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393d3de | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 | <?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>
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