Add frige for PR#1519.
Browse files
fridge/fridge.urdf
ADDED
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@@ -0,0 +1,523 @@
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| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="fridge0015_ARMATURE">
|
| 3 |
+
<link name="root"/>
|
| 4 |
+
<joint name="root_rotation" type="fixed">
|
| 5 |
+
<origin rpy="-1.570796 -0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
|
| 6 |
+
<parent link="root"/>
|
| 7 |
+
<child link="fridge0015"/>
|
| 8 |
+
</joint>
|
| 9 |
+
<!--LINKS-->
|
| 10 |
+
<link name="fridge0015">
|
| 11 |
+
<inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
|
| 12 |
+
<mass value="1.000000"/>
|
| 13 |
+
<visual>
|
| 14 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 15 |
+
<geometry>
|
| 16 |
+
<mesh filename="fridge0015.glb" scale="1.0 1.0 1.0"/>
|
| 17 |
+
</geometry>
|
| 18 |
+
</visual>
|
| 19 |
+
<collision>
|
| 20 |
+
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.001912 0.024476 1.823079"/>
|
| 21 |
+
<geometry>
|
| 22 |
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<box size="0.6735000014305115 0.5771999955177307 0.05380000174045563"/>
|
| 23 |
+
</geometry>
|
| 24 |
+
</collision>
|
| 25 |
+
<collision>
|
| 26 |
+
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.001117 0.049498 1.778713"/>
|
| 27 |
+
<geometry>
|
| 28 |
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<box size="0.6704999804496765 0.5232999920845032 0.02759999968111515"/>
|
| 29 |
+
</geometry>
|
| 30 |
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</collision>
|
| 31 |
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<collision>
|
| 32 |
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<origin rpy="0.000000 -0.000000 0.000000" xyz="0.001117 0.028891 0.747690"/>
|
| 33 |
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<geometry>
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| 34 |
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<box size="0.6152999997138977 0.4821000099182129 0.05979999899864197"/>
|
| 35 |
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</geometry>
|
| 36 |
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</collision>
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| 37 |
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<collision>
|
| 38 |
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<origin rpy="0.000000 -0.000000 0.000000" xyz="0.001117 0.049499 0.061445"/>
|
| 39 |
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<geometry>
|
| 40 |
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<box size="0.6704999804496765 0.5232999920845032 0.028599999845027924"/>
|
| 41 |
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</geometry>
|
| 42 |
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</collision>
|
| 43 |
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<collision>
|
| 44 |
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<origin rpy="0.000000 -0.000000 0.000000" xyz="0.001912 0.025916 0.029185"/>
|
| 45 |
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<geometry>
|
| 46 |
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<box size="0.6735000014305115 0.5742999911308289 0.03060000017285347"/>
|
| 47 |
+
</geometry>
|
| 48 |
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</collision>
|
| 49 |
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<collision>
|
| 50 |
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<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.320341 0.049499 0.920203"/>
|
| 51 |
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<geometry>
|
| 52 |
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<box size="0.02759999968111515 0.5232999920845032 1.6921000480651855"/>
|
| 53 |
+
</geometry>
|
| 54 |
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</collision>
|
| 55 |
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<collision>
|
| 56 |
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<origin rpy="0.000000 -0.000000 0.000000" xyz="0.322575 0.049499 0.919971"/>
|
| 57 |
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<geometry>
|
| 58 |
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<box size="0.02759999968111515 0.5232999920845032 1.6912000179290771"/>
|
| 59 |
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</geometry>
|
| 60 |
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</collision>
|
| 61 |
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<collision>
|
| 62 |
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<origin rpy="0.000000 -0.000000 0.000000" xyz="0.001264 0.290529 0.920501"/>
|
| 63 |
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<geometry>
|
| 64 |
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<box size="0.6189000010490417 0.041200000792741776 1.6929999589920044"/>
|
| 65 |
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</geometry>
|
| 66 |
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</collision>
|
| 67 |
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<collision>
|
| 68 |
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<origin rpy="0.000000 -0.000000 -0.117628" xyz="-0.282499 -0.265689 1.823079"/>
|
| 69 |
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<geometry>
|
| 70 |
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<box size="0.0966000035405159 0.017000000923871994 0.05380000174045563"/>
|
| 71 |
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</geometry>
|
| 72 |
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</collision>
|
| 73 |
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<collision>
|
| 74 |
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<origin rpy="0.000000 -0.000000 -0.085609" xyz="-0.184787 -0.270794 1.823079"/>
|
| 75 |
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<geometry>
|
| 76 |
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<box size="0.1005999892950058 0.026499997824430466 0.05380000174045563"/>
|
| 77 |
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</geometry>
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| 78 |
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</collision>
|
| 79 |
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<collision>
|
| 80 |
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<origin rpy="0.000000 -0.000000 -0.036101" xyz="-0.085167 -0.275787 1.823079"/>
|
| 81 |
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<geometry>
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| 82 |
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<box size="0.1005999892950058 0.028699999675154686 0.05380000174045563"/>
|
| 83 |
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</geometry>
|
| 84 |
