64 lines
3.1 KiB
Plaintext
64 lines
3.1 KiB
Plaintext
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<!-- Joint -->
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<element name="joint" required="*">
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<attribute name="name" type="string" default="__default__" required="1"/>
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<attribute name="type" type="string" default="__default__" required="1"/>
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<element name="parent" required="1">
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<attribute name="link" type="string" default="__default__" required="1"/>
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</element> <!-- End Parent -->
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<element name="child" required="1">
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<attribute name="link" type="string" default="__default__" required="1"/>
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</element> <!-- End Child -->
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<element name="origin" required="0">
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<attribute name="pose" type="pose" default="0 0 0 0 0 0" required="1"/>
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</element> <!-- End Origin -->
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<element name="thread_pitch" type="double" default="1.0" required="0"/>
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<element name="axis" required="1">
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<attribute name="xyz" type="vector3" default="0 0 1" required="1"/>
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<element name="dynamics" required="0">
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<attribute name="damping" type="double" default="0" required="0"/>
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<attribute name="friction" type="double" default="0" required="0"/>
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</element> <!-- End Dynamics -->
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<element name="limit" required="1">
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<attribute name="lower" type="double" default="-1e16" required="1"/>
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<attribute name="upper" type="double" default="1e16" required="1"/>
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<attribute name="effort" type="double" default="0" required="0"/>
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<attribute name="velocity" type="double" default="0" required="0"/>
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</element> <!-- End Limit -->
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</element> <!-- End Axis -->
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<element name="axis2" required="0">
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<attribute name="xyz" type="vector3" default="0 0 1" required="1"/>
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<element name="dynamics" required="0">
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<attribute name="damping" type="double" default="0" required="0"/>
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<attribute name="friction" type="double" default="0" required="0"/>
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</element> <!-- End Dynamics -->
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<element name="limit" required="0">
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<attribute name="lower" type="double" default="-1e16" required="0"/>
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<attribute name="upper" type="double" default="1e16" required="0"/>
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<attribute name="effort" type="double" default="0" required="0"/>
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<attribute name="velocity" type="double" default="0" required="0"/>
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</element> <!-- End Limit -->
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</element> <!-- End Axis2 -->
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<element name="physics" required="0">
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<element name="ode" required="0">
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<element name="fudge_factor" type="double" default="0" required="0"/>
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<element name="cfm" type="double" default="0" required="0"/>
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<element name="bounce" type="double" default="0" required="0"/>
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<element name="max_force" type="double" default="0" required="0"/>
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<element name="velocity" type="double" default="0" required="0"/>
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<element name="limit" required="0">
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<attribute name="cfm" type="double" default="0.0" required="1"/>
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<attribute name="erp" type="double" default="0.2" required="1"/>
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</element>
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<element name="suspension" required="0">
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<attribute name="cfm" type="double" default="0.0" required="1"/>
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<attribute name="erp" type="double" default="0.2" required="1"/>
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</element>
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</element>
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</element> <!-- End Physics -->
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</element> <!-- End Joint -->
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