55 lines
1.4 KiB
Plaintext
55 lines
1.4 KiB
Plaintext
|
<?xml version="0.0" ?>
|
||
|
|
<robot name="suction-base.urdf">
|
||
|
|
<material name="DarkGrey">
|
||
|
|
<color rgba="0.2 0.2 0.2 1.0"/>
|
||
|
|
</material>
|
||
|
|
|
||
|
|
<link name="baseLink">
|
||
|
|
<contact>
|
||
|
|
<lateral_friction value="1.0"/>
|
||
|
|
<rolling_friction value="0.0001"/>
|
||
|
|
<inertia_scaling value="3.0"/>
|
||
|
|
</contact>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<mass value=".1"/>
|
||
|
|
<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="suction/base.obj" scale="0.001 0.001 0.001"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="DarkGrey"/>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<link name="midLink">
|
||
|
|
<contact>
|
||
|
|
<lateral_friction value="1.0"/>
|
||
|
|
<rolling_friction value="0.0001"/>
|
||
|
|
<inertia_scaling value="3.0"/>
|
||
|
|
</contact>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<mass value=".1"/>
|
||
|
|
<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="suction/mid.obj" scale="0.001 0.001 0.001"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="DarkGrey"/>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="baseLink-midLink" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0.025"/>
|
||
|
|
<parent link="baseLink"/>
|
||
|
|
<child link="midLink"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
</robot>
|
||
|
|
|