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</collision>
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| 85 |
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<collision>
|
| 86 |
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<origin rpy="0.000000 -0.000000 0.000000" xyz="0.008774 -0.277450 1.823079"/>
|
| 87 |
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<geometry>
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| 88 |
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<box size="0.09030000120401382 0.028699999675154686 0.05380000174045563"/>
|
| 89 |
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</geometry>
|
| 90 |
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</collision>
|
| 91 |
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<collision>
|
| 92 |
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<origin rpy="-0.000001 3.141593 0.118014" xyz="0.283502 -0.266010 1.823080"/>
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| 93 |
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<geometry>
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| 94 |
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<box size="0.0908999890089035 0.017000000923871994 0.05380000174045563"/>
|
| 95 |
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</geometry>
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| 96 |
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| 97 |
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<collision>
|
| 98 |
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<origin rpy="-0.000001 3.141593 0.085609" xyz="0.188652 -0.270794 1.823080"/>
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| 99 |
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<geometry>
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| 100 |
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<box size="0.1005999892950058 0.026499997824430466 0.05380000174045563"/>
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| 101 |
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</geometry>
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| 102 |
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</collision>
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| 103 |
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<collision>
|
| 104 |
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<origin rpy="-0.000001 3.141593 0.036101" xyz="0.089033 -0.275787 1.823080"/>
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| 105 |
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<geometry>
|
| 106 |
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<box size="0.1005999967455864 0.028699999675154686 0.05380000174045563"/>
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| 107 |
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</geometry>
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| 108 |
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</collision>
|
| 109 |
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<collision>
|
| 110 |
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<origin rpy="0.000000 -0.000000 -0.117628" xyz="-0.279772 -0.266011 0.029143"/>
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| 111 |
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<geometry>
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| 112 |
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<box size="0.09120000898838043 0.017000000923871994 0.030700000002980232"/>
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| 113 |
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</geometry>
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| 114 |
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</collision>
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| 115 |
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<collision>
|
| 116 |
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<origin rpy="0.000000 -0.000000 -0.085609" xyz="-0.184787 -0.270794 0.029143"/>
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| 117 |
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<geometry>
|
| 118 |
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<box size="0.1005999892950058 0.026499997824430466 0.030700000002980232"/>
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| 119 |
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</geometry>
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| 120 |
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</collision>
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| 121 |
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<collision>
|
| 122 |
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<origin rpy="0.000000 -0.000000 -0.036101" xyz="-0.085167 -0.275787 0.029143"/>
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| 123 |
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<geometry>
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| 124 |
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<box size="0.1005999892950058 0.028699999675154686 0.030700000002980232"/>
|
| 125 |
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</geometry>
|
| 126 |
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</collision>
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| 127 |
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<collision>
|
| 128 |
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<origin rpy="0.000000 -0.000000 0.000000" xyz="0.008774 -0.277450 0.029143"/>
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| 129 |
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<geometry>
|
| 130 |
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<box size="0.09030000120401382 0.028699999675154686 0.030700000002980232"/>
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| 131 |
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<!--JOINTS-->
|
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<joint name="fridge0015_door01" type="revolute">
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<joint name="fridge0015_door02" type="revolute">
|
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fridge/fridge0015.glb
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fridge/fridge0015_door01.glb
ADDED
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fridge/fridge0015_door02.glb
ADDED
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fridge/fridge0015_shelf_01_receptacle_mesh.glb
ADDED
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fridge/fridge0015_shelf_02_receptacle_mesh.glb
ADDED
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ADDED
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