Advertisement
Not a member of Pastebin yet?
Sign Up,
it unlocks many cool features!
- Old:
- <link name="base_link">
- <visual>
- <origin xyz="0.0 0.0 0.0" rpy="1.57 0.0 3.1415"/>
- <geometry>
- <mesh filename="package://pelican_urdf/data/pelican.stl"
- scale="0.001 0.001 0.001"/>
- </geometry>
- <material name="blue">
- <color rgba="0.4 0.4 0.5 1.0"/>
- </material>
- </visual>
- </link>
- New:
- <link name="base_link">
- <inertial>
- <mass value="10.0" />
- <origin xyz="0 0 0" />
- <inertia ixx="1" ixy="0.000" ixz="0.0" iyy="1" iyz="0.0" izz="1" />
- </inertial>
- <visual>
- <origin xyz="0.0 0.0 0.0" rpy="1.57 0.0 3.1415"/>
- <geometry>
- <mesh filename="package://pelican_urdf/data/pelican.stl"
- scale="0.001 0.001 0.001"/>
- </geometry>
- <material name="blue">
- <color rgba="0.4 0.4 0.5 1.0"/>
- </material>
- </visual>
- <collision>
- <origin xyz="0.0 0.0 0.0" rpy="1.57 0.0 3.1415"/>
- <geometry>
- <mesh filename="package://pelican_urdf/data/pelican.stl"
- scale="0.001 0.001 0.001"/>
- </geometry>
- </collision>
- </link>
- <gazebo reference="base_link">
- <kp>1000000000.0</kp>
- <kd>1.0</kd>
- <material>Gazebo/Black</material>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement