2017-02-16 21:41:12 +00:00
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<?xml version="0.0" ?>
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<robot name="urdf_robot">
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<link name="base_link">
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<contact>
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2017-02-16 22:19:09 +00:00
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<rolling_friction value="0.001"/>
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<spinning_friction value="0.001"/>
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2017-02-16 21:41:12 +00:00
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="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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2017-02-16 22:19:09 +00:00
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2017-02-16 21:41:12 +00:00
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<sphere radius="0.005"/>
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</geometry>
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</collision>
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</link>
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</robot>
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