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Add kuka grasping block playback.

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yunfeibai
2017-05-22 22:23:01 -07:00
parent 945b9b1b1d
commit 3eb974f66f
11 changed files with 1094 additions and 3 deletions
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32
data/block.urdf Normal file
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<?xml version="1.0"?>
<robot name="block_2">
<link name="block_2_base_link">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<inertia_scaling value="3.0"/>
<contact_cfm value="0.0"/>
<contact_erp value="1.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.02"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<box size="0.10 0.018 0.018"/>
</geometry>
<material name="blockmat">
<color rgba="0.1 0.7 0.1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<box size="0.10 0.018 0.018"/>
</geometry>
</collision>
</link>
</robot>