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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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Erwin Coumans
2016-03-17 16:12:48 -07:00
parent 7e4dfb7207 fe92de3e50
commit 643cf5ab1d
15 changed files with 1005 additions and 874 deletions
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98
data/door.urdf Normal file
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<?xml version="0.0" ?>
<robot name="urdf_door">
<link name="baseLink">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.35"/>
<mass value="0.0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.05 0 0.5"/>
<geometry>
<box size="0.1 0.1 1"/>
</geometry>
<material name="framemat0">
<color
rgba="0.9 0.4 0. 1" />
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0.95 0 0.5"/>
<geometry>
<box size="0.1 0.1 1"/>
</geometry>
<material name="framemat0"/>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0.5 0 0.95"/>
<geometry>
<box size="1 0.1 0.1"/>
</geometry>
<material name="framemat0"/>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0.5 0 0.05"/>
<geometry>
<box size="1 0.1 0.1"/>
</geometry>
<material name="framemat0"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.05 0 0.5"/>
<geometry>
<box size="0.1 0.1 1"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0.95 0 0.5"/>
<geometry>
<box size="0.1 0.1 1"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0.5 0 0.95"/>
<geometry>
<box size="1 0.1 0.1"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0.5 0 0.05"/>
<geometry>
<box size="1 0.1 0.1"/>
</geometry>
</collision>
</link>
<link name="childA">
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.36"/>
<mass value="1.0"/>
<inertia ixx="0.048966669" ixy="0" ixz="0" iyy="0.046466667" iyz="0" izz="0.0041666669"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.4 0 0.4"/>
<geometry>
<box size="0.9 0.05 0.8"/>
</geometry>
<material name="doormat0">
<color rgba="0.8 0.8 0.3 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.4 0 0.4"/>
<geometry>
<box size="0.9 0.05 0.8"/>
</geometry>
</collision>
</link>
<joint name="joint_baseLink_childA" type="continuous">
<parent link="baseLink"/>
<child link="childA"/>
<dynamics damping="1.0" friction="0.0001"/>
<origin xyz="0.05 0 0.1"/>
<axis xyz="0 0 1"/>
</joint>
</robot>

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data/slope.bullet
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