62 lines
1.4 KiB
XML
62 lines
1.4 KiB
XML
<?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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<box size="1.5 1.0 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="-0.65 -0.4 0.28"/>
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<geometry>
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<box size="0.1 0.1 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="-0.65 0.4 0.28"/>
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<geometry>
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<box size="0.1 0.1 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="0.65 -0.4 0.28"/>
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<geometry>
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<box size="0.1 0.1 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="0.65 0.4 0.28"/>
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<geometry>
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<box size="0.1 0.1 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="1.5 1.0 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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