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commit the ABA comparison test between the RBDL and Bullet, and use the option BULLET_BUILD_RBDL_COMPARE_TEST to control if build it.

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Steven
2019-07-02 15:35:33 +08:00
parent 2db6d2f594
commit de16c23209
4 changed files with 490 additions and 2 deletions
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44
data/pantilt.urdf Executable file
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<?xml version="1.0"?>
<robot name="pan_tilt">
<link name="base_link">
<inertial>
<mass value="1"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="pan_joint" type="revolute">
<parent link="base_link"/>
<child link="pan_link"/>
<origin xyz="0 0 0.1"/>
<axis xyz="0 0 1" />
<limit effort="300" velocity="0.1" lower="-3.14" upper="3.14"/>
<dynamics damping="50" friction="1"/>
</joint>
<link name="pan_link">
<inertial>
<mass value="1"/>
<origin rpy="0 0 0" xyz="0 0 1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="tilt_joint" type="revolute">
<parent link="pan_link"/>
<child link="tilt_link"/>
<origin rpy="0.0 0.0 0.0" xyz="4 0 1"/>
<axis xyz="0.0 1.0 0.0" />
<limit effort="300" velocity="1.0" lower="-4.64" upper="4.64"/>
</joint>
<link name="tilt_link">
<inertial>
<mass value="5"/>
<origin rpy="0 0 0" xyz="1.001 1 1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
</robot>