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Pelican URDF

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Sep 14th, 2011
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  1. Old:
  2.  
  3. <link name="base_link">
  4. <visual>
  5. <origin xyz="0.0 0.0 0.0" rpy="1.57 0.0 3.1415"/>
  6. <geometry>
  7. <mesh filename="package://pelican_urdf/data/pelican.stl"
  8. scale="0.001 0.001 0.001"/>
  9. </geometry>
  10. <material name="blue">
  11. <color rgba="0.4 0.4 0.5 1.0"/>
  12. </material>
  13. </visual>
  14. </link>
  15.  
  16. New:
  17.  
  18. <link name="base_link">
  19. <inertial>
  20. <mass value="10.0" />
  21. <origin xyz="0 0 0" />
  22. <inertia ixx="1" ixy="0.000" ixz="0.0" iyy="1" iyz="0.0" izz="1" />
  23. </inertial>
  24. <visual>
  25. <origin xyz="0.0 0.0 0.0" rpy="1.57 0.0 3.1415"/>
  26. <geometry>
  27. <mesh filename="package://pelican_urdf/data/pelican.stl"
  28. scale="0.001 0.001 0.001"/>
  29. </geometry>
  30. <material name="blue">
  31. <color rgba="0.4 0.4 0.5 1.0"/>
  32. </material>
  33. </visual>
  34. <collision>
  35. <origin xyz="0.0 0.0 0.0" rpy="1.57 0.0 3.1415"/>
  36. <geometry>
  37. <mesh filename="package://pelican_urdf/data/pelican.stl"
  38. scale="0.001 0.001 0.001"/>
  39. </geometry>
  40. </collision>
  41. </link>
  42.  
  43. <gazebo reference="base_link">
  44. <kp>1000000000.0</kp>
  45. <kd>1.0</kd>
  46. <material>Gazebo/Black</material>
  47. <turnGravityOff>true</turnGravityOff>
  48. </gazebo>
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