mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-07-16 09:04:38 +00:00
update bullet so it actually works
Moved the addSourceDirectory for physics/Bullet into the Engine/Source/CMakeLists.txt file that way it can actually appear where we expect it to in the solution explorer.
This commit is contained in:
marauder2k7
parent
c7be48130a
commit
13fa178cf6
5986 changed files with 1811270 additions and 453803 deletions
712
Engine/lib/bullet/data/quadruped/quadruped.urdf
Normal file
712
Engine/lib/bullet/data/quadruped/quadruped.urdf
Normal file
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@ -0,0 +1,712 @@
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<?xml version="1.0" ?>
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<robot name="quadruped">
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<link name="base_chassis_link">
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<visual>
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<geometry>
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<box size=".226 0.16 .07"/>
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</geometry>
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<material name="black">
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<color rgba="0 0 0 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<box size=".226 0.16 .07"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="3.2"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<link name="motor_front_rightR_link">
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<visual>
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<geometry>
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<cylinder length="0.026" radius="0.0434"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.026" radius="0.0434"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.25"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="motor_front_rightR_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="base_chassis_link"/>
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<child link="motor_front_rightR_link"/>
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<origin rpy="1.57075 0 0" xyz="0.21 -0.125 0"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="motor_front_rightL_link">
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<visual>
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<geometry>
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<cylinder length="0.026" radius="0.0434"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.026" radius="0.0434"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.25"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="motor_front_rightL_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="base_chassis_link"/>
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<child link="motor_front_rightL_link"/>
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<origin rpy="1.57075 0 0" xyz="0.21 -0.06 0"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="motor_front_leftR_link">
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<visual>
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<geometry>
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<cylinder length="0.026" radius="0.0434"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.026" radius="0.0434"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.25"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="motor_front_leftR_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="base_chassis_link"/>
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<child link="motor_front_leftR_link"/>
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<origin rpy="1.57075 0 0" xyz="0.21 0.125 0"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="motor_front_leftL_link">
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<visual>
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<geometry>
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<cylinder length="0.026" radius="0.0434"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.026" radius="0.0434"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.25"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="motor_front_leftL_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="base_chassis_link"/>
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<child link="motor_front_leftL_link"/>
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<origin rpy="1.57075 0 0" xyz="0.21 0.06 0"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="motor_back_rightR_link">
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<visual>
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<geometry>
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<cylinder length="0.026" radius="0.0434"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.026" radius="0.0434"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.25"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="motor_back_rightR_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="base_chassis_link"/>
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<child link="motor_back_rightR_link"/>
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<origin rpy="1.57075 0 0" xyz="-0.21 -0.125 0"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="motor_back_rightL_link">
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<visual>
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<geometry>
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<cylinder length="0.026" radius="0.0434"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.026" radius="0.0434"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.25"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="motor_back_rightL_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="base_chassis_link"/>
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<child link="motor_back_rightL_link"/>
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<origin rpy="1.57075 0 0" xyz="-0.21 -0.06 0"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="motor_back_leftR_link">
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<visual>
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<geometry>
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<cylinder length="0.026" radius="0.0434"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.026" radius="0.0434"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.25"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="motor_back_leftR_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="base_chassis_link"/>
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<child link="motor_back_leftR_link"/>
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<origin rpy="1.57075 0 0" xyz="-0.21 0.125 0"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="motor_back_leftL_link">
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<visual>
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<geometry>
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<cylinder length="0.026" radius="0.0434"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.026" radius="0.0434"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.25"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="motor_back_leftL_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="base_chassis_link"/>
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<child link="motor_back_leftL_link"/>
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<origin rpy="1.57075 0 0" xyz="-0.21 0.06 0"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="upper_leg_back_leftL_link">
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<visual>
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<geometry>
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<box size=".01 0.01 .11"/>
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</geometry>
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<material name="grey">
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<color rgba="0.65 0.65 0.75 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<box size=".01 0.01 .11"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.05"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="motor_back_leftL_link" type="fixed">
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<axis xyz="0 0 1"/>
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<parent link="motor_back_leftL_link"/>
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<child link="upper_leg_back_leftL_link"/>
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<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.02"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="upper_leg_back_leftR_link">
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<visual>
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<geometry>
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<box size=".01 0.01 .11"/>
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</geometry>
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<material name="grey">
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<color rgba="0.65 0.65 0.75 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<box size=".01 0.01 .11"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.05"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="hip_leftR_link" type="fixed">
