fly6516
f02a735179
- 新增吸盘模型文件 base.obj - 添加多个测试用例 URDF 文件，包括立方体、圆柱体等简单模型 - 创建 jaka_description 包的 CMakeLists.txt 和 display.launch 文件
32 lines
818 B
XML
32 lines
818 B
XML
<?xml version="1.0" ?>
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<robot name="cylinder">
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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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<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="1.0"/>
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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 0.325"/>
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<geometry>
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<cylinder radius="0.2" length="0.65"/>
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</geometry>
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<material name="grey">
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<color rgba="0.4 0.4 0.4 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 0.325"/>
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<geometry>
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<cylinder radius="0.2" length="0.65"/>
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</geometry>
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</collision>
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</link>
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</robot>
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