hssd-partnr-ci
/
urdf
/3bc24e0ea79ade13d4703ca23ece1e4019f9b70b
/3bc24e0ea79ade13d4703ca23ece1e4019f9b70b.urdf
| <robot name="wardrobe0058_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="wardrobe0058"/> | |
| </joint> | |
| <!--LINKS--> | |
| <link name="wardrobe0058"> | |
| <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="wardrobe0058.glb" scale="1.0 1.0 1.0"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000026 0.000048 2.177617"/> | |
| <geometry> | |
| <box size="2.2799999713897705 0.5698999762535095 0.024800000712275505"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000025 0.009683 2.154785"/> | |
| <geometry> | |
| <box size="2.2799999713897705 0.550599992275238 0.029899999499320984"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000000 0.019772 0.035012"/> | |
| <geometry> | |
| <box size="2.280100107192993 0.5303999781608582 0.07000000029802322"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0.000000 -0.000000 0.000000" xyz="-1.125432 0.017966 1.103838"/> | |
| <geometry> | |
| <box size="0.029200000688433647 0.5246999859809875 2.088099956512451"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000025 0.270409 1.096433"/> | |
| <geometry> | |
| <box size="2.2799999713897705 0.029200000688433647 2.0971999168395996"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0.000000 -0.000000 0.000000" xyz="1.125408 0.012245 1.104550"/> | |
| <geometry> | |
| <box size="0.029200000688433647 0.5133000016212463 2.0880000591278076"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0.000000 -0.000000 0.000000" xyz="-0.184664 0.006124 1.104423"/> | |
| <geometry> | |
| <box size="0.019099999219179153 0.499099999666214 2.0666000843048096"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="0.000000 -0.000000 0.000000" xyz="0.185473 0.006003 1.104704"/> | |
| <geometry> | |
| <box size="0.019099999219179153 0.49880000948905945 2.0662999153137207"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <link name="wardrobe0058_door01"> | |
| <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="wardrobe0058_door01.glb" scale="1.0 1.0 1.0"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin rpy="0.000000 -0.000000 0.000000" xyz="0.236701 0.000184 0.000885"/> | |
| <geometry> | |
| <box size="0.4754999876022339 0.019999999552965164 2.0690999031066895"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="1.570796 0.000000 0.000000" xyz="0.433962 -0.014152 -0.209588"/> | |
| <geometry> | |
| <cylinder radius="0.008849999867379665" length="0.011900000274181366"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="1.570796 0.000000 0.000000" xyz="0.433963 -0.024037 -0.209588"/> | |
| <geometry> | |
| <cylinder radius="0.017750000581145287" length="0.007400000002235174"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <link name="wardrobe0058_door02"> | |
| <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="wardrobe0058_door02.glb" scale="1.0 1.0 1.0"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin rpy="0.000000 -0.000000 0.000000" xyz="-0.238524 0.000183 0.000884"/> | |
| <geometry> | |
| <box size="0.4754999876022339 0.019999999552965164 2.0690999031066895"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="1.570796 0.000000 0.000000" xyz="-0.434575 -0.014152 -0.209589"/> | |
| <geometry> | |
| <cylinder radius="0.008849999867379665" length="0.011900000274181366"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="1.570796 0.000000 0.000000" xyz="-0.434575 -0.024037 -0.209589"/> | |
| <geometry> | |
| <cylinder radius="0.017750000581145287" length="0.007400000002235174"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <link name="wardrobe0058_door03"> | |
| <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="wardrobe0058_door03.glb" scale="1.0 1.0 1.0"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin rpy="0.000000 -0.000000 0.000000" xyz="-0.184808 0.000820 0.009147"/> | |
| <geometry> | |
