32 lines
853 B
XML
32 lines
853 B
XML
<?xml version="0.0" ?>
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<robot name="model.urdf">
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<link name="baseLink">
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<contact>
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<friction_anchor/>
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<lateral_friction value="0.6"/>
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<spinning_friction value="0.001"/>
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<rolling_friction value="0.001"/>
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<contact_cfm value="0.0"/>
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<contact_erp value="1.0"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0.005 0.04"/>
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<mass value=".049"/>
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<inertia ixx="1e-3" ixy="0" ixz="0" iyy="1e-3" iyz="0" izz="1e-3"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="textured_reoriented.obj" scale="1 1 1"/>
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</geometry>
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<material name="white">
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<color rgba="1. 1. 1. 1."/>
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</material>
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</visual>
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<collision>
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<geometry>
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<mesh filename="collision_vhacd.obj" scale="1 1 1"/>
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</geometry>
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</collision>
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</link>
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</robot>
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