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add optimized tray/traybox.urdf

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Erwin Coumans
2017-02-16 14:29:51 -08:00
parent 63486a712c
commit 65deeee64b
3 changed files with 275 additions and 0 deletions
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49
data/tray/traybox.urdf Normal file
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<robot name="tabletop">
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="tray_textured.obj" scale="0.5 0.5 0.5"/>
</geometry>
<material name="tray_material">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.005"/>
<geometry>
<box size=".6 .6 .02"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0.575469961 0" xyz="0.25 0 0.059"/>
<geometry>
<box size=".02 .6 .15"/>
</geometry>
</collision>
<collision>
<origin rpy="0 -0.575469961 0" xyz="-0.25 0 0.059"/>
<geometry>
<box size=".02 .6 .15"/>
</geometry>
</collision>
<collision>
<origin rpy="0.575469961 0 0" xyz="0 -0.25 0.059"/>
<geometry>
<box size=".6 .02 .15"/>
</geometry>
</collision>
<collision>
<origin rpy="-0.575469961 0 0" xyz="0 0.25 0.059"/>
<geometry>
<box size=".6 .02 .15"/>
</geometry>
</collision>
</link>
</robot>