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<?xml version='1.0' encoding='ASCII'?> |
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<robot name="Scene"> |
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<link name="microwave_corpus"> |
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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="0.037576"/> |
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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 name="microwave_back"> |
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<geometry> |
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<box size="0.58 0.04 0.35"/> |
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</geometry> |
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<origin xyz="0.0 0.17500000000000002 0.175" rpy="0.0 -0.0 0.0"/> |
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<material name="microwave_back_main_color"> |
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<color rgba="0.4 0.4 0.4 1.0"/> |
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</material> |
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</visual> |
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<visual name="microwave_bottom"> |
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<geometry> |
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<box size="0.41999999999999993 0.31 0.04"/> |
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</geometry> |
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<origin xyz="-0.039999999999999994 0.0 0.02" rpy="0.0 -0.0 0.0"/> |
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<material name="microwave_bottom_main_color"> |
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<color rgba="0.4 0.4 0.4 1.0"/> |
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</material> |
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</visual> |
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<visual name="microwave_left"> |
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<geometry> |
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<box size="0.04 0.31 0.31"/> |
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</geometry> |
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<origin xyz="-0.26999999999999996 0.0 0.155" rpy="0.0 -0.0 0.0"/> |
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<material name="microwave_left_main_color"> |
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<color rgba="0.4 0.4 0.4 1.0"/> |
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</material> |
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</visual> |
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<visual name="microwave_right"> |
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<geometry> |
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<box size="0.12 0.35000000000000003 0.35"/> |
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</geometry> |
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<origin xyz="0.22999999999999998 -0.02 0.175" rpy="0.0 -0.0 0.0"/> |
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<material name="microwave_right_main_color"> |
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<color rgba="0.4 0.4 0.4 1.0"/> |
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</material> |
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</visual> |
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<visual name="microwave_top"> |
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<geometry> |
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<box size="0.45999999999999996 0.31 0.04"/> |
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</geometry> |
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<origin xyz="-0.06 0.0 0.32999999999999996" rpy="0.0 -0.0 0.0"/> |
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<material name="microwave_top_main_color"> |
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<color rgba="0.4 0.4 0.4 1.0"/> |
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</material> |
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</visual> |
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<collision name="microwave_back"> |
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<geometry> |
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<box size="0.58 0.04 0.35"/> |
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</geometry> |
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<origin xyz="0.0 0.17500000000000002 0.175" rpy="0.0 -0.0 0.0"/> |
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</collision> |
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<collision name="microwave_bottom"> |
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<geometry> |
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<box size="0.41999999999999993 0.31 0.04"/> |
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</geometry> |
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<origin xyz="-0.039999999999999994 0.0 0.02" rpy="0.0 -0.0 0.0"/> |
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</collision> |
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<collision name="microwave_left"> |
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<geometry> |
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<box size="0.04 0.31 0.31"/> |
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</geometry> |
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<origin xyz="-0.26999999999999996 0.0 0.155" rpy="0.0 -0.0 0.0"/> |
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</collision> |
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<collision name="microwave_right"> |
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<geometry> |
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<box size="0.12 0.35000000000000003 0.35"/> |
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</geometry> |
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<origin xyz="0.22999999999999998 -0.02 0.175" rpy="0.0 -0.0 0.0"/> |
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</collision> |
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<collision name="microwave_top"> |
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<geometry> |
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<box size="0.45999999999999996 0.31 0.04"/> |
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</geometry> |
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<origin xyz="-0.06 0.0 0.32999999999999996" rpy="0.0 -0.0 0.0"/> |
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</collision> |
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</link> |
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<link name="microwave_door"> |
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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="0.006439999999999999"/> |
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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 name="microwave_door_panel"> |
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<geometry> |
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<box size="0.45999999999999996 0.04 0.35"/> |
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</geometry> |
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<origin xyz="0.22999999999999998 -0.02 0.175" rpy="0.0 -0.0 0.0"/> |
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<material name="microwave_door_panel_main_color"> |
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<color rgba="0.4 0.4 0.4 1.0"/> |
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</material> |
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</visual> |
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<collision name="microwave_door_panel"> |
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<geometry> |
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<box size="0.45999999999999996 0.04 0.35"/> |
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</geometry> |
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<origin xyz="0.22999999999999998 -0.02 0.175" rpy="0.0 -0.0 0.0"/> |
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</collision> |
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</link> |
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<link name="microwave_handle"> |
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<inertial> |
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<origin xyz="2.8041314993969983e-18 0.021059414371699177 3.0104447336038285e-11" rpy="0.0 -0.0 0.0"/> |
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<mass value="0.20020137737179026652"/> |
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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 name="microwave_door_handle"> |
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<geometry> |
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<mesh filename="microwave_door_handle.obj"/> |
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</geometry> |
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<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0"/> |
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<material name="microwave_door_handle_main_color"> |
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<color rgba="0.4 0.4 0.4 1.0"/> |
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</material> |
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</visual> |
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<collision name="microwave_door_handle"> |
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<geometry> |
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<mesh filename="microwave_door_handle.obj"/> |
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</geometry> |
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<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0"/> |
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</collision> |
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</link> |
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<link name="world"/> |
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<link name="microwave"/> |
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<joint name="microwave_world_fixed_joint" type="fixed"> |
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<parent link="world"/> |
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<child link="microwave"/> |
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<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0"/> |
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</joint> |
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<joint name="microwave_door_joint" type="revolute"> |
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<parent link="microwave_corpus"/> |
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<child link="microwave_door"/> |
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<origin xyz="-0.29 -0.155 0.0" rpy="0.0 -0.0 0.0"/> |
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<axis xyz="-0.0 -0.0 -1.0"/> |
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<limit effort="100.0" velocity="100.0" lower="0" upper="3.141592653589793"/> |
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</joint> |
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<joint name="microwave_handle_joint" type="fixed"> |
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<parent link="microwave_door"/> |
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<child link="microwave_handle"/> |
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<origin xyz="0.41 -0.11000000000000001 0.175" rpy="-0.0 1.5707963267948966 0.0"/> |
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</joint> |
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<joint name="microwave_origin_joint" type="fixed"> |
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<parent link="microwave"/> |
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<child link="microwave_corpus"/> |
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<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0"/> |
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</joint> |
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</robot> |
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