remove that odd triangle in the origin of samurai castle (VR)

add rolling/spinning friction to cube, remove it from plane/samurai.urdf
URDF2Bullet: support joint limits for revolute and prismatic, only if defined (if upper < lower, disable limit)
add some profiling markers to improve performance

data/cube_small.urdf

@@ -3,7 +3,6 @@
   <link name="baseLink">
     <contact>
       <lateral_friction value="1.0"/>
-      <spinning_friction value="0.1"/>
       <inertia_scaling value="3.0"/>
     </contact>
     <inertial>

data/plane.urdf

@@ -1,6 +1,6 @@
 <?xml version="0.0" ?>
 <robot name="cube.urdf">
-  <link name="baseLink">
+  <link name="planeLink">
     <inertial>
       <origin rpy="0 0 0" xyz="0 0 0"/>
        <mass value=".0"/>

data/pr2_gripper.urdf

@@ -17,7 +17,7 @@
       <origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
     </collision>
     <inertial>
-      <mass value="0.05"/>
+      <mass value="100"/>
       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
     </inertial>
   </link>
@@ -41,12 +41,6 @@
         <mesh filename="l_finger.stl"/>
       </geometry>
     </visual>
-    <collision>
-      <geometry>
-        <mesh filename="l_finger.stl"/>
-      </geometry>
-      <origin rpy="0.0 0 0" xyz="0 0 0"/>
-    </collision>
     <inertial>
       <mass value="0.05"/>
       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
@@ -61,6 +55,7 @@
   <link name="left_tip">
     <contact>
       <lateral_friction value="50.0"/>
+      <spinning_friction value="0.1"/>
     </contact>
     <visual>
       <origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
@@ -70,9 +65,9 @@
     </visual>
     <collision>
       <geometry>
-        <box size=".03 .03 .02"/>
+        <box size=".13 .03 .02"/>
       </geometry>
-      <origin rpy="0.0 0 0" xyz="0.109137 0.00495 0"/>
+      <origin rpy="0.0 0 0" xyz="0.055 0.00495 0"/>
     </collision>
     <inertial>
       <mass value="0.05"/>
@@ -91,6 +86,7 @@
   <link name="right_gripper">
     <contact>
       <lateral_friction value="50.0"/>
+      <spinning_friction value="0.1"/>
     </contact>
     <visual>
       <origin rpy="-3.1415 0 0" xyz="0 0 0"/>
@@ -98,12 +94,6 @@
         <mesh filename="l_finger.stl"/>
       </geometry>
     </visual>
-    <collision>
-      <geometry>
-        <mesh filename="l_finger.stl"/>
-      </geometry>
-      <origin rpy="-3.1415 0 0" xyz="0 0 0"/>
-    </collision>
     <inertial>
       <mass value="0.05"/>
       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
@@ -118,6 +108,7 @@
   <link name="right_tip">
     <contact>
       <lateral_friction value="50.0"/>
+      <spinning_friction value="0.1"/>
     </contact>
     <visual>
       <origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
@@ -127,9 +118,9 @@
     </visual>
     <collision>
       <geometry>
-        <box size=".03 .03 .02"/>
+        <box size=".13 .03 .02"/>
       </geometry>
-      <origin rpy="-3.1415 0 0" xyz="0.109137 0.00495 0"/>
+      <origin rpy="-3.1415 0 0" xyz="0.055 0.00495 0"/>
     </collision>
     <inertial>
       <mass value="0.05"/>

data/samurai.urdf

@@ -1,9 +1,6 @@
 <?xml version="0.0" ?>
 <robot name="cube.urdf">
   <link concave="yes" name="baseLink">
-    <contact>
-      <rolling_friction value="0.3"/>
-    </contact>
     <inertial>
       <origin rpy="0 0 0" xyz="0 0 0"/>
        <mass value=".0"/>

data/samurai_monastry.obj

@@ -331416,11 +331416,3 @@ f 30335 30336
 f 1329 1330
 f 77715 77717
 f 20619 20622
-o Cube
-v -0.500000 -0.200000 -1.000000
-v 1.000000 -0.000000 0.000000
-v -0.500000 0.200000 1.000000
-usemtl Material
-s off
-f 86188 86189 86190
-f 86189 86188 86190

data/sphere2.urdf

@@ -1,6 +1,11 @@
 <?xml version="0.0" ?>
 <robot name="urdf_robot">
   <link name="baseLink">
+  	<contact>
+      <rolling_friction value="0.03"/>
+      <spinning_friction value="0.03"/>
+    </contact>
+
     <inertial>
       <origin rpy="0 0 0" xyz="0 0 0"/>
        <mass value="10.0"/>

data/teddy_vhacd.urdf

@@ -0,0 +1,32 @@
+<?xml version="0.0" ?>
+<robot name="cube.urdf">
+  <link name="baseLink">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.7 0.5 0.3"/>
+       <mass value="1.0"/>
+       <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"/>
+      </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="teddy2_VHACD_CHs.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+