91 lines
2.1 KiB
XML
91 lines
2.1 KiB
XML
<?xml version="1.0"?>
|
|
<robot name="tray">
|
|
<link name="baseLink">
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<mass value="0.0"/>
|
|
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
|
</inertial>
|
|
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="-0.29 0.0 0.05"/>
|
|
<geometry>
|
|
<box size="0.02 0.6 0.06"/>
|
|
</geometry>
|
|
<material name="framemat0">
|
|
<color rgba="0.6 0.6 0.6 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="-0.29 0.0 0.05"/>
|
|
<geometry>
|
|
<box size="0.02 0.6 0.06"/>
|
|
</geometry>
|
|
</collision>
|
|
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0.29 0.0 0.05"/>
|
|
<geometry>
|
|
<box size="0.02 0.6 0.06"/>
|
|
</geometry>
|
|
<material name="framemat0">
|
|
<color rgba="0.6 0.6 0.6 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0.29 0.0 0.05"/>
|
|
<geometry>
|
|
<box size="0.02 0.6 0.06"/>
|
|
</geometry>
|
|
</collision>
|
|
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0.0 -0.29 0.05"/>
|
|
<geometry>
|
|
<box size="0.56 0.02 0.06"/>
|
|
</geometry>
|
|
<material name="framemat0">
|
|
<color rgba="0.6 0.6 0.6 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0.0 -0.29 0.05"/>
|
|
<geometry>
|
|
<box size="0.56 0.02 0.06"/>
|
|
</geometry>
|
|
</collision>
|
|
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0.0 0.29 0.05"/>
|
|
<geometry>
|
|
<box size="0.56 0.02 0.06"/>
|
|
</geometry>
|
|
<material name="framemat0">
|
|
<color rgba="0.6 0.6 0.6 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0.0 0.29 0.05"/>
|
|
<geometry>
|
|
<box size="0.56 0.02 0.06"/>
|
|
</geometry>
|
|
</collision>
|
|
|
|
<!-- base -->
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0.01"/>
|
|
<geometry>
|
|
<box size="0.6 0.6 0.02"/>
|
|
</geometry>
|
|
<material name="framemat0"/>
|
|
<color rgba="0.4 0.4 0.4 1"/>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0.01"/>
|
|
<geometry>
|
|
<box size="0.6 0.6 0.02"/>
|
|
</geometry>
|
|
</collision>
|
|
|
|
</link>
|
|
</robot> |