mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
32 lines
783 B
XML
32 lines
783 B
XML
<?xml version="0.0" ?>
|
|
<robot name="jenga.urdf">
|
|
<link name="baseLink">
|
|
<contact>
|
|
<lateral_friction value="1.0"/>
|
|
<spinning_friction value="0.5"/>
|
|
<inertia_scaling value="3.0"/>
|
|
</contact>
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<mass value="1.0"/>
|
|
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="jenga.obj" scale="0.15 0.05 0.03"/>
|
|
</geometry>
|
|
<material name="blue">
|
|
<color rgba="0.5 0.5 1 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<box size="0.15 0.05 0.03"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
</robot>
|
|
|