mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 14:10:11 +00:00
081a40d254
need to add streaming because memory is too small to store all lines initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
74 lines
1.9 KiB
XML
74 lines
1.9 KiB
XML
<?xml version="0.0" ?>
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<robot name="urdf_robot">
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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="0.0"/>
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.35"/>
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<geometry>
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<box size="0.08 0.16 0.7"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0.35"/>
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<geometry>
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<box size="0.08 0.16 0.7"/>
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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 0 -0.36"/>
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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 0 -0.36"/>
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<geometry>
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<box size="0.1 0.2 0.72"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 -0.36"/>
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<geometry>
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<box size="0.1 0.2 0.72 "/>
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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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<origin xyz="0 0 0"/>
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<axis xyz="1 0 0"/>
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</joint>
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<link name="childB">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 -0.36"/>
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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 0 -0.36"/>
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<geometry>
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<sphere radius="0.2"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 -0.36"/>
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<geometry>
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<sphere radius="0.2"/>
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</geometry>
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</collision>
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</link>
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<joint name="joint_childA_childB" type="fixed">
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<parent link="childA"/>
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<child link="childB"/>
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<origin xyz="0 0 -0.2"/>
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</joint>
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</robot>
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