mirror of
https://github.com/6-robot/wpr_simulation.git
synced 2025-09-15 12:59:01 +08:00
95 lines
2.2 KiB
XML
95 lines
2.2 KiB
XML
<?xml version="1.0"?>
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<robot name="table">
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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/table.dae" scale="1 1 1"/>
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</geometry>
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<origin rpy = "0 0 0" xyz = "-0.25 -0.6 -0.765"/>
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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="0.50 1.20 0.03"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="2"/>
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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 0.765"/> <!--pos-->
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</joint>
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<!-- leg -->
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<link name = "lf_link">
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<collision>
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<origin xyz="0.235 -0.585 0.375" rpy="0 0 0" />
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<geometry>
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<box size="0.03 0.03 0.75"/>
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</geometry>
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</collision>
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</link>
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<joint name = "body_to_lf" type = "fixed">
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<parent link = "base_link"/>
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<child link = "lf_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 = "bf_link">
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<collision>
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<origin xyz="-0.235 -0.585 0.375" rpy="0 0 0" />
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<geometry>
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<box size="0.03 0.03 0.75"/>
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</geometry>
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</collision>
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</link>
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<joint name = "body_to_bf" type = "fixed">
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<parent link = "base_link"/>
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<child link = "bf_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 = "lr_link">
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<collision>
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<origin xyz="0.235 0.585 0.375" rpy="0 0 0" />
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<geometry>
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<box size="0.03 0.03 0.75"/>
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</geometry>
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</collision>
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</link>
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<joint name = "body_to_lr" type = "fixed">
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<parent link = "base_link"/>
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<child link = "lr_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 = "br_link">
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<collision>
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<origin xyz="-0.235 0.585 0.375" rpy="0 0 0" />
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<geometry>
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<box size="0.03 0.03 0.75"/>
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</geometry>
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</collision>
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</link>
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<joint name = "body_to_br" type = "fixed">
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<parent link = "base_link"/>
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<child link = "br_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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