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add cup example, generated using vhacd

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Erwin Coumans
2018-01-12 09:01:16 -08:00
parent 0e41cc65c9
commit 1875652d8f
6 changed files with 22849 additions and 0 deletions
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30
data/dinnerware/cup/cup_small.urdf Normal file
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<?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="-0.01 0 0.02"/>
<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="Cup/textured-0008192.obj" scale="0.5 0.5 0.5"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="Cup/cup_vhacd.obj" scale="0.5 0.5 0.5"/>
</geometry>
</collision>
</link>
</robot>