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<?xml version="1.0" ?> |
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<robot name="spatula-base.urdf"> |
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<material name="DarkGrey"> |
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<color rgba="0.2 0.2 0.2 1.0"/> |
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</material> |
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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="0.0001"/> |
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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"/> |
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<mass value=".1"/> |
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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="suction/base.obj" scale="0.001 0.001 0.001"/> |
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</geometry> |
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<material name="DarkGrey"/> |
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</visual> |
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<visual> |
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<origin rpy="0 0 0" xyz="0 0 0.075"/> |
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<geometry> |
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<box size="0.05 0.005 0.11"/> |
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</geometry> |
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<material name="LightGrey"/> |
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</visual> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 0 0.075"/> |
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<geometry> |
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<box size="0.05 0.005 0.11"/> |
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</geometry> |
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</collision> |
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</link> |
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<link name="midLink"> |
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<contact> |
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<lateral_friction value="1.0"/> |
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<rolling_friction value="0.0001"/> |
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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"/> |
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<mass value=".1"/> |
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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 0.1075"/> |
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<geometry> |
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<box size="0.05 0.005 0.005"/> |
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</geometry> |
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<material name="LightGrey"/> |
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</visual> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 0 0.1075"/> |
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<geometry> |
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<box size="0.05 0.005 0.005"/> |
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</geometry> |
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</collision> |
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</link> |
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<joint name="baseLink-midLink" type="fixed"> |
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<origin rpy="0 0 0" xyz="0 0 0.025"/> |
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<parent link="baseLink"/> |
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<child link="midLink"/> |
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</joint> |
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</robot> |
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