mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-05 15:21:06 +00:00
94 lines
2.4 KiB
XML
94 lines
2.4 KiB
XML
<?xml version="1.0" ?>
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<robot name="cube">
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<link name="world"/>
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<link name="x_prismatic">
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<inertial>
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<mass value="0.01"/>
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<inertia ixx="0.2125" ixy="-0.005" ixz="0.0225" iyy="0.205" iyz="0.045" izz="0.0125"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</inertial>
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</link>
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<joint name="x_to_world" type="prismatic">
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<parent link="world"/>
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<child link="x_prismatic"/>
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<axis xyz="1 0 0"/>
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<limit effort="0.0" lower="1" upper="-1" velocity="1000.0"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</joint>
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<link name="y_prismatic">
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<inertial>
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<mass value="0.01"/>
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<inertia ixx="0.2125" ixy="-0.005" ixz="0.0225" iyy="0.205" iyz="0.045" izz="0.0125"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</inertial>
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</link>
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<joint name="y_to_x" type="prismatic">
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<parent link="x_prismatic"/>
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<child link="y_prismatic"/>
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<axis xyz="0 1 0"/>
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<limit effort="0.0" lower="1" upper="-1" velocity="1000.0"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</joint>
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<link name="z_prismatic">
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<inertial>
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<mass value="0.01"/>
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<inertia ixx="0.2125" ixy="-0.005" ixz="0.0225" iyy="0.205" iyz="0.045" izz="0.0125"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</inertial>
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</link>
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<joint name="z_to_y" type="prismatic">
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<parent link="y_prismatic"/>
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<child link="z_prismatic"/>
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<axis xyz="0 0 1"/>
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<limit effort="0.0" lower="1" upper="-1" velocity="1000.0"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</joint>
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<link name="baseLink">
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0"/>
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<contact_cfm value="0.0"/>
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<contact_erp value="1.0"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value=".1"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="cube.obj" scale="1 1 1"/>
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</geometry>
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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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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="1 1 1"/>
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</geometry>
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</collision>
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</link>
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<joint name="cube_to_z" type="continuous">
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<parent link="z_prismatic"/>
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<child link="baseLink"/>
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<axis xyz="0 1 0"/>
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<limit effort="0.0" lower="1" upper="-1" velocity="1000.0"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</joint>
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</robot>
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