data/user_data_test_object.urdf - master - redgpu/bullet

data/user_data_test_object.urdf
99 строк3 KB
Tigran Gasparian
Adds support for loading user data from URDF files.
17 янв 2020, 13:55
17 янв 2020, 13:5568d3fb2
<?xml version="1.0" ?>
<robot name="cube">
  <bullet>
    <user-data key="userDataInRobot">
      Inside the robot tag. Expected identifier: linkIndex: -1, visualShapeIndex: -1
    </user-data>
  </bullet>
  <link name="baseLink">
    <bullet>
      <user-data key="userDataInBaseLink">
        Inside the base link. Expected identifier: linkIndex: -1, visualShapeIndex: -1
      </user-data>
    </bullet>
    <bullet>
      <user-data key="secondBulletTagInBaseLink1">
        Second bullet tag inside the base link. Expected identifier: linkIndex: -1, visualShapeIndex: -1
      </user-data>
      <user-data key="secondBulletTagInBaseLink2">
        Second bullet tag inside the base link. Expected identifier: linkIndex: -1, visualShapeIndex: -1
      </user-data>
    </bullet>
    <contact>
      <lateral_friction value="1.0"/>
      <rolling_friction value="0.0"/>
      <contact_cfm value="0.0"/>
      <contact_erp value="1.0"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
       <mass value="1.0"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <bullet>
        <user-data key="userDataInVisualShape">
          This is user data inside the visual shape. Expected identifier: linkIndex: -1, visualShapeIndex: 0
        </user-data>
      </bullet>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
				<mesh filename="cube.obj" scale="1 1 1"/>
      </geometry>
       <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
	 	<box size="1 1 1"/>
      </geometry>
    </collision>
  </link>
  <link name="childLink">
    <bullet>
      <user-data key="userDataInChildLink">
        Inside the robot tag. Expected identifier: linkIndex: 0, visualShapeIndex: -1
      </user-data>
    </bullet>
    <contact>
      <lateral_friction value="1.0"/>
      <rolling_friction value="0.0"/>
      <contact_cfm value="0.0"/>
      <contact_erp value="1.0"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
       <mass value="1.0"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <bullet>
        <user-data key="userDataInVisualShape2">
          This is user data inside the visual shape. Expected identifier: linkIndex: 0, visualShapeIndex: 0
        </user-data>
      </bullet>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
				<mesh filename="cube.obj" scale="1 1 1"/>
      </geometry>
       <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
	 	<box size="1 1 1"/>
      </geometry>
    </collision>
    </link>
      <joint name="joint" type="fixed">
      <parent link="baseLink"/>
      <child link="childLink"/>
      <dynamics damping="1.0" friction="0.0001"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <axis xyz="0 0 0"/>
    </joint>
</robot>