hssd-partnr-ci / urdf /a93cadff07a074a9bd121bf6ef22e74572d08fd6 /a93cadff07a074a9bd121bf6ef22e74572d08fd6.urdf
aclegg3
initial commit
cac4cf9
raw
history blame
14.8 kB
<?xml version="1.0" ?>
<robot name="kitchen0001_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="kitchen0001"/>
</joint>
<!--LINKS-->
<link name="kitchen0001">
<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="kitchen0001.glb" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000352 0.007472 0.053892"/>
<geometry>
<box size="2.9196999073028564 0.6000000238418579 0.10589999705553055"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000352 0.266213 0.468036"/>
<geometry>
<box size="2.9196999073028564 0.08250000327825546 0.7441999912261963"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-1.449246 -0.020057 0.457543"/>
<geometry>
<box size="0.020500000566244125 0.5449000000953674 0.7245000004768372"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.265299 -0.033824 0.455654"/>
<geometry>
<box size="0.04569999873638153 0.5174000263214111 0.7199000120162964"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.330290 -0.034000 0.453707"/>
<geometry>
<box size="0.047200001776218414 0.5170999765396118 0.7186999917030334"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="1.449349 -0.010564 0.450312"/>
<geometry>
<box size="0.021700000390410423 0.5638999938964844 0.7251999974250793"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.503825 0.007473 0.853719"/>
<geometry>
<box size="1.9127999544143677 0.6000000238418579 0.09260000288486481"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.667991 -0.246458 0.853719"/>
<geometry>
<box size="0.45739999413490295 0.09210000187158585 0.09260000288486481"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-1.159085 0.007473 0.853719"/>
<geometry>
<box size="0.6008999943733215 0.6000000238418579 0.09260000288486481"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.650004 0.259124 0.853719"/>
<geometry>
<box size="0.451200008392334 0.09669999778270721 0.09260000288486481"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000352 -0.298362 0.866254"/>
<geometry>
<box size="2.9196999073028564 0.02590000070631504 0.06750000268220901"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.701371 -0.017277 0.901872"/>
<geometry>
<box size="0.722599983215332 0.4555000066757202 0.003700000001117587"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000369 0.292462 1.855131"/>
<geometry>
<box size="2.9196999073028564 0.03370000049471855 1.9093999862670898"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.599380 0.052340 2.304231"/>
<geometry>
<box size="0.3499999940395355 0.30660000443458557 0.9901000261306763"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.603635 0.010698 1.757032"/>
<geometry>
<box size="0.8434000015258789 0.5159000158309937 0.09989999979734421"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.617589 0.077176 1.737468"/>
<geometry>
<box size="0.7495999932289124 0.362199991941452 0.04769999906420708"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.895738 0.191640 0.939305"/>
<geometry>
<box size="0.057500001043081284 0.034299999475479126 0.034299999475479126"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.906338 0.192860 0.915886"/>
<geometry>
<box size="0.030899999663233757 0.02879999950528145 0.034299999475479126"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.656015 0.007473 0.645142"/>
<geometry>
<box size="0.4189999997615814 0.4260999858379364 0.01269999984651804"/>
</geometry>
</collision>
<collision>
<origin rpy="-0.000000 -1.585741 -0.000000" xyz="-0.862499 0.007473 0.742776"/>
<geometry>
<box size="0.19709999859333038 0.4260999858379364 0.012699998915195465"/>
</geometry>
</collision>
<collision>
<origin rpy="3.141593 -1.555852 -0.000000" xyz="-0.448059 0.007473 0.742776"/>
<geometry>
<box size="0.19709999859333038 0.4260999858379364 0.012700000777840614"/>
</geometry>
</collision>
<collision>
<origin rpy="-0.000012 -1.585741 -1.570773" xyz="-0.656690 0.213220 0.742776"/>
<geometry>
<box size="0.19709999859333038 0.4260999858379364 0.012699998915195465"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000010 -1.585741 1.570779" xyz="-0.656691 -0.204626 0.742776"/>
<geometry>
<box size="0.19709999859333038 0.4260999858379364 0.012699998915195465"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-1.254103 -0.012720 1.800537"/>
<geometry>
<cylinder radius="0.09175000339746475" length="0.1835000067949295"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-1.254103 -0.015518 2.343402"/>
<geometry>
<cylinder radius="0.006149999797344208" length="0.9297000169754028"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.012270 -0.012720 1.800537"/>
<geometry>
<cylinder radius="0.09175000339746475" length="0.1835000067949295"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.012270 -0.015518 2.343402"/>
<geometry>
<cylinder radius="0.006149999797344208" length="0.9297000169754028"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="1.203626 -0.012720 1.800537"/>
<geometry>
<cylinder radius="0.09175000339746475" length="0.1835000067949295"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="1.203627 -0.015518 2.343402"/>
<geometry>
<cylinder radius="0.006149999797344208" length="0.9297000169754028"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.907105 0.191676 1.055319"/>
<geometry>
<cylinder radius="0.011850000359117985" length="0.2134000062942505"/>
</geometry>
</collision>
<collision>
<origin rpy="0.070457 0.070282 0.099517" xyz="-0.905406 0.189785 1.176944"/>
<geometry>
