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<?xml version="1.0" ?> |
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<robot name="largebox"> |
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<dynamics damping="0.5" friction="0.9"/> |
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<link name="largebox_link"> |
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<inertial> |
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<mass value="0.1"/> |
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<origin xyz="0 0 0"/> |
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<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.002"/> |
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</inertial> |
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<contact> |
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<lateral_friction value="0.9"/> |
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<rolling_friction value="0.5"/> |
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<stiffness value="30000"/> |
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<damping value="1000"/> |
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</contact> |
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<visual> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="largebox.obj" scale="1.0 1.0 1.0"/> |
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</geometry> |
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<material name="mat"> |
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<color rgba="0.7 0.8 0.9 0.7"/> |
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</material> |
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</visual> |
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<collision name="largebox"> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="largebox.obj" scale="1.0 1.0 1.0"/> |
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</geometry> |
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</collision> |
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</link> |
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</robot> |
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