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fallbeispiel.tex

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  • 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>