mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
a6216f4f24
add wsg50 gripper with modified r2d2 gripper tip expose a fudge factor to scale inertia, to make grasping more stable (until we have better grasping contact model/implementation)
34 lines
836 B
XML
34 lines
836 B
XML
<?xml version="0.0" ?>
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<robot name="cube.urdf">
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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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<rolling_friction value="0.0"/>
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<inertia_scaling value="3.0"/>
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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"/>
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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 0" 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 0" 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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</robot>
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