diff options
Diffstat (limited to 'examples/pybullet/gym/pybullet_data/sphere_with_restitution.urdf')
| -rw-r--r-- | examples/pybullet/gym/pybullet_data/sphere_with_restitution.urdf | 33 |
1 files changed, 33 insertions, 0 deletions
diff --git a/examples/pybullet/gym/pybullet_data/sphere_with_restitution.urdf b/examples/pybullet/gym/pybullet_data/sphere_with_restitution.urdf new file mode 100644 index 000000000..63a6682a5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/sphere_with_restitution.urdf @@ -0,0 +1,33 @@ +<?xml version="0.0" ?> +<robot name="urdf_robot"> + <link name="baseLink"> + <contact> + <restitution value="0.5" /> + <rolling_friction value="0.001"/> + <spinning_friction value="0.001"/> + + </contact> + + <inertial> + <origin rpy="0 0 0" xyz="0 0 0"/> + <mass value="10.0"/> + <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> + </inertial> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="textured_sphere_smooth.obj" scale="0.5 0.5 0.5"/> + </geometry> + <material name="white"> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <sphere radius="0.5"/> + </geometry> + </collision> + </link> +</robot> + |