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6
duburcqa commited on
Commit
b84b5ce
·
unverified ·
1 Parent(s): 77c72b5

Add microwave asset.

Browse files
Files changed (2) hide show
  1. microwave/microwave.urdf +153 -0
  2. microwave/microwave_door_handle.obj +3 -0
microwave/microwave.urdf ADDED
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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>
microwave/microwave_door_handle.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:958d1e0f2d096ca093f06631523b207f52fe7eb9219160ecfe1a82900135ea75
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+ size 4131