2016-08-30 18:19:23 +00:00
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<?xml version="0.0" ?>
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<robot name="cube_gripper_right.urdf">
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<link name="world">
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</link>
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<link name="baseLink">
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<contact>
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<lateral_friction value="1.0"/>
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2016-09-15 23:57:00 +00:00
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<spinning_friction value="0.3"/>
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2016-08-30 18:19:23 +00:00
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<inertia_scaling value="3.0"/>
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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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<visual>
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<origin rpy="0 -0.785398 -0.785398" xyz="0 0 0"/>
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<geometry>
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<mesh filename="cube.obj" scale=".05 .05 .05"/>
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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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<origin rpy="0 -0.785398 -0.785398" xyz="0 0 0"/>
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<geometry>
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<box size=".05 .05 .05"/>
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</geometry>
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</collision>
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</link>
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<joint name="cube_joint" type="prismatic">
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<parent link="world"/>
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<child link="baseLink"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<axis xyz="1 0 0"/>
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<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
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<dynamics damping="0.0"/>
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</joint>
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</robot>
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