mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
db3122233f
add rolling/spinning friction to cube, remove it from plane/samurai.urdf URDF2Bullet: support joint limits for revolute and prismatic, only if defined (if upper < lower, disable limit) add some profiling markers to improve performance
31 lines
732 B
XML
31 lines
732 B
XML
<?xml version="0.0" ?>
|
|
<robot name="cube.urdf">
|
|
<link name="baseLink">
|
|
<contact>
|
|
<lateral_friction value="1.0"/>
|
|
<inertia_scaling value="3.0"/>
|
|
</contact>
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<mass value=".1"/>
|
|
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="cube.obj" scale=".05 .05 .05"/>
|
|
</geometry>
|
|
<material name="white">
|
|
<color rgba="1 1 1 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<box size=".05 .05 .05"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
</robot>
|
|
|