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29 lines
765 B
XML
29 lines
765 B
XML
<robot name="mug">
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<link name="base_link">
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<contact>
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<lateral_friction value="1.0"/>
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</contact>
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<inertial>
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<origin 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 xyz="0 0 0"/>
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<geometry>
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<mesh filename="mug.obj"/>
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</geometry>
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<material name="mug">
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<color rgba="1 0.2 0.2 1"/>
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<specular rgb="1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0"/>
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<geometry>
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<mesh filename="mug_col.obj"/>
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</geometry>
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</collision>
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</link>
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</robot>
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