| <robot name="block_blue"> | |
| <link name="base_link"> | |
| <contact> | |
| <lateral_friction value="0.7"/> | |
| <spinning_friction value=".001"/> | |
| </contact> | |
| <inertial> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| <mass value="1"/> | |
| <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/> | |
| <geometry> | |
| <box size="0.1 0.05 0.05"/> | |
| </geometry> | |
| <material name="blue"> | |
| <color rgba="0 0 1 1"/> | |
| </material> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/> | |
| <geometry> | |
| <box size="0.1 0.05 0.05"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| </robot> | |