| <?xml version="1.0" encoding="UTF-8"?> |
|
|
| <robot name="box.urdf"> |
| <link name="baseLink"> |
| <contact> |
| <lateral_friction value="1.0"/> |
| <rolling_friction value="0.0001"/> |
| <inertia_scaling value="3.0"/> |
| </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> |
| <box size="0.04 0.04 0.04"/> |
| </geometry> |
| <material name="red"> |
| <color rgba="1 0.3412 0.3490 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin rpy="0 0 0" xyz="0 0 0"/> |
| <geometry> |
| <box size="0.04 0.04 0.04"/> |
| </geometry> |
| </collision> |
| </link> |
| </robot> |
|
|
|
|