| <box size="0.3693000078201294 0.019999999552965164 2.0687999725341797"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="1.570796 0.000000 0.000000" xyz="-0.184801 -0.013501 -0.141172"/> | |
| <geometry> | |
| <cylinder radius="0.008849999867379665" length="0.011900000274181366"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="1.570796 0.000000 0.000000" xyz="-0.184801 -0.023386 -0.141172"/> | |
| <geometry> | |
| <cylinder radius="0.017750000581145287" length="0.007400000002235174"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <link name="wardrobe0058_door04"> | |
| <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="wardrobe0058_door04.glb" scale="1.0 1.0 1.0"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin rpy="0.000000 -0.000000 0.000000" xyz="0.235789 0.000184 0.000884"/> | |
| <geometry> | |
| <box size="0.4754999876022339 0.019999999552965164 2.0690999031066895"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="1.570796 0.000000 0.000000" xyz="0.432734 -0.014152 -0.209589"/> | |
| <geometry> | |
| <cylinder radius="0.008849999867379665" length="0.011900000274181366"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="1.570796 0.000000 0.000000" xyz="0.432734 -0.024037 -0.209589"/> | |
| <geometry> | |
| <cylinder radius="0.017750000581145287" length="0.007400000002235174"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <link name="wardrobe0058_door05"> | |
| <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="wardrobe0058_door05.glb" scale="1.0 1.0 1.0"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin rpy="0.000000 -0.000000 0.000000" xyz="-0.235398 0.000184 0.000882"/> | |
| <geometry> | |
| <box size="0.4754999876022339 0.019999999552965164 2.0690999031066895"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="1.570796 0.000000 0.000000" xyz="-0.431679 -0.014152 -0.209590"/> | |
| <geometry> | |
| <cylinder radius="0.008849999867379665" length="0.011900000274181366"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin rpy="1.570796 0.000000 0.000000" xyz="-0.431678 -0.024037 -0.209590"/> | |
| <geometry> | |
| <cylinder radius="0.017750000581145287" length="0.007400000002235174"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <!--JOINTS--> | |
| <joint name="wardrobe0058_door01" type="revolute"> | |
| <parent link="wardrobe0058"/> | |
| <child link="wardrobe0058_door01"/> | |
| <axis xyz="0.000000 -0.000000 -1.000000"/> | |
| <limit effort="100.0000" lower="-0.0" upper="2.4434609413146973" velocity="3.0000"/> | |
| <origin rpy="0 0 0" xyz="-1.138894 -0.254768 1.103692"/> | |
| </joint> | |
| <joint name="wardrobe0058_door02" type="revolute"> | |
| <parent link="wardrobe0058"/> | |
| <child link="wardrobe0058_door02"/> | |
| <axis xyz="0.000000 0.000000 1.000000"/> | |
| <limit effort="100.0000" lower="-0.0" upper="2.4434609413146973" velocity="3.0000"/> | |
| <origin rpy="0 0 0" xyz="-0.185094 -0.254767 1.103692"/> | |
| </joint> | |
| <joint name="wardrobe0058_door03" type="revolute"> | |
| <parent link="wardrobe0058"/> | |
| <child link="wardrobe0058_door03"/> | |
| <axis xyz="0.000000 0.000000 1.000000"/> | |
| <limit effort="100.0000" lower="-0.0" upper="2.4434609413146973" velocity="3.0000"/> | |
| <origin rpy="0 0 0" xyz="0.184783 -0.255419 1.095326"/> | |
| </joint> | |
| <joint name="wardrobe0058_door04" type="revolute"> | |
| <parent link="wardrobe0058"/> | |
| <child link="wardrobe0058_door04"/> | |
| <axis xyz="0.000000 -0.000000 -1.000000"/> | |
| <limit effort="100.0000" lower="-0.0" upper="2.4434609413146973" velocity="3.0000"/> | |
| <origin rpy="0 0 0" xyz="0.187839 -0.254768 1.103693"/> | |
| </joint> | |
| <joint name="wardrobe0058_door05" type="revolute"> | |
| <parent link="wardrobe0058"/> | |
| <child link="wardrobe0058_door05"/> | |
| <axis xyz="0.000000 0.000000 1.000000"/> | |
| <limit effort="100.0000" lower="-0.0" upper="2.4434609413146973" velocity="3.0000"/> | |
| <origin rpy="0 0 0" xyz="1.137601 -0.254768 1.103693"/> | |
| </joint> | |
| </robot> | |