mirror of
https://github.com/6-robot/wpr_simulation.git
synced 2025-09-15 12:59:01 +08:00
39 lines
937 B
XML
39 lines
937 B
XML
<?xml version="1.0"?>
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<robot name="sofa">
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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/sofa.dae" scale="1 1 1"/>
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</geometry>
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<origin rpy = "0 0 0" xyz = "0 0.003 0"/>
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</visual>
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<collision>
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<origin xyz="0.48 1.1 0.23" rpy="0 0 0" />
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<geometry>
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<box size="0.96 2.20 0.46"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="4.00538" ixy="0.0" ixz="0.0" iyy="4.00538" iyz="0.0" izz="0.51076"/>
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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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</robot>
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