forked from xtdrone/XTDrone
46 lines
1.4 KiB
XML
Executable File
46 lines
1.4 KiB
XML
Executable File
<?xml version="1.0" ?>
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<robot name="le_arm" xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:include filename="$(find le_arm)/urdf/le_arm.urdf.xacro" />
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<gazebo>
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<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
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<robotNamespace>/</robotNamespace>
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</plugin>
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</gazebo>
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<link name="world"/>
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<joint name="world_fixed" type="fixed">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<parent link="world"/>
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<child link="root_link"/>
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</joint>
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<link name="root_link">
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<visual>
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<origin xyz="0 0 0.025" rpy="0 0 0"/>
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<geometry>
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<box size="0.5 0.15 0.05"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0 0 0.025" rpy="0 0 0"/>
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<geometry>
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<box size="0.5 0.15 0.05"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.01" />
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<origin xyz="0.0 0.0 0.0" />
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<inertia ixx = "0.000001" ixy = "0.000000" ixz = "0.000000"
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iyx = "0.000000" iyy = "0.000001" iyz = "0.000000"
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izx = "0.000000" izy = "0.000000" izz = "0.000001" />
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</inertial>
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</link>
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<xacro:le_arm parent="root_link" >
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<origin xyz="0.05 0 0.051" rpy="0 0 0"/>
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</xacro:le_arm>
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</robot>
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