<cylinder radius="0.011850000359117985" length="0.03970000147819519"/>
</geometry>
</collision>
<collision>
<origin rpy="0.316859 0.302050 0.145658" xyz="-0.897840 0.183560 1.210170"/>
<geometry>
<cylinder radius="0.011850000359117985" length="0.03970000147819519"/>
</geometry>
</collision>
<collision>
<origin rpy="0.648564 0.543387 0.283784" xyz="-0.883365 0.171654 1.237006"/>
<geometry>
<cylinder radius="0.011850000359117985" length="0.03970000147819519"/>
</geometry>
</collision>
<collision>
<origin rpy="0.844073 0.641806 0.393352" xyz="-0.863298 0.155147 1.258731"/>
<geometry>
<cylinder radius="0.011850000359117985" length="0.03970000147819519"/>
</geometry>
</collision>
<collision>
<origin rpy="1.216333 0.753329 0.634476" xyz="-0.839282 0.135392 1.272362"/>
<geometry>
<cylinder radius="0.011850000359117985" length="0.03970000147819519"/>
</geometry>
</collision>
<collision>
<origin rpy="1.541992 0.785191 0.862071" xyz="-0.814281 0.114826 1.276196"/>
<geometry>
<cylinder radius="0.011850000359117985" length="0.03970000147819519"/>
</geometry>
</collision>
<collision>
<origin rpy="1.952506 0.748087 1.148985" xyz="-0.789936 0.094801 1.271510"/>
<geometry>
<cylinder radius="0.011850000359117985" length="0.03970000147819519"/>
</geometry>
</collision>
<collision>
<origin rpy="2.339623 0.623184 1.396416" xyz="-0.766579 0.075588 1.257454"/>
<geometry>
<cylinder radius="0.011850000359117985" length="0.03970000147819519"/>
</geometry>
</collision>
<collision>
<origin rpy="2.609449 0.469535 1.537652" xyz="-0.747499 0.059892 1.234451"/>
<geometry>
<cylinder radius="0.011850000359117985" length="0.03970000147819519"/>
</geometry>
</collision>
<collision>
<origin rpy="-0.284420 2.868027 -1.513166" xyz="-0.733681 0.048526 1.206335"/>
<geometry>
<cylinder radius="0.011850000359117985" length="0.03970000147819519"/>
</geometry>
</collision>
<collision>
<origin rpy="-0.083584 3.058299 -1.477242" xyz="-0.727102 0.043114 1.174387"/>
<geometry>
<cylinder radius="0.011850000359117985" length="0.03970000147819519"/>
</geometry>
</collision>
<collision>
<origin rpy="0.017827 -3.123769 -1.473916" xyz="-0.725785 0.042032 1.147978"/>
<geometry>
<cylinder radius="0.011850000359117985" length="0.03970000147819519"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.873792 0.192482 0.990826"/>
<geometry>
<cylinder radius="0.004900000058114529" length="0.07840000092983246"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.357611 -0.052887 0.905791"/>
<geometry>
<cylinder radius="0.01145000010728836" length="0.008200000040233135"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.358104 -0.102682 0.905791"/>
<geometry>
<cylinder radius="0.01145000010728836" length="0.008200000040233135"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.358104 -0.146562 0.905791"/>
<geometry>
<cylinder radius="0.01145000010728836" length="0.008200000040233135"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.358104 -0.189948 0.905791"/>
<geometry>
<cylinder radius="0.01145000010728836" length="0.008200000040233135"/>
</geometry>
</collision>
</link>
<link name="kitchen0001_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="kitchen0001_door01.glb" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.293059 -0.000000 -0.000000"/>
<geometry>
<box size="0.585099995136261 0.012799999676644802 0.7365999817848206"/>
</geometry>
</collision>
</link>
<link name="kitchen0001_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="kitchen0001_door02.glb" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.289571 -0.000000 -0.000000"/>
<geometry>
<box size="0.5842999815940857 0.012799999676644802 0.7365999817848206"/>
</geometry>
</collision>
</link>
<link name="kitchen0001_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="kitchen0001_door03.glb" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.287564 -0.000000 -0.000000"/>
<geometry>
<box size="0.585099995136261 0.012799999676644802 0.7365999817848206"/>
</geometry>
</collision>
</link>
<link name="kitchen0001_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="kitchen0001_door04.glb" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.265584 -0.000000 0.000000"/>
<geometry>
<box size="0.527999997138977 0.012799999676644802 0.7365999817848206"/>
</geometry>
</collision>
</link>
<link name="kitchen0001_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="kitchen0001_door05.glb" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.289396 0.000000 0.000000"/>
<geometry>
<box size="0.585099995136261 0.012799999676644802 0.7365999817848206"/>
</geometry>
</collision>
</link>
<!--JOINTS-->
<joint name="kitchen0001_door01" type="revolute">
<parent link="kitchen0001"/>
<child link="kitchen0001_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="-1.450038 -0.300102 0.457133"/>
</joint>
<joint name="kitchen0001_door02" type="revolute">
<parent link="kitchen0001"/>
<child link="kitchen0001_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="-0.273841 -0.300102 0.457133"/>
</joint>
<joint name="kitchen0001_door03" type="revolute">
<parent link="kitchen0001"/>
<child link="kitchen0001_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="0.319694 -0.300102 0.457133"/>
</joint>
<joint name="kitchen0001_door04" type="revolute">
<parent link="kitchen0001"/>
<child link="kitchen0001_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="0.330148 -0.300102 0.457132"/>
</joint>
<joint name="kitchen0001_door05" type="revolute">
<parent link="kitchen0001"/>
<child link="kitchen0001_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="1.444330 -0.300102 0.457133"/>
</joint>
</robot>