2016-03-17 21:54:46 +00:00
|
|
|
<?xml version="0.0" ?>
|
|
|
|
|
<robot name="urdf_door">
|
2016-05-03 19:59:21 +00:00
|
|
|
<link name="world"/>
|
|
|
|
|
<joint name="fixed" type="fixed">
|
|
|
|
|
<parent link="world"/>
|
|
|
|
|
<child link="baseLink"/>
|
|
|
|
|
<origin xyz="0 0 0"/>
|
|
|
|
|
</joint>
|
|
|
|
|
|
2016-03-17 21:54:46 +00:00
|
|
|
<link name="baseLink">
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0.35"/>
|
2016-05-03 19:59:21 +00:00
|
|
|
<mass value="1.0"/>
|
|
|
|
|
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
2016-03-17 21:54:46 +00:00
|
|
|
</inertial>
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.05 0 0.5"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size="0.1 0.1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="framemat0">
|
|
|
|
|
<color
|
|
|
|
|
rgba="0.9 0.4 0. 1" />
|
|
|
|
|
</material>
|
|
|
|
|
</visual>
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.95 0 0.5"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size="0.1 0.1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="framemat0"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.5 0 0.95"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size="1 0.1 0.1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="framemat0"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.5 0 0.05"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size="1 0.1 0.1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="framemat0"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.05 0 0.5"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size="0.1 0.1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.95 0 0.5"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size="0.1 0.1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.5 0 0.95"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size="1 0.1 0.1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.5 0 0.05"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size="1 0.1 0.1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
|
|
|
|
|
</link>
|
|
|
|
|
<link name="childA">
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 -0.36"/>
|
|
|
|
|
<mass value="1.0"/>
|
|
|
|
|
<inertia ixx="0.048966669" ixy="0" ixz="0" iyy="0.046466667" iyz="0" izz="0.0041666669"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.4 0 0.4"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size="0.9 0.05 0.8"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="doormat0">
|
|
|
|
|
<color rgba="0.8 0.8 0.3 1" />
|
|
|
|
|
</material>
|
|
|
|
|
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.4 0 0.4"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size="0.9 0.05 0.8"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="joint_baseLink_childA" type="continuous">
|
|
|
|
|
<parent link="baseLink"/>
|
|
|
|
|
<child link="childA"/>
|
|
|
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
|
|
|
|
<origin xyz="0.05 0 0.1"/>
|
|
|
|
|
<axis xyz="0 0 1"/>
|
|
|
|
|
</joint>
|
|
|
|
|
</robot>
|
|
|
|
|
|