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<axis xyz="0 0 1"/>
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<parent link="motor_back_leftR_link"/>
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<child link="upper_leg_back_leftR_link"/>
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<origin rpy="-1.57075 0 0" xyz="0.0 0.06 0.02"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="lower_leg_back_leftR_link">
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<visual>
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<origin rpy="0.0 0 0" xyz="0 0 .1"/>
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<geometry>
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<box size=".01 0.01 .2"/>
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</geometry>
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<material name="grey">
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<color rgba="0.65 0.65 0.75 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0.0 0 0" xyz="0 0 .1"/>
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<geometry>
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<box size=".01 0.01 .2"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.05"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="knee_back_leftR_link" type="revolute">
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<axis xyz="0 1 0"/>
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<parent link="upper_leg_back_leftR_link"/>
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<child link="lower_leg_back_leftR_link"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="lower_leg_back_leftL_link">
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<visual>
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<origin rpy="0.0 0 0" xyz="0 0 .1"/>
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<geometry>
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<box size=".01 0.01 .2"/>
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</geometry>
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<material name="grey">
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<color rgba="0.65 0.65 0.75 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0.0 0 0" xyz="0 0 .1"/>
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<geometry>
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<box size=".01 0.01 .2"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.05"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="knee_back_leftL_link" type="revolute">
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<axis xyz="0 1 0"/>
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<parent link="upper_leg_back_leftL_link"/>
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<child link="lower_leg_back_leftL_link"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="upper_leg_front_leftL_link">
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<visual>
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<geometry>
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||||
<box size=".01 0.01 .11"/>
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</geometry>
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<material name="grey">
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<color rgba="0.65 0.65 0.75 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<box size=".01 0.01 .11"/>
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</geometry>
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</collision>
|
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<inertial>
|
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<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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||||
</link>
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<joint name="motor_front_leftL_link" type="fixed">
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<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_leftL_link"/>
|
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<child link="upper_leg_front_leftL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.02"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="upper_leg_front_leftR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</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"/>
|
||||
</inertial>
|
||||
</link>
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||||
<joint name="hip_front_leftR_link" type="fixed">
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||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_leftR_link"/>
|
||||
<child link="upper_leg_front_leftR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 0.02"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
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||||
</joint>
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||||
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||||
<link name="lower_leg_front_leftR_link">
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</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"/>
|
||||
</inertial>
|
||||
</link>
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||||
<joint name="knee_front_leftR_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_leftR_link"/>
|
||||
<child link="lower_leg_front_leftR_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_front_leftL_link">
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</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"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_leftL_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_leftL_link"/>
|
||||
<child link="lower_leg_front_leftL_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="upper_leg_back_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</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"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_rightL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_rightL_link"/>
|
||||
<child link="upper_leg_back_rightL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 0.02"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_back_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</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"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_rightR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_back_rightR_link"/>
|
||||
<child link="upper_leg_back_rightR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.02"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_rightR_link">
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</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"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_rightR_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_rightR_link"/>
|
||||
<child link="lower_leg_back_rightR_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_back_rightL_link">
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</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"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_back_rightL_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_back_rightL_link"/>
|
||||
<child link="lower_leg_back_rightL_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_front_rightL_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</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"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_rightL_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_rightL_link"/>
|
||||
<child link="upper_leg_front_rightL_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 0.02"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_front_rightR_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .11"/>
|
||||
</geometry>
|
||||
</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"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hip_front_rightR_link" type="fixed">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="motor_front_rightR_link"/>
|
||||
<child link="upper_leg_front_rightR_link"/>
|
||||
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.02"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_front_rightR_link">
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</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"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_rightR_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_rightR_link"/>
|
||||
<child link="lower_leg_front_rightR_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_front_rightL_link">
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.65 0.65 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
||||
<geometry>
|
||||
<box size=".01 0.01 .2"/>
|
||||
</geometry>
|
||||
</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"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="knee_front_rightL_link" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="upper_leg_front_rightL_link"/>
|
||||
<child link="lower_leg_front_rightL_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
</robot>
|
||||
|
||||
Loading…
Add table
Add a link
Reference in a new issue