hssd-hab / urdf /08901e442a1995c0b952536f6ab4e2b78d12fc27 /08901e442a1995c0b952536f6ab4e2b78d12fc27.urdf
mox1z's picture
Duplicate from hssd/hssd-hab
33c7262 verified
Raw
History Blame Contribute Delete
11.9 kB
<?xml version="1.0" ?>
<robot name="Table0001_ARMATURE">
<link name="root"/>
<joint name="root_rotation" type="fixed">
<origin rpy="-1.570796 -0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
<parent link="root"/>
<child link="Table0001"/>
</joint>
<!--LINKS-->
<link name="Table0001">
<inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
<mass value="1.000000"/>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="Table0001.glb" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000163 -0.002310 0.005186"/>
<geometry>
<box size="0.391400009393692 0.3587000072002411 0.009999999776482582"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000026 -0.000904 0.202497"/>
<geometry>
<box size="0.02410000003874302 0.02459999918937683 0.30090001225471497"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000208 -0.001733 0.356711"/>
<geometry>
<box size="0.35679998993873596 0.2150000035762787 0.007499999832361937"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000138 0.115007 0.358578"/>
<geometry>
<box size="0.2962999939918518 0.003000000026077032 0.045899998396635056"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000252 0.008282 0.384631"/>
<geometry>
<box size="0.45809999108314514 0.3828999996185303 0.006200000178068876"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000214 0.008282 0.441449"/>
<geometry>
<box size="0.4580000042915344 0.3828999996185303 0.006099999882280827"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000270 0.182732 0.413268"/>
<geometry>
<box size="0.4596000015735626 0.03400000184774399 0.05180000141263008"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 -0.000002 0.448032"/>
<geometry>
<box size="0.5 0.3677999973297119 0.004999999888241291"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000036 -0.191394 0.448032"/>
<geometry>
<box size="0.4681999981403351 0.016699999570846558 0.004999999888241291"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000110 0.190831 0.448032"/>
<geometry>
<box size="0.46810001134872437 0.017799999564886093 0.004999999888241291"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.239204 -0.000344 0.413017"/>
<geometry>
<box size="0.02160000056028366 0.3671000003814697 0.06300000101327896"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.239089 0.000038 0.413005"/>
<geometry>
<box size="0.021900000050663948 0.3677000105381012 0.06300000101327896"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 0.834571 0.000000" xyz="-0.188138 -0.001733 0.369817"/>
<geometry>
<box size="0.03840000182390213 0.2150000035762787 0.007700000423938036"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.834571 -0.000000" xyz="0.188402 -0.001733 0.369816"/>
<geometry>
<box size="0.03840000182390213 0.2150000035762787 0.007699999958276749"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000049 -0.000250 0.374392"/>
<geometry>
<box size="0.3003000020980835 0.1949000060558319 0.0142000000923872"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000026 -0.000904 0.045664"/>
<geometry>
<box size="0.02410000003874302 0.02459999918937683 0.016599999740719795"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000026 -0.000904 0.036223"/>
<geometry>
<box size="0.02710000053048134 0.027699999511241913 0.016599999740719795"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000026 -0.000904 0.024292"/>
<geometry>
<box size="0.03099999949336052 0.031599998474121094 0.016599999740719795"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000026 -0.000904 0.014851"/>
<geometry>
<box size="0.0421999990940094 0.0430000014603138 0.007899999618530273"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 -0.159679" xyz="0.239527 -0.184826 0.416025"/>
<geometry>
<box size="0.020500000566244125 0.0052999998442828655 0.0689999982714653"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 -0.477514" xyz="0.239010 -0.186290 0.416025"/>
<geometry>
<box size="0.020500000566244125 0.0052999998442828655 0.0689999982714653"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 -0.785303" xyz="0.238044 -0.187738 0.416025"/>
<geometry>
<box size="0.020500000566244125 0.0052999998442828655 0.0689999982714653"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 -1.116007" xyz="0.236804 -0.188665 0.416025"/>
<geometry>
<box size="0.020500000566244125 0.0052999998442828655 0.0689999982714653"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 -1.423927" xyz="0.235064 -0.189250 0.416025"/>
<geometry>
<box size="0.020500000566244125 0.0052999998442828655 0.0689999982714653"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.231953 -0.190869 0.416025"/>
<geometry>
