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Allow choosing loaded as btRigidBody with RobotSimAPI.

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This commit is contained in:
yunfeibai
2016-08-16 16:57:48 -07:00
parent 9c4cfde3d6
commit 4bc31394a0
6 changed files with 56 additions and 6 deletions
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35
data/cube_small.sdf Normal file
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@@ -0,0 +1,35 @@
<sdf version='1.6'>
<world name='default'>
<model name='unit_box_0'>
<pose frame=''>0 0 0.107 0 0 0</pose>
<link name='unit_box_0::link'>
<inertial>
<mass>0.1</mass>
<inertia>
<ixx>1.0</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1.0</iyy>
<iyz>0</iyz>
<izz>1.0</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<box>
<size>0.05 0.05 0.05</size>
</box>
</geometry>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<scale>0.05 0.05 0.05</scale>
<uri>cube.obj</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</world>
</sdf>