794c8ec064
add sphere2.urdf move btSpatialAlgebra into LinearMath remove some warnings, introduce BT_ZERO, BT_ONE, BT_HALF as defines for 0.f/0., 1.f/1., 0.5f/0.5 respectively
48 lines
1.1 KiB
XML
48 lines
1.1 KiB
XML
<?xml version="0.0" ?>
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<robot name="urdf_robot">
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<link name="baseLink">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="10.0"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<sphere radius="0.5"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<sphere radius="0.5"/>
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</geometry>
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</collision>
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</link>
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<link name="childA">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="10.0"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<sphere radius="0.5"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<sphere radius="0.5"/>
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</geometry>
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</collision>
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</link>
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<joint name="joint_baseLink_childA" type="fixed">
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<parent link="baseLink"/>
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<child link="childA"/>
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<origin xyz="0 0 1.0"/>
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</joint>
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</robot>
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