Datasets:
ArXiv:
License:
File size: 2,106 Bytes
0c95287 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 |
<?xml version="1.0" ?>
<robot name="door">
<link name="root">
</link>
<joint name="frame_transform" type="fixed">
<origin rpy="0 1.56 0" xyz="0 0 0"/>
<parent link="root"/>
<child link="frame"/>
</joint>
<link name="frame">
</link>
<joint name="left_hinge" type="revolute">
<origin rpy="0 0 0" xyz="-0.58 0 0"/>
<parent link="frame"/>
<child link="left_door"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.01" friction="0.01"/>
<limit effort="44.4" lower="-1.2" upper="0" velocity="40"/>
</joint>
<link name="left_door">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="20.0"/>
<!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
<inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="double_door_L.glb" scale="0.98, 0.98, 0.98"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.32 -1.0 0.026"/>
<geometry>
<box size="0.42 1.6 0.03"/>
</geometry>
</collision>
</link>
<joint name="right_hinge" type="revolute">
<origin rpy="0 0 0" xyz="0.58 0 0"/>
<parent link="frame"/>
<child link="right_door"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.01" friction="0.01"/>
<limit effort="44.4" lower="0" upper="1.0" velocity="40"/>
</joint>
<link name="right_door">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="20.0"/>
<!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
<inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="double_door_R.glb" scale="0.98, 0.98, 0.98"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.32 -1.0 0.03"/>
<geometry>
<box size="0.4 1.6 0.024"/>
</geometry>
</collision>
</link>
</robot>
|