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<box size="30 0.05 0.05"/>
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</geometry>
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<origin xyz="0 0 0"/>
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<material name="green">
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<color rgba="0 0.8 .8 1"/>
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</material>
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</visual>
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<inertial>
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<mass value="0"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<link name="cart">
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<visual>
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<geometry>
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<box size="0.5 0.5 0.2"/>
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</geometry>
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<origin xyz="0 0 0"/>
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<material name="blue">
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<color rgba="0 0 .8 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<box size="0.5 0.5 0.2"/>
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</geometry>
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<origin xyz="0 0 0"/>
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</collision>
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<inertial>
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<mass value="1"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="slider_to_cart" type="prismatic">
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<axis xyz="1 0 0"/>
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<origin xyz="0.0 0.0 0.0"/>
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<parent link="slideBar"/>
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<child link="cart"/>
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<limit effort="1000.0" lower="-15" upper="15" velocity="5"/>
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</joint>
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<link name="pole">
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<visual>
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<geometry>
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<box size="0.05 0.05 1.0"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0.5"/>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<inertial>
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<origin xyz="0 0 0.5"/>
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<mass value="10"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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<collision>
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<geometry>
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<box size="0.05 0.05 1.0"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0.5"/>
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</collision>
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</link>
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<joint name="cart_to_pole" type="continuous">
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<axis xyz="0 1 0"/>
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<origin xyz="0.0 0.0 0"/>
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<parent link="cart"/>
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<child link="pole"/>
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</joint>
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</robot>
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