mirror of
https://github.com/bulletphysics/bullet3
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cb23e6c102
Also, add a inverse_dynamics.py example, with URDF files. Thanks to Michiel Lutter for the report and repro case! This fixes issue #1379 https://github.com/bulletphysics/bullet3/issues/1379
111 lines
3.4 KiB
XML
111 lines
3.4 KiB
XML
<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from TwoJointRobot_woCyl.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="TwoJointRobot" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<material name="blue">
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<color rgba="0 0 0.8 1"/>
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</material>
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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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<link name="base_link">
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<visual>
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<geometry>
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<cylinder length="0.05" radius="0.075"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0.025"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.05" radius="0.075"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0.025"/>
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</collision>
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<inertial>
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<mass value="0.2"/>
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<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
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</inertial>
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</link>
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<link name="link_23_cyl">
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<visual>
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<geometry>
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<cylinder length="0.05" radius="0.075"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.05" radius="0.075"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</collision>
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<inertial>
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<mass value="0.2"/>
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<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
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</inertial>
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</link>
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<link name="link_1">
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<visual>
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<geometry>
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<box size="1.0 0.1 0.05"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0.5 0 0"/>
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<material name="blue"/>
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</visual>
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<collision>
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<geometry>
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<box size="1.0 0.1 0.05"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0.5 0 0"/>
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</collision>
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<inertial>
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<mass value="0.5"/>
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<inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
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</inertial>
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</link>
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<link name="link_2">
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<visual>
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<geometry>
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<box size="1.0 0.1 0.05"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0.5 0 0"/>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<box size="1.0 0.1 0.05"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0.5 0 0"/>
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</collision>
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<inertial>
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<mass value="0.5"/>
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<inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
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</inertial>
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</link>
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<joint name="joint_1" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort="10000" lower="-3.14" upper="3.14" velocity="5"/>
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<dynamics damping="0" friction="0"/>
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<origin rpy="0 0 0" xyz="0 0 0.075"/>
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<parent link="base_link"/>
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<child link="link_1"/>
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</joint>
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<joint name="joint_2" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort="10000" lower="-3.14" upper="3.14" velocity="5"/>
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<dynamics damping="0" friction="0"/>
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<origin rpy="0 0 0" xyz="1.0 0. 0.05"/>
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<parent link="link_1"/>
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<child link="link_2"/>
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</joint>
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<joint name="link_23" type="fixed">
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<origin rpy="0 0 0" xyz="1.0 0 0"/>
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<parent link="link_2"/>
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<child link="link_23_cyl"/>
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</joint>
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</robot>
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