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<?xml version="1.0" ?>
<skel version="1.0">
<world name="world 1">
<physics>
<time_step>0.001</time_step>
<gravity>0 -9.81 0</gravity>
<collision_detector>fcl_mesh</collision_detector>
</physics>
<skeleton name="ground skeleton">
<body name="ground">
<transformation>0 -0.5 0 0 0 0</transformation>
<visualization_shape>
<transformation>0 0 0 0 0 0</transformation>
<geometry>
<box>
<size>2.0 0.01 2.0</size>
</box>
</geometry>
</visualization_shape>
<collision_shape>
<transformation>0 0 0 0 0 0</transformation>
<geometry>
<box>
<size>2.0 0.01 2.0</size>
</box>
</geometry>
</collision_shape>
</body>
<joint type="weld" name="joint 1">
<parent>world</parent>
<child>ground</child>
</joint>
</skeleton>
<skeleton name="sphere skeleton 1 - no cog offset">
<body name="sphere link 1">
<gravity>1</gravity>
<transformation>0 1.0 0 0 0 0</transformation>
<inertia>
<mass>5</mass>
<offset>0 0 0</offset>
<moment_of_inertia>
<ixx>1</ixx>
<iyy>1</iyy>
<izz>1</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</moment_of_inertia>
</inertia>
<visualization_shape>
<transformation>0 0 0 0 0 0</transformation>
<geometry>
<ellipsoid>
<size>0.2 0.2 0.2</size>
</ellipsoid>
</geometry>
</visualization_shape>
<collision_shape>
<transformation>0 0 0 0 0 0</transformation>
<geometry>
<ellipsoid>
<size>0.2 0.2 0.2</size>
</ellipsoid>
</geometry>
</collision_shape>
</body>
<joint type="free" name="sphere free joint 1">
<parent>world</parent>
<child>sphere link 1</child>
</joint>
</skeleton>
<skeleton name="sphere skeleton - cog offset (0.05, 0.0, 0.0)">
<body name="sphere link 1">
<gravity>1</gravity>
<transformation>0.5 1.0 0 0 0 0</transformation>
<inertia>
<mass>5</mass>
<offset>0.05 0 0</offset>
<moment_of_inertia>
<ixx>1</ixx>
<iyy>1</iyy>
<izz>1</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</moment_of_inertia>
</inertia>
<visualization_shape>
<transformation>0 0 0 0 0 0</transformation>
<geometry>
<ellipsoid>
<size>0.2 0.2 0.2</size>
</ellipsoid>
</geometry>
</visualization_shape>
<collision_shape>
<transformation>0 0 0 0 0 0</transformation>
<geometry>
<ellipsoid>
<size>0.2 0.2 0.2</size>
</ellipsoid>
</geometry>
</collision_shape>
</body>
<joint type="free" name="sphere free joint 1">
<parent>world</parent>
<child>sphere link 1</child>
</joint>
</skeleton>
</world>
</skel>
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