From dba1b390cb6b2667bcfd3d6be85c864e92d41254 Mon Sep 17 00:00:00 2001
From: Wim Meeussen <wim@willowgarage.com>
Date: Tue, 20 Mar 2012 11:17:33 -0700
Subject: [PATCH] can be loaded in gazebo
---
universal_robot_description/urdf/robot.urdf.xacro | 11 ++++++++++-
1 file changed, 10 insertions(+), 1 deletion(-)
diff --git a/universal_robot_description/urdf/robot.urdf.xacro b/universal_robot_description/urdf/robot.urdf.xacro
index d2307e0..6b0f295 100644
--- a/universal_robot_description/urdf/robot.urdf.xacro
+++ b/universal_robot_description/urdf/robot.urdf.xacro
@@ -15,7 +15,12 @@
<property name="wrist_3_length" value="0.1" />
<property name="wrist_radius" value="0.03" />
- <link name="base_link" />
+ <link name="base_link" >
+ <inertial>
+ <mass value="10" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
+ </link>
<joint name="shoulder_pan_joint" type="revolute">
<parent link="base_link" />
@@ -210,6 +215,10 @@
</inertial>
</link>
+ <gazebo reference="universal_robot">
+ <material>Gazebo/Blue</material>
+ </gazebo>
+
</robot>
--
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