mirror of
https://github.com/6-robot/wpr_simulation.git
synced 2025-09-15 12:59:01 +08:00
112 lines
2.6 KiB
XML
112 lines
2.6 KiB
XML
<?xml version="1.0"?>
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<robot name="cupboard">
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<!-- base -->
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<link name="base_link">
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<visual>
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<geometry>
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<box size="0.01 0.01 0.001" />
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</geometry>
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<origin rpy = "0 0 0" xyz = "0 0 0"/>
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</visual>
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</link>
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<!-- body -->
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<link name = "body_link">
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<visual>
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<geometry>
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<mesh filename="package://wpr_simulation/meshes/cupboard.dae" scale="1 1 1"/>
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</geometry>
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<origin rpy = "0 0 0" xyz = "-0.175 -0.252 -0.01"/>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<box size="0.35 0.50 0.02"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="1"/>
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<inertia ixx="1.00538" ixy="0.0" ixz="0.0" iyy="1.00538" iyz="0.0" izz="0.11076"/>
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</inertial>
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</link>
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<joint name = "base_to_body" type = "fixed">
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<parent link = "base_link"/>
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<child link = "body_link"/>
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<origin rpy="0 0 0" xyz="0 0 0"/> <!--pos-->
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</joint>
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<!-- side board -->
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<link name = "left_link">
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<collision>
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<origin xyz="0 -0.235 0.25" rpy="0 0 0" />
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<geometry>
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<box size="0.35 0.03 0.48"/>
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</geometry>
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</collision>
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</link>
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<joint name = "body_to_left" type = "fixed">
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<parent link = "body_link"/>
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<child link = "left_link"/>
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<origin rpy="0 0 0" xyz="0 0 0"/> <!--pos-->
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</joint>
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<link name = "right_link">
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<collision>
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<origin xyz="0 0.235 0.25" rpy="0 0 0" />
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<geometry>
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<box size="0.35 0.03 0.48"/>
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</geometry>
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</collision>
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</link>
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<joint name = "body_to_right" type = "fixed">
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<parent link = "body_link"/>
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<child link = "right_link"/>
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<origin rpy="0 0 0" xyz="0 0 0"/> <!--pos-->
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</joint>
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<!-- mid board -->
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<link name = "mid_link">
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<collision>
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<origin xyz="0 -0.05 0.215" rpy="0 0 0" />
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<geometry>
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<box size="0.35 0.02 0.41"/>
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</geometry>
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</collision>
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</link>
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<joint name = "body_to_mid" type = "fixed">
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<parent link = "body_link"/>
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<child link = "mid_link"/>
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<origin rpy="0 0 0" xyz="0 0 0"/> <!--pos-->
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</joint>
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<!-- back board -->
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<link name = "back_link">
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<collision>
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<origin xyz="-0.17 0 0.25" rpy="0 0 0" />
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<geometry>
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<box size="0.02 0.43 0.48"/>
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</geometry>
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</collision>
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</link>
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<joint name = "body_to_back" type = "fixed">
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<parent link = "body_link"/>
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<child link = "back_link"/>
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<origin rpy="0 0 0" xyz="0 0 0"/> <!--pos-->
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</joint>
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<!-- top board -->
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<link name = "top_link">
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<collision>
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<origin xyz="0 0 0.43" rpy="0 0 0" />
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<geometry>
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<box size="0.35 0.44 0.02"/>
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</geometry>
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</collision>
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</link>
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<joint name = "body_to_top" type = "fixed">
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<parent link = "body_link"/>
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<child link = "top_link"/>
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<origin rpy="0 0 0" xyz="0 0 0"/> <!--pos-->
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</joint>
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</robot> |