28 lines
701 B
XML
28 lines
701 B
XML
<?xml version="0.0" ?>
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<robot name="right_finger.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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<inertia_scaling value="3.0"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0.05"/>
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<mass value=".2"/>
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<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
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</inertial>
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<visual>
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<origin rpy="0 0 1.5708" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes/l_gripper_tip_scaled.stl" scale="1 1 1"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0.042"/>
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<geometry>
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<box size="0.02 0.02 0.15"/>
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</geometry>
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</collision>
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</link>
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</robot>
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