peg.urdf

<?xml version="1.0" ?>
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<!-- |    This document was autogenerated by xacro from /home/zhsh/catkin_ws/src/meta_contact/models/peg.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
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<robot name="pusher" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <link name="base_link">
    <contact>
      <lateral_friction value="0.8"/>
      <spinning_friction value=".05"/>
      <rolling_friction value=".01"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="1.0"/>
      <inertia ixx="0.0009083333333333335" ixy="0" ixz="0" iyy="0.0009083333333333335" iyz="0" izz="0.00015"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.03 0.03 0.1"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.5 0.3 0.1 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.03 0.03 0.1"/>
      </geometry>
    </collision>
  </link>
</robot>