169 lines
5.1 KiB
XML
169 lines
5.1 KiB
XML
<?xml version='1.0' encoding='utf-8'?>
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<robot name="robo_table">
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<link name="world" />
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<link name="table_frame">
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<inertial>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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<mass value="30" />
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
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</inertial>
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<visual>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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<geometry>
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<mesh filename="../urdf/meshes/table/TableFrame.obj" />
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</geometry>
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<material name="table_metal">
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<color rgba="0.57 0.57 0.57 1.0" />
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</material>
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</visual>
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<collision>
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<origin xyz="0.0 0.0 0.395" rpy="0.0 0.0 0.0" />
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<geometry>
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<box size="1.28 1.08 0.79" />
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</geometry>
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</collision>
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</link>
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<link name="wood_palete">
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<inertial>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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<mass value="10.0" />
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<inertia ixx="0.5" ixy="0.0" ixz="0.0" iyy="0.5" iyz="0.0" izz="0.5" />
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</inertial>
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<visual name="top_surface">
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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<geometry>
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<box size="1.28 1.08 0.02" />
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</geometry>
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<material name="table_top">
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<color rgba="0.92 0.92 0.92 1.0" />
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</material>
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</visual>
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<visual name="border_front">
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<origin xyz="0.0 0.53 0.005" rpy="0.0 0.0 0.0" />
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<geometry>
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<box size="1.28 0.02 0.014" />
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</geometry>
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<material name="orange_border">
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<color rgba="1.0 0.38 0.0 1.0" />
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</material>
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</visual>
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<visual name="border_back">
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<origin xyz="0.0 -0.53 0.005" rpy="0.0 0.0 0.0" />
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<geometry>
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<box size="1.28 0.02 0.014" />
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</geometry>
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<material name="orange_border">
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<color rgba="1.0 0.38 0.0 1.0" />
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</material>
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</visual>
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<visual name="border_left">
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<origin xyz="0.63 0.0 0.005" rpy="0.0 0.0 0.0" />
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<geometry>
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<box size="0.02 1.04 0.014" />
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</geometry>
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<material name="orange_border">
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<color rgba="1.0 0.38 0.0 1.0" />
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</material>
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</visual>
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<visual name="border_right">
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<origin xyz="-0.63 0.0 0.005" rpy="0.0 0.0 0.0" />
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<geometry>
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<box size="0.02 1.04 0.014" />
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</geometry>
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<material name="orange_border">
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<color rgba="1.0 0.38 0.0 1.0" />
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</material>
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</visual>
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<collision>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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<geometry>
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<box size="1.28 1.08 0.02" />
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</geometry>
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</collision>
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</link>
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<link name="robot_palete">
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<inertial>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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<mass value="3" />
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<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
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</inertial>
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<visual>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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<geometry>
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<mesh filename="../urdf/meshes/table/PlateUnderRobot.obj" />
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</geometry>
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<material name="table_metal">
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<color rgba="0.57 0.57 0.57 1.0" />
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</material>
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</visual>
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<collision>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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<geometry>
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<box size="0.47 0.4 0.01" />
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</geometry>
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</collision>
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</link>
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<link name="cabinet_frame">
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<inertial>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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<mass value="5.0" />
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<inertia ixx="0.2" ixy="0.0" ixz="0.0" iyy="0.2" iyz="0.0" izz="0.2" />
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</inertial>
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<visual>
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<origin xyz="0.0 0.0 0.0" rpy="1.57 0.0 1.57" />
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<geometry>
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<mesh filename="../urdf/meshes/table/CabinetFrame.obj" />
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</geometry>
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<material name="table_metal">
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<color rgba="0.57 0.57 0.57 1.0" />
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</material>
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</visual>
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</link>
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<link name="cabinet">
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<inertial>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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<mass value="15.0" />
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<inertia ixx="0.5" ixy="0.0" ixz="0.0" iyy="0.5" iyz="0.0" izz="0.5" />
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</inertial>
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<visual>
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<origin xyz="0.0 0.31 0.0" rpy="1.57 0.0 -1.57" />
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<geometry>
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<mesh filename="../urdf/meshes/table/ElectricCabinet.obj" />
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</geometry>
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<material name="cabinet_dark">
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<color rgba="0.2 0.2 0.22 1.0" />
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</material>
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</visual>
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<collision>
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<origin xyz="-0.12 0 0.4" rpy="1.57 0.0 1.57" />
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<geometry>
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<box size="0.65 0.83 0.32" />
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</geometry>
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</collision>
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</link>
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<joint name="world_frame" type="fixed">
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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<parent link="world" />
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<child link="table_frame" />
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</joint>
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<joint name="frame_palete" type="fixed">
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<origin xyz="0.0 0.0 0.79" rpy="0.0 0.0 0.0" />
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<parent link="table_frame" />
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<child link="wood_palete" />
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</joint>
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<joint name="paletes" type="fixed">
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<origin xyz="-0.263 0.0 0.02" rpy="0.0 0.0 0.0" />
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<parent link="wood_palete" />
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<child link="robot_palete" />
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</joint>
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<joint name="frames" type="fixed">
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<origin xyz="-0.66 0.0 0.09" rpy="0.0 0.0 0.0" />
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<parent link="table_frame" />
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<child link="cabinet_frame" />
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</joint>
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<joint name="cabinets" type="fixed">
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<origin xyz="-0.022 0 0.2" rpy="0.0 0.0 0.0" />
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<parent link="cabinet_frame" />
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<child link="cabinet" />
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</joint>
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</robot> |