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Commit ae4dfeb1 authored by themarex's avatar themarex
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Add example for torque calculation testing 

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@685 042f3d55-54a8-47e9-b7fb-15903f145c44
parent 3219fd4b
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VirtualRobot/data/robots/examples/SimpleRobot/ChainOnBox.xml 0 → 100644
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<?xml version="1.0" encoding="UTF-8" ?>
<Robot Type="Simple3DoFRobot" RootNode="Start">
<RobotNode name="Start">
<Visualization enable="true">
<Primitives>
<Box width="1000" height="1000" depth="1000"/>
</Primitives>
<UseAsCollisionModel/>
</Visualization>
<Physics>
<IgnoreCollision name="Joint1"/>
<IgnoreCollision name="Joint2"/>
<IgnoreCollision name="Joint3"/>
<Mass value="10000" units="kg" />
</Physics>
<Child name="Joint1_Trafo"/>
</RobotNode>
<RobotNode name="Joint1_Trafo">
<Transform>
<Translation x="500" y="0" z="500"/>
<rollpitchyaw roll="90" pitch="0" yaw="0" unitsAngle="degree"/>
</Transform>
<Child name="Joint1"/>
</RobotNode>
<RobotNode name="Joint1">
<Joint type="revolute">
<Limits unit="degree" lo="-90" hi="90"/>
</Joint>
<Child name="Body2"/>
</RobotNode>
<RobotNode name="Body2">
<Transform>
<Translation x="250" y="0" z="0"/>
</Transform>
<Visualization enable="true">
<Primitives>
<Box width="500" height="100" depth="100"/>
</Primitives>
<UseAsCollisionModel/>
</Visualization>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="1" units="kg" />
</Physics>
<Child name="Joint2"/>
</RobotNode>
<RobotNode name="Joint2">
<Transform>
<DH a="250" d="0" theta="0" alpha="0" units="degree"/>
</Transform>
<Joint type="revolute">
<Limits unit="degree" lo="-180" hi="45"/>
</Joint>
<Child name="Body3"/>
</RobotNode>
<RobotNode name="Body3">
<Transform>
<Translation x="250" y="0" z="0"/>
</Transform>
<Visualization enable="true">
<Primitives>
<Box width="500" height="100" depth="100"/>
</Primitives>
<UseAsCollisionModel/>
</Visualization>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="1" units="kg" />
</Physics>
<Child name="Joint3"/>
</RobotNode>
<RobotNode name="Joint3">
<Transform>
<DH a="250" d="0" theta="0" alpha="0" units="degree"/>
</Transform>
<Joint type="revolute">
<Limits unit="degree" lo="-90" hi="90"/>
</Joint>
<Child name="Body4"/>
</RobotNode>
<RobotNode name="Body4">
<Transform>
<Translation x="250" y="0" z="0"/>
</Transform>
<Visualization enable="true">
<Primitives>
<Box width="500" height="100" depth="100"/>
</Primitives>
<UseAsCollisionModel/>
</Visualization>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="1" units="kg" />
<IgnoreCollision name="EndPoint"/>
</Physics>
<Child name="EndTransform"/>
</RobotNode>
<RobotNode name="EndTransform">
<Transform>
<Translation x="250" y="0" z="50"/>
</Transform>
<Child name="EndPoint"/>
</RobotNode>
<RobotNode name="EndPoint">
<Visualization enable="true">
<Primitives>
<Sphere radius="100"/>
</Primitives>
<UseAsCollisionModel/>
</Visualization>
<Transform>
<Translation x="50" y="100" z="-50"/>
</Transform>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="10" units="kg" />
</Physics>
</RobotNode>
<RobotNodeSet name="AllJoints">
<Node name="Joint1"/>
<Node name="Joint2"/>
<Node name="Joint3"/>
</RobotNodeSet>
<RobotNodeSet name="CollisionModel">
<Node name="Joint1"/>
<Node name="Joint2"/>
<Node name="Joint3"/>
<Node name="EndPoint"/>
</RobotNodeSet>
</Robot>
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