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<?xml version='1.0' encoding='utf-8'?>
<robot name="model.urdf">
<link name="baseLink">
<contact>
<friction_anchor />
<lateral_friction value="0.3" />
<rolling_friction value="0.0" />
<contact_cfm value="0.0" />
<contact_erp value="1.0" />
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0" />
<mass value="0.1" />
<inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
</inertial>
<visual>
<geometry>
<mesh filename="textured.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
</link>
</robot> |