37 lines
No EOL
971 B
XML
37 lines
No EOL
971 B
XML
<?xml version="1.0"?>
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<robot name="{name}">
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<link name="baseLink">
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<contact>
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<friction_anchor />
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<lateral_friction value="0.3" />
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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 xyz="{centerMassX} {centerMassY} {centerMassZ}" />
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<mass value="{massSDF}" />
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<inertia ixx="{ixx}" ixy="{ixy}" ixz="{ixz}" iyy="{iyy}" iyz="{iyz}" izz="{izz}" />
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</inertial>
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<visual>
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<geometry>
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<mesh filename="{stl}" scale="0.001 0.001 0.001" />
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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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<geometry>
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<mesh filename="{stl}" scale="0.001 0.001 0.001" />
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</geometry>
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</collision>
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<friction>
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<ode>
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<mu>0.2</mu>
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<mu2>0.1</mu2>
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<fdir1>1 0 0</fdir1>
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</ode>
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</friction>
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</link>
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</robot> |