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* Adjustment: Update Bullet version to 3.24.

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Robert MacGregor 2022-06-27 10:01:08 -04:00
parent 35de012ee7
commit 4a3f31df2a
6148 changed files with 2112532 additions and 56873 deletions
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14
Engine/lib/bullet/data/Quadrotor/LICENSE.txt Normal file
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URDF created by Erwin Coumans
Bullet Continuous Collision Detection and Physics Library
http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.

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Engine/lib/bullet/data/Quadrotor/quadrotor.urdf Normal file
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<?xml version="1.0" ?>
<!-- adapted from Daniel Mellinger, Nathan Michael, Vijay Kumar, "Trajectory Generation and Control for Precise Aggressive Maneuvers with Quadrotors" -->
<robot xmlns="http://drake.mit.edu"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://drake.mit.edu ../../../../pods/drake/doc/drakeURDF.xsd" name="quadrotor">
<link name="base_link">
<inertial>
<mass value="0.5"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.0023" ixy="0.0" ixz="0.0" iyy="0.0023" iyz="0.0" izz="0.004"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="quadrotor_base.obj" scale=".1 .1 .1"/>
</geometry>
</visual>
<!-- note: the original hector quadrotor urdf had a (simplified, but still complex) collision mesh, too -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius=".3" length=".1"/>
</geometry>
</collision>
</link>
<frame link="base_link" name="body" rpy="0 0 0" xyz="0 0 0" />
<force_element name="prop1">
<propellor lower_limit="0" upper_limit="10" scale_factor_thrust="1.0" scale_factor_moment="0.0245">
<parent link="base_link"/>
<origin xyz=".1750 0 0"/>
<axis xyz="0 0 1"/>
</propellor>
</force_element>
<force_element name="prop2">
<propellor lower_limit="0" upper_limit="10" scale_factor_thrust="1.0" scale_factor_moment="-0.0245">
<parent link="base_link"/>
<origin xyz="0 .1750 0 "/>
<axis xyz="0 0 1"/>
</propellor>
</force_element>
<force_element name="prop3">
<propellor lower_limit="0" upper_limit="10" scale_factor_thrust="1.0" scale_factor_moment="0.0245">
<parent link="base_link"/>
<origin xyz="-.1750 0 0"/>
<axis xyz="0 0 1"/>
</propellor>
</force_element>
<force_element name="prop4">
<propellor lower_limit="0" upper_limit="10" scale_factor_thrust="1.0" scale_factor_moment="-0.0245">
<parent link="base_link"/>
<origin xyz="0 -.1750 0"/>
<axis xyz="0 0 1"/>
</propellor>
</force_element>
</robot>