42 lines
1015 B
XML
42 lines
1015 B
XML
<?xml version="1.0" ?>
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<robot name="cube">
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<link name="world"/>
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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"/>
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<geometry>
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<mesh filename="cube.obj" scale="1 1 1"/>
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</geometry>
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<material name="white">
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<color rgba="1 1 1 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"/>
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<geometry>
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<box size="1 1 1"/>
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</geometry>
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</collision>
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</link>
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<joint name="joint_baseLink_world" type="continuous">
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<parent link="world"/>
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<child link="baseLink"/>
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<dynamics damping="1.0" friction="0.0001"/>
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<origin xyz="0 0 0"/>
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<axis xyz="0 0 1"/>
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</joint>
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</robot>
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