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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 -0.375 0 0 0 0</transformation>
<visualization_shape>
<transformation>0 0 0 0 0 0</transformation>
<geometry>
<box>
<size>2.5 0.05 2.5</size>
<!--size>0.01 0.01 0.01</size-->
</box>
</geometry>
<color>0.95 0.95 0.95</color>
</visualization_shape>
<collision_shape>
<transformation>0 0 0 0 0 0</transformation>
<geometry>
<box>
<size>2.5 0.05 2.5</size>
</box>
</geometry>
</collision_shape>
</body>
<joint type="weld" name="joint 1">
<parent>world</parent>
<child>ground</child>
</joint>
</skeleton>
<skeleton name="skeleton 1">
<body name="link 1">
<gravity>1</gravity>
<transformation>0.1 0.10 0 1 2 3</transformation>
<inertia>
<mass>0.5</mass>
<offset>0 0 0</offset>
</inertia>
<soft_shape>
<total_mass>0.5</total_mass>
<transformation>0.1 0.10 0 1 2 3</transformation>
<geometry>
<box>
<size>0.25 0.25 0.25</size>
<frags>2 2 2</frags>
</box>
</geometry>
<kv>100.0</kv>
<ke>10.0</ke>
<damp>1.0</damp>
</soft_shape>
<visualization_shape>
<transformation>0 0 0 0 0 0</transformation>
<geometry>
<box>
<size>0.2 0.2 0.2</size>
</box>
</geometry>
</visualization_shape>
<collision_shape>
<transformation>0 0 0 0 0 0</transformation>
<geometry>
<box>
<size>0.2 0.2 0.2</size>
</box>
</geometry>
</collision_shape>
</body>
<joint type="free" name="joint 1">
<parent>world</parent>
<child>link 1</child>
<!--transformation>-0.1 0 0 0 0 0</transformation-->
<!--transformation>0 -0.1 0 0 0 0</transformation-->
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
</skeleton>
</world>
</skel>
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