hssd-hab
/
urdf
/01841f449f738c1e24fa15753d1fbc5fe0c6a92c
/01841f449f738c1e24fa15753d1fbc5fe0c6a92c.urdf
<robot name="fridge0014_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="fridge0014"/> | |
</joint> | |
<!--LINKS--> | |
<link name="fridge0014"> | |
<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="fridge0014.glb" scale="1.0 1.0 1.0"/> | |
</geometry> | |
</visual> | |
<collision> | |
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.427554 0.040235 0.913975"/> | |
<geometry> | |
<box size="0.048900000751018524 0.6241000294685364 1.6267999410629272"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.430771 0.040235 0.913021"/> | |
<geometry> | |
<box size="0.048900000751018524 0.6241000294685364 1.6287000179290771"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.002147 0.324909 0.911076"/> | |
<geometry> | |
<box size="0.8126000165939331 0.05480000004172325 1.632599949836731"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.001747 0.014930 1.702904"/> | |
<geometry> | |
<box size="0.8148999810218811 0.5734999775886536 0.048900000751018524"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.001609 0.040235 0.082704"/> | |
<geometry> | |
<box size="0.9071999788284302 0.6241000294685364 0.040800001472234726"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.026413 0.032500"/> | |
<geometry> | |
<box size="0.9104999899864197 0.6517999768257141 0.06499999761581421"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.004075 -0.307842 0.032500"/> | |
<geometry> | |
<box size="0.10050000250339508 0.019600000232458115 0.06499999761581421"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 0.021322" xyz="0.089203 -0.306641 0.032500"/> | |
<geometry> | |
<box size="0.09179999679327011 0.019600000232458115 0.06499999761581421"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 0.034659" xyz="0.180256 -0.304166 0.032500"/> | |
<geometry> | |
<box size="0.09179999679327011 0.019600000232458115 0.06499999761581421"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 0.050055" xyz="0.270751 -0.300072 0.032500"/> | |
<geometry> | |
<box size="0.09179999679327011 0.019600002095103264 0.06499999761581421"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 0.066294" xyz="0.361395 -0.294819 0.032500"/> | |
<geometry> | |
<box size="0.09179999679327011 0.019599998369812965 0.06499999761581421"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 0.074048" xyz="0.420518 -0.290709 0.032500"/> | |
<geometry> | |
<box size="0.029899999499320984 0.019600000232458115 0.06499999761581421"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 -0.021322" xyz="-0.098127 -0.306641 0.032500"/> | |
<geometry> | |
<box size="0.09179999679327011 0.019600000232458115 0.06499999761581421"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 -0.034659" xyz="-0.189179 -0.304166 0.032500"/> | |
<geometry> | |
<box size="0.09179999679327011 0.019600000232458115 0.06499999761581421"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 -0.050055" xyz="-0.279675 -0.300072 0.032500"/> | |
<geometry> | |
<box size="0.09179999679327011 0.019600002095103264 0.06499999761581421"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 -0.066294" xyz="-0.370319 -0.294819 0.032500"/> | |
<geometry> | |
<box size="0.09179999679327011 0.019599998369812965 0.06499999761581421"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 -0.074048" xyz="-0.429441 -0.290709 0.032500"/> | |
<geometry> | |
<box size="0.029899999499320984 0.019600000232458115 0.06499999761581421"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.001609 0.040235 0.362394"/> | |
<geometry> | |
<box size="0.9071999788284302 0.6241000294685364 0.039500001817941666"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.001609 0.040235 0.697839"/> | |
<geometry> | |
<box size="0.9071999788284302 0.6241000294685364 0.039500001817941666"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.168995 0.040235 1.033283"/> | |
<geometry> | |
<box size="0.5659999847412109 0.6241000294685364 0.039500001817941666"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.001609 0.040235 1.368729"/> | |
<geometry> | |
<box size="0.9071999788284302 0.6241000294685364 0.039500001817941666"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.121149 0.012844 0.890192"/> | |
<geometry> | |
<box size="0.013700000010430813 0.5692999958992004 1.5765999555587769"/> | |
</geometry> | |
</collision> | |
</link> | |
<link name="fridge0014_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="fridge0014_door01.glb" scale="1.0 1.0 1.0"/> | |
</geometry> | |
</visual> | |
<collision> | |
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.164615 0.000491 -0.414999"/> | |
<geometry> | |
<box size="0.3303000032901764 0.025699999183416367 0.9279999732971191"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 -0.055803" xyz="0.164668 -0.012205 -0.414999"/> | |
<geometry> | |
