mirror of
https://github.com/bulletphysics/bullet3.git
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64 lines
1.6 KiB
XML
64 lines
1.6 KiB
XML
<?xml version="0.0" ?>
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<robot name="urdf_robot">
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<link name="baseLink">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="10.0"/>
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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="cube.obj" 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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<specular rgb="11 1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0.4 0.4 0.4"/>
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<geometry>
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<sphere radius="0.1"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="-0.4 0.4 0.4"/>
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<geometry>
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<sphere radius="0.1"/>
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</geometry>
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</collision><collision>
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<origin rpy="0 0 0" xyz="0.4 -0.4 0.4"/>
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<geometry>
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<sphere radius="0.1"/>
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</geometry>
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</collision><collision>
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<origin rpy="0 0 0" xyz="-0.4 -0.4 0.4"/>
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<geometry>
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<sphere radius="0.1"/>
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</geometry>
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</collision><collision>
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<origin rpy="0 0 0" xyz="0.4 0.4 -0.4"/>
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<geometry>
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<sphere radius="0.1"/>
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</geometry>
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</collision><collision>
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<origin rpy="0 0 0" xyz="-0.4 0.4 -0.4"/>
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<geometry>
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<sphere radius="0.1"/>
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</geometry>
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</collision><collision>
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<origin rpy="0 0 0" xyz="0.4 -0.4 -0.4"/>
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<geometry>
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<sphere radius="0.1"/>
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</geometry>
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</collision><collision>
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<origin rpy="0 0 0" xyz="-0.4 -0.4 -0.4"/>
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<geometry>
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<sphere radius="0.1"/>
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</geometry>
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</collision>
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</link>
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</robot>
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