<gazebo> element

The gazebo element is an extension to the URDF robot description format, used for simulation purposes.

Check out the related tutorial, Understanding PR2 URDF Gazebo Extension.

Attributes

reference (required)

• The name of the object in Gazebo

Elements

mu1, mu2

• friction coefficients for the two principle contact directions

  value

kp

• contact stiffness

  value

kd

• contact damping

  value

material

selfCollide

• true or false

sensor:contact