mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 14:10:11 +00:00
62 lines
1.5 KiB
Plaintext
62 lines
1.5 KiB
Plaintext
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<?xml version="0.0" ?>
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<robot name="urdf_table">
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<link name="world"/>
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<joint name="fixed" type="fixed">
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<parent link="world"/>
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<child link="baseLink"/>
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<origin xyz="0 0 0"/>
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</joint>
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<link name="baseLink">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0.6"/>
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<mass value="0"/>
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<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.6"/>
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<geometry>
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<mesh filename="table.obj" scale="0.6 0.6 0.08"/>
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</geometry>
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<material name="framemat0">
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<color
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rgba="1 1 1 1" />
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</material>
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</visual>
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<visual>
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<origin rpy="0 0 0" xyz="-0.25 -0.25 0.28"/>
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<geometry>
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<box size="0.05 0.05 0.56"/>
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</geometry>
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<material name="framemat0"/>
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</visual>
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<visual>
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<origin rpy="0 0 0" xyz="-0.25 0.25 0.28"/>
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<geometry>
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<box size="0.05 0.05 0.56"/>
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</geometry>
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<material name="framemat0"/>
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</visual>
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<visual>
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<origin rpy="0 0 0" xyz="0.25 -0.25 0.28"/>
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<geometry>
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<box size="0.05 0.05 0.56"/>
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</geometry>
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<material name="framemat0"/>
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</visual>
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<visual>
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<origin rpy="0 0 0" xyz="0.25 0.25 0.28"/>
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<geometry>
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<box size="0.05 0.05 0.56"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0.6"/>
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<geometry>
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<box size="0.6 0.6 0.08"/>
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</geometry>
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</collision>
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</link>
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</robot>
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