ur-simulation/object.urdf at main · Andy-Leo10/ur-simulation · GitHub

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<?xml version="1.0"?>

<robot name="grasp_box">

    <!-- Colours for RVIZ for geometric elements -->
    <material name="blue">
        <color rgba="0 0 0.8 1"/>
    </material>
    <material name="red">
        <color rgba="0.8 0 0 1"/>
    </material>
    <material name="green">
        <color rgba="0 0.8 0 1"/>
    </material>
    <material name="grey">
        <color rgba="0.75 0.75 0.75 1"/>
    </material>
    <material name="white">
        <color rgba="1.0 1.0 1.0 1"/>
    </material>
    <material name="black">
        <color rgba="0 0 0 1"/>
    </material>

	<!-- * * * Link Definitions * * * -->
    <link name="grasp_box_base_link">
 	    <inertial>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <mass value="0.5" />
            <inertia ixx="0.000133333333333" ixy="0.0" ixz="0.0" iyy="0.000133333333333" iyz="0.0" izz="0.000133333333333"/>
        </inertial>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <box size="0.04 0.04 0.08"/>
            </geometry>
        </collision>
        <visual>
            <origin rpy="0.0 0 0" xyz="0 0 0"/>
            <geometry>
                <box size="0.04 0.04 0.08"/>
            </geometry>
            <material name="green"/>
        </visual>
    </link>

    <gazebo reference="grasp_box_base_link">
        <kp>100000.0</kp>
        <kd>100.0</kd>
        <mu1>0.25</mu1>
        <mu2>0.25</mu2>
        <material>Gazebo/Red</material>
    </gazebo>

</robot>