mirror of
https://github.com/6-robot/wpr_simulation2.git
synced 2025-09-15 12:58:54 +08:00
112 lines
2.8 KiB
XML
112 lines
2.8 KiB
XML
<?xml version="1.0"?>
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<robot name="bookshelft">
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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_simulation2/meshes/bookshelft.dae" scale="1 1 1"/>
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</geometry>
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<origin rpy = "0 0.003 0" xyz = "0 0 0"/>
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</visual>
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<collision>
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<origin xyz="0.2 0 0.3" rpy="0 0 0" />
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<geometry>
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<box size="0.4 1.2 0.6" />
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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="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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<link name = "level_1_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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<collision>
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<origin xyz="0.2 0 0.02" rpy="0 0 0" />
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<geometry>
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<box size="0.38 1.2 0.04" />
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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 = "body_to_1" type = "fixed">
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<parent link = "body_link"/>
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<child link = "level_1_link"/>
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<origin rpy="0 0 0" xyz="0 0 0.91"/> <!--pos-->
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</joint>
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<link name = "level_2_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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<collision>
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<origin xyz="0.2 0 0.02" rpy="0 0 0" />
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<geometry>
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<box size="0.38 1.2 0.04" />
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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 = "1_to_2" type = "fixed">
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<parent link = "level_1_link"/>
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<child link = "level_2_link"/>
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<origin rpy="0 0 0" xyz="0 0 0.35"/> <!--pos-->
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</joint>
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<link name = "level_3_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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<collision>
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<origin xyz="0.2 0 0.02" rpy="0 0 0" />
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<geometry>
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<box size="0.38 1.2 0.04" />
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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 = "2_to_3" type = "fixed">
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<parent link = "level_2_link"/>
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<child link = "level_3_link"/>
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<origin rpy="0 0 0" xyz="0 0 0.35"/> <!--pos-->
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</joint>
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</robot>
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