36 lines
No EOL
787 B
Text
36 lines
No EOL
787 B
Text
<link name="{name}">
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<pose>{posX} {posY} {posZ} {eulerX} {eulerY} {eulerZ}</pose>
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<inertial>
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<pose>{posX} {posY} {posZ} {eulerX} {eulerY} {eulerZ}</pose>
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<inertia>
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<ixx>{ixx}</ixx>
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<ixy>{ixy}</ixy>
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<ixz>{ixz}</ixz>
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<iyy>{iyy}</iyy>
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<iyz>{iyz}</iyz>
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<izz>{izz}</izz>
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</inertia>
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<mass>{massSDF}</mass>
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</inertial>
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<collision name="collision">
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<geometry>
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<mesh>
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<uri>model:/{stl}</uri>
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</mesh>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<mesh>
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<uri>model:/{stl}</uri>
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</mesh>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>{friction}</mu>
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</ode>
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</friction>
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</surface>
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</visual>
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</link> |