Add bullet thirdparty library
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Dane Johnson
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URDF created by Erwin Coumans
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Bullet Continuous Collision Detection and Physics Library
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http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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<?xml version="1.0" ?>
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<robot name="husky_robot" xmlns:xacro="http://ros.org/wiki/xacro">
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<material name="White">
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<color rgba="1.0 1.0 1.0 1.0"/>
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</material>
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<link name="world"/>
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<link name="diff_ring">
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0"/>
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<stiffness value="30000"/>
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<damping value="1000"/>
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</contact>
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<inertial>
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<mass value="2.637"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
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</inertial>
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<visual>
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh scale="0.001 0.001 0.001" filename="differential/diff_ring.stl"/>
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</geometry>
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<material name="DarkGrey"/>
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</visual>
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<visual>
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh scale="0.001 0.001 0.001" filename="differential/diff_carrier.stl"/>
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</geometry>
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<material name="DarkGrey"/>
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</visual>
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<collision>
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<origin rpy="1.570795 0 0" xyz="0 0.025 0"/>
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<geometry>
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<cylinder length="0.01" radius="0.05"/>
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</geometry>
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</collision>
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</link>
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<joint name="diff_ring_world" type="continuous">
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<parent link="world"/>
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<child link="diff_ring"/>
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<origin rpy="0 0 0" xyz="0.256 0.2854 0.03282"/>
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<axis rpy="0 0 0" xyz="0 1 0"/>
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</joint>
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<link name="diff_spiderA">
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0"/>
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<stiffness value="30000"/>
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<damping value="1000"/>
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</contact>
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<inertial>
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<mass value="2.637"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
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</inertial>
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<visual>
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
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</geometry>
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<material name="DarkGrey"/>
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</visual>
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<collision>
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<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
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<geometry>
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<cylinder length="0.01" radius="0.015"/>
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</geometry>
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</collision>
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</link>
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<joint name="diff_spiderA_ring" type="continuous">
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<parent link="diff_ring"/>
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<child link="diff_spiderA"/>
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<origin rpy="0 0 1.570795" xyz="0.0 0.0 0.0"/>
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<axis rpy="0 0 0" xyz="0 1 0"/>
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</joint>
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<link name="diff_spiderB">
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0"/>
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<stiffness value="30000"/>
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<damping value="1000"/>
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</contact>
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<inertial>
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<mass value="2.637"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
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</inertial>
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<visual>
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
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</geometry>
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<material name="DarkGrey"/>
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</visual>
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<collision>
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<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
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<geometry>
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<cylinder length="0.01" radius="0.015"/>
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</geometry>
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</collision>
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</link>
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<joint name="diff_spiderB_ring" type="continuous">
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<parent link="diff_ring"/>
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<child link="diff_spiderB"/>
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<origin rpy="0 0 -1.570795" xyz="0.0 0.0 0.0"/>
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<axis rpy="0 0 0" xyz="0 1 0"/>
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</joint>
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<link name="diff_sideA">
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0"/>
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<stiffness value="30000"/>
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<damping value="1000"/>
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</contact>
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<inertial>
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<mass value="2.637"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
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</inertial>
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<visual>
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<origin rpy="1.570795 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
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</geometry>
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<material name="DarkGrey"/>
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</visual>
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<collision>
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<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
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<geometry>
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<cylinder length="0.01" radius="0.015"/>
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</geometry>
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</collision>
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</link>
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<joint name="diff_sideA_ring" type="continuous">
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<parent link="diff_ring"/>
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<child link="diff_sideA"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<axis rpy="0 0 0" xyz="0 1 0"/>
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</joint>
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<link name="diff_sideB">
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0"/>
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<stiffness value="30000"/>
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<damping value="1000"/>
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</contact>
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<inertial>
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<mass value="2.637"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
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</inertial>
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<visual>
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<origin rpy="-1.570795 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
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</geometry>
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<material name="DarkGrey"/>
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</visual>
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<collision>
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<origin rpy="-1.570795 0 0" xyz="0 -0.01 0"/>
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<geometry>
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<cylinder length="0.01" radius="0.015"/>
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</geometry>
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</collision>
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</link>
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<joint name="diff_sideB_ring" type="continuous">
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<parent link="diff_ring"/>
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<child link="diff_sideB"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<axis rpy="0 0 0" xyz="0 1 0"/>
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</joint>
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</robot>
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stl files were copied from http://www.otvinta.com/download09.html
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URDF file was manually created, along with mimicJointConstraint.py
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