added block urdf to spawn on turtlebot

urastogi885 · May 9, 2020 · c6e6334 · c6e6334
1 parent aaa3fd5
commit c6e6334
Showing 1 changed file with 26 additions and 0 deletions.
diff --git a/urdf/block.urdf b/urdf/block.urdf
@@ -0,0 +1,26 @@
+<robot name="block">
+  <link name="block">
+    <inertial>
+      <origin xyz="0.025 0.025 0.025" />
+      <mass value="0.001" />
+      <inertia  ixx="0.5" ixy="0.0"  ixz="0.0"  iyy="0.5"  iyz="0.0"  izz="0.5" />
+    </inertial>
+    <visual>
+      <origin xyz="0.025 0.025 0.025"/>
+      <geometry>
+        <box size="0.05 0.05 0.01" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.025 0.025 0.025"/>
+      <geometry>
+        <box size="0.05 0.05 0.01" />
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="block">
+    <material>Gazebo/Red</material>
+     <mu1>1000</mu1>
+     <mu2>1000</mu2>
+  </gazebo>
+</robot>