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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,71 @@ | ||
| <?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>5.0 0.05 5.0</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>5.0 0.05 5.0</size> | ||
| </box> | ||
| </geometry> | ||
| </collision_shape> | ||
| </body> | ||
| <joint type="weld" name="joint 1"> | ||
| <parent>world</parent> | ||
| <child>ground</child> | ||
| </joint> | ||
| </skeleton> | ||
|
|
||
| <skeleton name="minitaur"> | ||
| <body name="box"> | ||
| <gravity>1</gravity> | ||
| <transformation>0 0 0 0 0 0</transformation> | ||
| <inertia> | ||
| <mass>1</mass> | ||
| <offset>0 0 0</offset> | ||
| </inertia> | ||
| <visualization_shape> | ||
| <transformation>0 0 0 0 0 0</transformation> | ||
| <geometry> | ||
| <box> | ||
| <size>0.2 0.2 0.2</size> | ||
| </box> | ||
| </geometry> | ||
| <color>0.8 0.3 0.3</color> | ||
| </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>box</child> | ||
| </joint> | ||
| </skeleton> | ||
|
|
||
| </world> | ||
| </skel> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,28 @@ | ||
| <?xml version="1.0"?> | ||
| <robot name="ground_skeleton"> | ||
| <link name="world" /> | ||
| <link name="ground_link"> | ||
| <inertial> | ||
| <mass value="1.0" /> | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> | ||
| <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0" /> | ||
| </inertial> | ||
| <visual> | ||
| <origin xyz="0 -0.525 0" rpy="0 -0 0" /> | ||
| <geometry> | ||
| <box size="5.0 5.0 0.05" /> | ||
| </geometry> | ||
| </visual> | ||
| <collision> | ||
| <origin xyz="0 -0.525 0" rpy="0 -0 0" /> | ||
| <geometry> | ||
| <box size="5.0 5.0 0.05" /> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
| <joint name="ground_joint" type="fixed"> | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> | ||
| <parent link="world" /> | ||
| <child link="ground_link" /> | ||
| </joint> | ||
| </robot> |
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