mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-06-11 16:04:00 +00:00
13fa178cf6
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.
415 lines
No EOL
10 KiB
XML
415 lines
No EOL
10 KiB
XML
<?xml version="1.0"?>
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<!--https://valerolab.org/-->
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<!--
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Code used for PID control of an inverted pendulum actuated by strings.
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-->
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<robot name="myfirst">
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<material name="blue">
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<color rgba="0 0 0.8 1"/>
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</material>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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<material name="other">
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<color rgba="1 0 0.8 1"/>
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</material>
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<velocity name="vel">
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<speed spd="50"/>
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</velocity>
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<link name="Base">
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<visual>
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<geometry>
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<box size="0.3 0.3 1.5"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<box size="0.3 0.3 1.5"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="100"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<link name="pulley1">
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<visual>
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<geometry>
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<cylinder length=".1" radius=".5"/>
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</geometry>
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<material name="blue"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius=".5"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="2"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<joint name="Base_pulley1" type="revolute">
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<axis xyz="0 0 1"/>
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<parent link="Base"/>
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<child link="pulley1"/>
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<limit effort="0" lower="1" upper="0" velocity="50"/>
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<origin rpy="-1.57075 1.57075 0" xyz="0 .35 .15"/>
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</joint>
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<link name="tendon1_1">
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<visual>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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<material name="blue"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<joint name="pulley1_tendon1_1" type="revolute">
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<axis xyz="0 0 1"/>
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<parent link="pulley1"/>
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<child link="tendon1_1"/>
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<limit effort="0" lower="1" upper="0" velocity="50"/>
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<origin rpy="0 0 3.1416" xyz="0 .55 0"/>
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</joint>
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<link name="tendon1_2">
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<visual>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<joint name="tendon1_1_tendon1_2" type="revolute">
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<axis xyz="0 0 1"/>
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<parent link="tendon1_1"/>
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<child link="tendon1_2"/>
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<limit effort="0" lower="1" upper="0" velocity="50"/>
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<origin rpy="0 0 0" xyz=".2 0 0"/>
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</joint>
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<link name="tendon1_3">
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<visual>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<joint name="tendon1_2_tendon1_3" type="revolute">
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<axis xyz="0 0 1"/>
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<parent link="tendon1_2"/>
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<child link="tendon1_3"/>
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<limit effort="0" lower="1" upper="0" velocity="50"/>
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<origin rpy="0 0 0" xyz=".2 0 0"/>
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</joint>
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<link name="tendon1_4">
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<visual>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<joint name="tendon1_3_tendon1_4" type="revolute">
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<axis xyz="0 0 1"/>
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<parent link="tendon1_3"/>
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<child link="tendon1_4"/>
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<limit effort="0" lower="1" upper="0" velocity="50"/>
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<origin rpy="0 0 1" xyz=".2 0 0"/>
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</joint>
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<link name="tendon1_5">
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<visual>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<joint name="tendon1_4_tendon1_5" type="revolute">
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<axis xyz="0 0 1"/>
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<parent link="tendon1_4"/>
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<child link="tendon1_5"/>
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<limit effort="0" lower="1" upper="0" velocity="50"/>
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<origin rpy="0 0 1" xyz=".2 0 0"/>
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</joint>
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<link name="tendon1_6">
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<visual>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<joint name="tendon1_5_tendon1_6" type="revolute">
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<axis xyz="0 0 1"/>
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<parent link="tendon1_5"/>
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<child link="tendon1_6"/>
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<limit effort="0" lower="1" upper="0" velocity="50"/>
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<origin rpy="0 0 0" xyz=".2 0 0"/>
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</joint>
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<link name="tendon1_7">
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<visual>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<joint name="tendon1_6_tendon1_7" type="revolute">
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<axis xyz="0 0 1"/>
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<parent link="tendon1_6"/>
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<child link="tendon1_7"/>
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<limit effort="0" lower="1" upper="0" velocity="50"/>
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<origin rpy="0 0 0" xyz=".2 0 0"/>
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</joint>
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<link name="tendon1_8">
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<visual>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<joint name="tendon1_7_tendon1_8" type="revolute">
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<axis xyz="0 0 1"/>
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<parent link="tendon1_7"/>
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<child link="tendon1_8"/>
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<limit effort="0" lower="1" upper="0" velocity="50"/>
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<origin rpy="0 0 0" xyz=".2 0 0"/>
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</joint>
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<link name="tendon1_9">
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<visual>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<joint name="tendon1_8_tendon1_9" type="revolute">
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<axis xyz="0 0 1"/>
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<parent link="tendon1_8"/>
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<child link="tendon1_9"/>
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<limit effort="0" lower="1" upper="0" velocity="50"/>
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<origin rpy="0 0 0" xyz=".2 0 0"/>
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</joint>
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<link name="tendon1_10">
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<visual>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<joint name="tendon1_9_tendon1_10" type="revolute">
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<axis xyz="0 0 1"/>
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<parent link="tendon1_9"/>
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<child link="tendon1_10"/>
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<limit effort="0" lower="1" upper="0" velocity="50"/>
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<origin rpy="0 0 0" xyz=".2 0 0"/>
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</joint>
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<link name="tendon1_11">
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<visual>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<joint name="tendon1_10_tendon1_11" type="revolute">
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<axis xyz="0 0 1"/>
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<parent link="tendon1_10"/>
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<child link="tendon1_11"/>
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<limit effort="0" lower="1" upper="0" velocity="50"/>
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<origin rpy="0 0 0" xyz=".2 0 0"/>
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</joint>
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<link name="tendon1_12">
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<visual>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<joint name="tendon1_11_tendon1_12" type="revolute">
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<axis xyz="0 0 1"/>
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<parent link="tendon1_11"/>
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<child link="tendon1_12"/>
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<limit effort="0" lower="1" upper="0" velocity="50"/>
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<origin rpy="0 0 0" xyz=".2 0 0"/>
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</joint>
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<link name="tendon1_13">
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<visual>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<joint name="tendon1_12_tendon1_13" type="revolute">
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<axis xyz="0 0 1"/>
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<parent link="tendon1_12"/>
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<child link="tendon1_13"/>
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<limit effort="0" lower="1" upper="0" velocity="50"/>
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<origin rpy="0 0 0" xyz=".2 0 0"/>
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</joint>
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<link name="tendon1_14">
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<visual>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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</inertial>
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</link>
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<joint name="tendon1_13_tendon1_14" type="revolute">
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<axis xyz="0 0 1"/>
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<parent link="tendon1_13"/>
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<child link="tendon1_14"/>
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<limit effort="0" lower="1" upper="0" velocity="50"/>
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<origin rpy="0 0 0" xyz=".2 0 0"/>
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</joint>
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</robot> |