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Modify table rendering.

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YunfeiBai
2016-09-30 12:30:34 -07:00
parent a2dacce3d4
commit 8befdcba1a
6 changed files with 160 additions and 8 deletions
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61
data/table_square/table_square.urdf Normal file
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@@ -0,0 +1,61 @@
<?xml version="0.0" ?>
<robot name="urdf_table">
<link name="world"/>
<joint name="fixed" type="fixed">
<parent link="world"/>
<child link="baseLink"/>
<origin xyz="0 0 0"/>
</joint>
<link name="baseLink">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.6"/>
<mass value="0"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.6"/>
<geometry>
<mesh filename="table.obj" scale="0.6 0.6 0.08"/>
</geometry>
<material name="framemat0">
<color
rgba="1 1 1 1" />
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="-0.25 -0.25 0.28"/>
<geometry>
<box size="0.05 0.05 0.56"/>
</geometry>
<material name="framemat0"/>
</visual>
<visual>
<origin rpy="0 0 0" xyz="-0.25 0.25 0.28"/>
<geometry>
<box size="0.05 0.05 0.56"/>
</geometry>
<material name="framemat0"/>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0.25 -0.25 0.28"/>
<geometry>
<box size="0.05 0.05 0.56"/>
</geometry>
<material name="framemat0"/>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0.25 0.25 0.28"/>
<geometry>
<box size="0.05 0.05 0.56"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.6"/>
<geometry>
<box size="0.6 0.6 0.08"/>
</geometry>
</collision>
</link>
</robot>