<box size="0.006300000008195639 0.01769999973475933 0.0689999982714653"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.159679" xyz="0.239527 0.184826 0.416025"/>
<geometry>
<box size="0.020500000566244125 0.0052999998442828655 0.0689999982714653"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.477514" xyz="0.239010 0.186290 0.416025"/>
<geometry>
<box size="0.020500000566244125 0.0052999998442828655 0.0689999982714653"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.785303" xyz="0.238044 0.187737 0.416025"/>
<geometry>
<box size="0.020500000566244125 0.0052999998442828655 0.0689999982714653"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 1.116007" xyz="0.236804 0.188664 0.416025"/>
<geometry>
<box size="0.020500000566244125 0.0052999998442828655 0.0689999982714653"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 1.423927" xyz="0.235064 0.189249 0.416025"/>
<geometry>
<box size="0.020500000566244125 0.0052999998442828655 0.0689999982714653"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.231953 0.190869 0.416025"/>
<geometry>
<box size="0.006300000008195639 0.01769999973475933 0.0689999982714653"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.159679" xyz="-0.239538 -0.184826 0.416025"/>
<geometry>
<box size="0.020500000566244125 0.0052999998442828655 0.0689999982714653"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.477514" xyz="-0.239020 -0.186290 0.416025"/>
<geometry>
<box size="0.020500000566244125 0.0052999998442828655 0.0689999982714653"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.785303" xyz="-0.238055 -0.187738 0.416025"/>
<geometry>
<box size="0.020500000566244125 0.0052999998442828655 0.0689999982714653"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 1.116007" xyz="-0.236814 -0.188665 0.416025"/>
<geometry>
<box size="0.020500000566244125 0.0052999998442828655 0.0689999982714653"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 1.423927" xyz="-0.235075 -0.189250 0.416025"/>
<geometry>
<box size="0.020500000566244125 0.0052999998442828655 0.0689999982714653"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.231964 -0.190869 0.416025"/>
<geometry>
<box size="0.006300000008195639 0.01769999973475933 0.0689999982714653"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 -0.159679" xyz="-0.239538 0.184826 0.416025"/>
<geometry>
<box size="0.020500000566244125 0.0052999998442828655 0.0689999982714653"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 -0.477514" xyz="-0.239020 0.186290 0.416025"/>
<geometry>
<box size="0.020500000566244125 0.0052999998442828655 0.0689999982714653"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 -0.785303" xyz="-0.238055 0.187737 0.416025"/>
<geometry>
<box size="0.020500000566244125 0.0052999998442828655 0.0689999982714653"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 -1.116007" xyz="-0.236814 0.188664 0.416025"/>
<geometry>
<box size="0.020500000566244125 0.0052999998442828655 0.0689999982714653"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 -1.423927" xyz="-0.235075 0.189249 0.416025"/>
<geometry>
<box size="0.020500000566244125 0.0052999998442828655 0.0689999982714653"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.231964 0.190869 0.416025"/>
<geometry>
<box size="0.006300000008195639 0.01769999973475933 0.0689999982714653"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.000000 0.010625"/>
<geometry>
<cylinder radius="0.04684999957680702" length="0.0026000000070780516"/>
</geometry>
</collision>
</link>
<link name="Table0001_drawer01">
<inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
<mass value="1.000000"/>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="Table0001_drawer01.glb" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.000000 -0.000053"/>
<geometry>
<box size="0.45489999651908875 0.009999999776482582 0.06270000338554382"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.213449 0.181090 0.000000"/>
<geometry>
<box size="0.009999999776482582 0.35269999504089355 0.04470000043511391"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.213449 0.181096 0.000000"/>
<geometry>
<box size="0.009999999776482582 0.35269999504089355 0.04470000043511391"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000067 0.352451 0.000000"/>
<geometry>
<box size="0.4187000095844269 0.009999999776482582 0.04470000043511391"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000049 0.176628 -0.017333"/>
<geometry>
<box size="0.4189999997615814 0.3434999883174896 0.009999999776482582"/>
</geometry>
</collision>
</link>
<!--JOINTS-->
<joint name="Table0001_drawer01" type="prismatic">
<parent link="Table0001"/>
<child link="Table0001_drawer01"/>
<axis xyz="0.000000 -1.000000 0.000000"/>
<limit effort="100.0000" lower="-0.0" upper="0.3360163906525947" velocity="3.0000"/>
<origin rpy="0 0 0" xyz="-0.000000 -0.194714 0.413076"/>
</joint>
</robot>