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output.urdf
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output.urdf
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<?xml version='1.0' encoding='utf-8'?>
<robot name="my_urdf"><link name="base_link"><visual><origin xyz="3.0 1.2 0.0" rpy="0.0 0.0 1.5707963267948963" /><material name="white"><color rgba="0.8 0.8 0.8 1" /></material><geometry><mesh filename="../meshes/cabinet.obj" scale="1 2 2" /></geometry></visual><collision><origin xyz="3.0 1.2 0.0" rpy="0.0 0.0 1.5707963267948963" /><geometry><mesh filename="../meshes/cabinet.obj" scale="1 2 2" /></geometry></collision><inertial><mass value="1" /><inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4" /></inertial></link><link name="drawer0"><visual><origin xyz="0 0 0" rpy="0 0 0" /><material name="white"><color rgba="0.8 0.8 0.8 1" /></material><geometry><mesh filename="../meshes/parts/drawer.obj" scale="1 1.3133333333333332 7.98" /></geometry></visual><collision><origin xyz="0 0 0" rpy="0 0 0" /><geometry><mesh filename="../meshes/parts/drawer.obj" scale="1 1.3133333333333332 7.98" /></geometry></collision><inertial><mass value="0.2" /><inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4" /></inertial></link><joint name="drawer0_to_base_link" type="prismatic"><axis xyz="1 0 0" /><limit effort="5" lower="0" upper="0.4" velocity="2.283" /><origin xyz="0 0.0 0.0" rpy="0.0 0.0 0.0" /><parent link="base_link" /><child link="drawer0" /></joint><link name="drawer1"><visual><origin xyz="0 0 0" rpy="0 0 0" /><material name="white"><color rgba="0.8 0.8 0.8 1" /></material><geometry><mesh filename="../meshes/parts/drawer.obj" scale="1 2.6466666666666665 7.98" /></geometry></visual><collision><origin xyz="0 0 0" rpy="0 0 0" /><geometry><mesh filename="../meshes/parts/drawer.obj" scale="1 2.6466666666666665 7.98" /></geometry></collision><inertial><mass value="0.2" /><inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4" /></inertial></link><joint name="drawer1_to_base_link" type="prismatic"><axis xyz="1 0 0" /><limit effort="5" lower="0" upper="0.4" velocity="2.283" /><origin xyz="0 0.3333333333333333 0.0" rpy="0.0 0.0 0.0" /><parent link="base_link" /><child link="drawer1" /></joint><link name="drawer2"><visual><origin xyz="0 0 0" rpy="0 0 0" /><material name="white"><color rgba="0.8 0.8 0.8 1" /></material><geometry><mesh filename="../meshes/parts/drawer.obj" scale="1 3.98 7.98" /></geometry></visual><collision><origin xyz="0 0 0" rpy="0 0 0" /><geometry><mesh filename="../meshes/parts/drawer.obj" scale="1 3.98 7.98" /></geometry></collision><inertial><mass value="0.2" /><inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4" /></inertial></link><joint name="drawer2_to_base_link" type="prismatic"><axis xyz="1 0 0" /><limit effort="5" lower="0" upper="0.4" velocity="2.283" /><origin xyz="0 1.0 0.0" rpy="0.0 0.0 0.0" /><parent link="base_link" /><child link="drawer2" /></joint><link name="handle3"><visual><origin xyz="0 0 0" rpy="0 0 0" /><material name="white"><color rgba="0.8 0.8 0.8 1" /></material><geometry><mesh filename="../meshes/parts/handle.obj" scale="1 1 1" /></geometry></visual><collision><origin xyz="0 0 0" rpy="0 0 0" /><geometry><mesh filename="../meshes/parts/handle.obj" scale="1 1 1" /></geometry></collision><inertial><mass value="0.2" /><inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4" /></inertial></link><joint name="handle3_to_drawer0" type="fixed"><axis xyz="0 0 1" /><limit effort="5" lower="0" upper="1.57" velocity="2.283" /><origin xyz="0 0.16666666666666666 1.6666666666666667" rpy="1.5707963267948963 0.0 0.0" /><parent link="drawer0" /><child link="handle3" /></joint><link name="handle4"><visual><origin xyz="0 0 0" rpy="0 0 0" /><material name="white"><color rgba="0.8 0.8 0.8 1" /></material><geometry><mesh filename="../meshes/parts/handle.obj" scale="1 1 1" /></geometry></visual><collision><origin xyz="0 0 0" rpy="0 0 0" /><geometry><mesh filename="../meshes/parts/handle.obj" scale="1 1 1" /></geometry></collision><inertial><mass value="0.2" /><inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4" /></inertial></link><joint name="handle4_to_drawer1" type="fixed"><axis xyz="0 0 1" /><limit effort="5" lower="0" upper="1.57" velocity="2.283" /><origin xyz="0 0.3333333333333333 1.6666666666666667" rpy="1.5707963267948963 0.0 0.0" /><parent link="drawer1" /><child link="handle4" /></joint><link name="handle5"><visual><origin xyz="0 0 0" rpy="0 0 0" /><material name="white"><color rgba="0.8 0.8 0.8 1" /></material><geometry><mesh filename="../meshes/parts/handle.obj" scale="1 1 1" /></geometry></visual><collision><origin xyz="0 0 0" rpy="0 0 0" /><geometry><mesh filename="../meshes/parts/handle.obj" scale="1 1 1" /></geometry></collision><inertial><mass value="0.2" /><inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4" /></inertial></link><joint name="handle5_to_drawer2" type="fixed"><axis xyz="0 0 1" /><limit effort="5" lower="0" upper="1.57" velocity="2.283" /><origin xyz="0 0.5 1.6666666666666667" rpy="1.5707963267948963 0.0 0.0" /><parent link="drawer2" /><child link="handle5" /></joint></robot>