2018-08-16 19:44:43 +00:00
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<?xml version="1.0" ?>
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2016-09-24 18:25:05 +00:00
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<robot name="cube.urdf">
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<link name="legobrick">
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0"/>
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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 0.0 0.0"/>
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<mass value=".1"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin rpy="1.570796 0 0" xyz="-0.016 -0.016 -0.0115"/>
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<geometry>
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<mesh filename="lego.obj" scale=".1 .1 .1"/>
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</geometry>
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<material name="yellow">
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<color rgba="1 1 0.4 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="1.570796 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.032 0.023 0.032"/>
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</geometry>
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</collision>
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</link>
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</robot>
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