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Add small sphere, make teddy small too

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Add physics time scale in VR mode
Fix compound collision margin in physics server
Enable visuals for rigid body (non-multi-body) URDF/SDF loading in physics server.
This commit is contained in:
erwincoumans
2016-09-22 08:50:28 -07:00
parent bb214e823b
commit 46b32f17bb
6 changed files with 159 additions and 41 deletions
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30
data/sphere_small.urdf Normal file
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@@ -0,0 +1,30 @@
<?xml version="0.0" ?>
<robot name="urdf_robot">
<link name="base_link">
<contact>
<rolling_friction value="0.001"/>
<spinning_friction value="0.001"/>
</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="textured_sphere_smooth.obj" scale="0.03 0.03 0.03"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
</link>
</robot>

12
data/teddy_vhacd.urdf
View File

@@ -8,23 +8,23 @@
<contact_erp value="1.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0.7 0.5 0.3"/>
<mass value="1.0"/>
<origin rpy="0 0 0" xyz="0.07 0.05 0.03"/>
<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="teddy2_VHACD_CHs.obj" scale="1 1 1"/>
<mesh filename="teddy2_VHACD_CHs.obj" scale=".1 .1 .1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
<material name="red">
<color rgba="1 0.4 0.4 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="teddy2_VHACD_CHs.obj" scale="1 1 1"/>
<mesh filename="teddy2_VHACD_CHs.obj" scale=".1 .1 .1"/>
</geometry>
</collision>
</link>