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<?xml version="1.0" ?>
<robot name="cabinet">
<link name="root">
</link>
<joint name="body_transform" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="root"/>
<child link="body"/>
</joint>
<link name="body">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="25.0"/>
<!-- 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="cabinet.glb" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.0348 0.75 0"/>
<geometry>
<box size="1.58 0.028 0.43"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-0.0348 0.180406 0"/>
<geometry>
<box size="1.58 0.03 0.43"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0.746944 0.458928 0"/>
<geometry>
<box size="0.033891 0.518524 0.43"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-0.822905 0.458928 0"/>
<geometry>
<box size="0.033891 0.518524 0.43"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-0.034815 0.466524 -0.208891"/>
<geometry>
<box size="1.57884 0.562595 0.037426"/>
</geometry>
</collision>
</link>
<joint name="left_slide" type="prismatic">
<origin rpy="0 0 0" xyz="-0.43573 0.46828 0.18"/>
<parent link="body"/>
<child link="left_door"/>
<axis xyz="1 0 0"/>
<dynamics damping="0.01" friction="0.01"/>
<limit effort="44.4" lower="0" upper="0.8" velocity="1.0"/>
</joint>
<link name="left_door">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="2.0"/>
<!-- 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="door.glb" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.74 0.5 0.026"/>
</geometry>
</collision>
</link>
<joint name="right_slide" type="prismatic">
<origin rpy="0 0 0" xyz="0.34 0.46828 0.2"/>
<parent link="body"/>
<child link="right_door"/>
<axis xyz="1 0 0"/>
<dynamics damping="0.01" friction="0.01"/>
<limit effort="44.4" lower="-0.76" upper="0" velocity="1.0"/>
</joint>
<link name="right_door">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="2.0"/>
<!-- 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="door.glb" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.74 0.5 0.026"/>
</geometry>
</collision>
</link>
</robot>
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