<box size="0.3298000395298004 0.018700001761317253 0.9279999732971191"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.164615 0.000491 0.569596"/> | |
<geometry> | |
<box size="0.3303000032901764 0.025699999183416367 0.4966000020503998"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 -0.055803" xyz="0.164668 -0.012205 0.569596"/> | |
<geometry> | |
<box size="0.3298000395298004 0.018700001761317253 0.4966000020503998"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.283501 -0.006097 0.185780"/> | |
<geometry> | |
<box size="0.09109999984502792 0.03799999877810478 0.274399995803833"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 -0.032566" xyz="0.283410 -0.026682 0.185780"/> | |
<geometry> | |
<box size="0.09099999815225601 0.005200000014156103 0.274399995803833"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.029115 0.000550 0.185772"/> | |
<geometry> | |
<box size="0.05920000001788139 0.025499999523162842 0.27639999985694885"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 -0.050163" xyz="0.029124 -0.012323 0.185772"/> | |
<geometry> | |
<box size="0.05909999832510948 0.0034000000450760126 0.27639999985694885"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.149760 0.042537 0.159305"/> | |
<geometry> | |
<box size="0.19539999961853027 0.0015999999595806003 0.29339998960494995"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.149759 0.016246 0.287426"/> | |
<geometry> | |
<box size="0.19539999961853027 0.05420000106096268 0.10520000010728836"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="-1.570796 -0.000000 0.000000" xyz="0.149760 0.027693 0.048067"/> | |
<geometry> | |
<box size="0.16869999468326569 0.0015999999595806003 0.03060000017285347"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="1.570796 0.000000 0.000000" xyz="0.284984 -0.035179 -0.771738"/> | |
<geometry> | |
<cylinder radius="0.00989999994635582" length="0.02889999933540821"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="1.570796 0.000000 0.000000" xyz="0.284984 -0.035179 0.695097"/> | |
<geometry> | |
<cylinder radius="0.00989999994635582" length="0.02889999933540821"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 0.000000 0.000000" xyz="0.284851 -0.052737 -0.028514"/> | |
<geometry> | |
<cylinder radius="0.013799999840557575" length="1.6618000268936157"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.227912 0.027784 0.176906"/> | |
<geometry> | |
<cylinder radius="0.02174999937415123" length="0.3346000015735626"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.068591 0.027784 0.176906"/> | |
<geometry> | |
<cylinder radius="0.02174999937415123" length="0.3346000015735626"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.125441 0.032238 0.188094"/> | |
<geometry> | |
<cylinder radius="0.016750000417232513" length="0.11190000176429749"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.172984 0.032284 0.188094"/> | |
<geometry> | |
<cylinder radius="0.016750000417232513" length="0.11190000176429749"/> | |
</geometry> | |
</collision> | |
</link> | |
<link name="fridge0014_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="fridge0014_door02.glb" scale="1.0 1.0 1.0"/> | |
</geometry> | |
</visual> | |
<collision> | |
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.284903 0.000226 -0.000538"/> | |
<geometry> | |
<box size="0.5699999928474426 0.026599999517202377 1.6950000524520874"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 -0.000000 0.031427" xyz="-0.285329 -0.012528 -0.000538"/> | |
<geometry> | |
<box size="0.5699999928474426 0.018200000748038292 1.6950000524520874"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="1.570796 0.000000 0.000000" xyz="-0.523499 -0.034999 -0.741771"/> | |
<geometry> | |
<cylinder radius="0.00989999994635582" length="0.02889999933540821"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="1.570796 0.000000 0.000000" xyz="-0.523499 -0.034999 0.725064"/> | |
<geometry> | |
<cylinder radius="0.00989999994635582" length="0.02889999933540821"/> | |
</geometry> | |
</collision> | |
<collision> | |
<origin rpy="0.000000 0.000000 0.000000" xyz="-0.523632 -0.052557 0.001452"/> | |
<geometry> | |
<cylinder radius="0.013799999840557575" length="1.6618000268936157"/> | |
</geometry> | |
</collision> | |
</link> | |
<!--JOINTS--> | |
<joint name="fridge0014_door01" type="revolute"> | |
<parent link="fridge0014"/> | |
<child link="fridge0014_door01"/> | |
<axis xyz="0.000000 -0.000000 -1.000000"/> | |
<limit effort="100.0000" lower="-0.0" upper="2.7925267219543457" velocity="3.0000"/> | |
<origin rpy="0 0 0" xyz="-0.454702 -0.286022 0.948854"/> | |
</joint> | |
<joint name="fridge0014_door02" type="revolute"> | |
<parent link="fridge0014"/> | |
<child link="fridge0014_door02"/> | |
<axis xyz="0.000000 0.000000 1.000000"/> | |
<limit effort="100.0000" lower="-0.0" upper="2.7925267219543457" velocity="3.0000"/> | |
<origin rpy="0 0 0" xyz="0.455137 -0.286202 0.918887"/> | |
</joint> | |
</robot> | |