| <?xml version="1.0" ?> |
| <robot name="blue_cube.urdf"> |
| <link name="baseLink"> |
| <contact> |
| <lateral_friction value="0.5"/> |
| <rolling_friction value="0.0001"/> |
| <inertia_scaling value="1.0"/> |
| </contact> |
| <inertial> |
| <origin rpy="0 0 0" xyz="0 0 0"/> |
| <mass value=".01"/> |
| <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> |
| </inertial> |
| <visual> |
| <origin rpy="0 0 0" xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="cube.obj" scale="1.0 1.0 1.0"/> |
| </geometry> |
| <material name="blue"> |
| <color rgba="0.4 0.4 1.0 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin rpy="0 0 0" xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="cube.obj" scale="1.0 1.0 1.0"/> |
| </geometry> |
| </collision> |
| </link> |
| </robot> |
|
|
