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fallbeispiel.tex
box.urdf 820 B
<robot name="box">
<link name="world"/>
<gazebo reference="world">
<static>true</static>
</gazebo>
<joint name="fixed" type="fixed">
<parent link="world"/>
<child link="real_box"/>
</joint>
<link name="real_box">
<inertial>
<origin xyz="0.45 -0.2 0.0" />
<mass value="1.0" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
<visual>
<origin xyz="0.45 -0.2 0.0"/>
<geometry>
<box size="0.4 0.1 0.3" />
</geometry>
</visual>
<collision>
<origin xyz="0.45 -0.2 0.0"/>
<geometry>
<box size="0.4 0.1 0.3" />
</geometry>
</collision>
</link>
</robot>