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https://github.com/wassname/kair_algorithms_draft.git
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30 lines
899 B
XML
Executable File
30 lines
899 B
XML
Executable File
<robot name="block">
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<link name="block">
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<inertial>
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<origin xyz="0.025 0.025 0.025" />
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<mass value="0.5" />
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<!-- (1/12)*mass*(h^2 + d^2) (1/12)*mass*(w^2 + d^2) (1/12)*mass*(w^2 + h^2) -->
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<!-- (1/12)*0.5*(0.045^2 + 0.045^2) (1/12)*0.5*(0.045^2 + 0.045^2) (1/12)*0.5*(0.045^2 + 0.045^2) -->
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<inertia ixx="0.00016874999" ixy="0.0" ixz="0.0" iyy="0.00016874999" iyz="0.0" izz="0.00016874999" />
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</inertial>
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<visual>
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<origin xyz="0.0001 0.0001 0.0001"/>
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<geometry>
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<box size="0.05 0.05 0.05" />
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</geometry>
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</visual>
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<collision>
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<origin xyz="0.0001 0.0001 0.0001"/>
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<geometry>
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<box size="0.0001 0.0001 0.0001" />
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</geometry>
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</collision>
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</link>
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<gazebo>
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<static>true</static>
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<material>Gazebo/Blue</material>
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<mu1>1000</mu1>
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<mu2>1000</mu2>
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</gazebo>
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</robot> |