30 lines
No EOL
786 B
XML
30 lines
No EOL
786 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 rpy="0 0 0" xyz="0 0 0"/>
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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="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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<geometry>
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<mesh filename="{stl}" scale="1 1 1"/>
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</geometry>
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</collision>
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</link>
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</robot> |