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<robot name="lumping_test">
<!-- test if base_link is empty, lumping still works well -->
<link name="base_link"/>
<link name="child_link_1">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1.0" />
<inertia ixx="0.001" ixy="0.000" ixz="0.000" iyy="0.001" iyz="0.000" izz="0.001" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.03" />
</geometry>
<material name="">
<color rgba="0.1 0.1 0.1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.03" />
</geometry>
</collision>
</link>
<joint name="fixed_joint_1" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="base_link" />
<child link="child_link_1" />
</joint>
<gazebo reference="child_link_1">
<minDepth>0.007</minDepth>
<mu1>0.7</mu1>
<collision>
<max_contacts>177</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode>
<mu2>0.71</mu2>
</ode>
</friction>
</surface>
</collision>
<visual>
<material>
<ambient>0 1 0 1</ambient>
</material>
</visual>
<material>
script_uri_71_name
</material>
</gazebo>
</robot>
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