mirror of
https://github.com/6-robot/wpr_simulation2.git
synced 2025-09-15 12:58:54 +08:00
110 lines
2.6 KiB
XML
110 lines
2.6 KiB
XML
<?xml version="1.0"?>
|
|
<robot name="chair">
|
|
<!-- base -->
|
|
<link name="base_link">
|
|
<visual>
|
|
<geometry>
|
|
<box size="0.01 0.01 0.001" />
|
|
</geometry>
|
|
<origin rpy = "0 0 0" xyz = "0 0 0"/>
|
|
</visual>
|
|
</link>
|
|
|
|
<!-- body -->
|
|
<link name = "body_link">
|
|
<visual>
|
|
<geometry>
|
|
<mesh filename="package://wpr_simulation2/meshes/chair.dae" scale="1 1 1"/>
|
|
</geometry>
|
|
<origin rpy = "0 0 0" xyz = "-0.24 -0.225 -0.465"/>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<box size="0.48 0.45 0.03"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="2"/>
|
|
<inertia ixx="1.00538" ixy="0.0" ixz="0.0" iyy="1.00538" iyz="0.0" izz="0.11076"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name = "base_to_body" type = "fixed">
|
|
<parent link = "base_link"/>
|
|
<child link = "body_link"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0.465"/> <!--pos-->
|
|
</joint>
|
|
|
|
<!-- back -->
|
|
<link name = "back_link">
|
|
<collision>
|
|
<origin xyz="-0.225 -0 0.695" rpy="0 0 0" />
|
|
<geometry>
|
|
<box size="0.03 0.45 0.43"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name = "body_to_back" type = "fixed">
|
|
<parent link = "base_link"/>
|
|
<child link = "back_link"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/> <!--pos-->
|
|
</joint>
|
|
|
|
<!-- leg -->
|
|
<link name = "lf_link">
|
|
<collision>
|
|
<origin xyz="0.225 -0.21 0.225" rpy="0 0 0" />
|
|
<geometry>
|
|
<box size="0.03 0.03 0.45"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name = "body_to_lf" type = "fixed">
|
|
<parent link = "base_link"/>
|
|
<child link = "lf_link"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/> <!--pos-->
|
|
</joint>
|
|
|
|
<link name = "bf_link">
|
|
<collision>
|
|
<origin xyz="-0.225 -0.21 0.225" rpy="0 0 0" />
|
|
<geometry>
|
|
<box size="0.03 0.03 0.45"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name = "body_to_bf" type = "fixed">
|
|
<parent link = "base_link"/>
|
|
<child link = "bf_link"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/> <!--pos-->
|
|
</joint>
|
|
|
|
<link name = "lr_link">
|
|
<collision>
|
|
<origin xyz="0.225 0.21 0.225" rpy="0 0 0" />
|
|
<geometry>
|
|
<box size="0.03 0.03 0.45"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name = "body_to_lr" type = "fixed">
|
|
<parent link = "base_link"/>
|
|
<child link = "lr_link"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/> <!--pos-->
|
|
</joint>
|
|
<link name = "br_link">
|
|
<collision>
|
|
<origin xyz="-0.225 0.21 0.225" rpy="0 0 0" />
|
|
<geometry>
|
|
<box size="0.03 0.03 0.45"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name = "body_to_br" type = "fixed">
|
|
<parent link = "base_link"/>
|
|
<child link = "br_link"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/> <!--pos-->
|
|
</joint>
|
|
|
|
</robot>
|