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allow auxilary link to be used for gear btMultiBodyGearConstraint.

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This commit is contained in:
Erwin Coumans
2017-06-23 20:24:04 -07:00
parent 8e9f5ef3f3
commit 65e22ba3e9
11 changed files with 74 additions and 28 deletions
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30
data/racecar/racecar_differential.urdf
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@@ -20,12 +20,12 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/chassis_differential.STL"/>
<mesh scale="1 1 1 1" filename="meshes/chassis_differential.STL"/>
</geometry>
<material name="blue"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.1477 0 0"/>
<origin rpy="0 0 0" xyz="0.2 0 0."/>
<mass value="4.0"/>
<inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
</inertial>
@@ -33,14 +33,14 @@
<!-- Add the left rear wheel with its joints and tranmissions -->
<link name="left_rear_wheel">
<contact>
<lateral_friction value="1.0"/>
<lateral_friction value=".5"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
<mass value="0.034055"/>
<mass value="0.34055"/>
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
</inertial>
<visual>
@@ -66,14 +66,14 @@
<!-- Add the right rear wheel with its joints and tranmissions -->
<link name="right_rear_wheel">
<contact>
<lateral_friction value="1.0"/>
<lateral_friction value=".5"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
<mass value="0.034055"/>
<mass value="0.34055"/>
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
</inertial>
<visual>
@@ -163,14 +163,14 @@
<!-- Add the left front wheel with its joints and tranmissions -->
<link name="left_front_wheel">
<contact>
<lateral_friction value="1.0"/>
<lateral_friction value=".8"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
<mass value="0.034055"/>
<mass value="0.34055"/>
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
</inertial>
<visual>
@@ -207,14 +207,14 @@
<!-- Add the left front wheel with its joints and tranmissions -->
<link name="right_front_wheel">
<contact>
<lateral_friction value="1.0"/>
<lateral_friction value="0.8"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
<mass value="0.034055"/>
<mass value="0.34055"/>
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
</inertial>
<visual>
@@ -533,7 +533,7 @@
</contact>
<inertial>
<mass value="0.5637"/>
<mass value="0.0637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
@@ -573,7 +573,7 @@
</contact>
<inertial>
<mass value="0.556"/>
<mass value="0.056"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
@@ -612,7 +612,7 @@
</contact>
<inertial>
<mass value="0.556"/>
<mass value="0.056"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
@@ -650,7 +650,7 @@
</contact>
<inertial>
<mass value="0.556"/>
<mass value="0.056"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
@@ -686,7 +686,7 @@
</contact>
<inertial>
<mass value="0.556"/>
<mass value="0.056"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>