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

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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
This commit is contained in:
erwin coumans
2016-09-19 07:02:43 -07:00
parent 48d42c7c6e
commit db3122233f
23 changed files with 297 additions and 113 deletions
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25
data/pr2_gripper.urdf
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@@ -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"/>