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<?xml version="1.0" ?> |
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<robot name="wall"> |
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<link name="wall_base_link"> |
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<inertial> |
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<mass value="0"/> |
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<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/> |
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</inertial> |
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</link> |
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<link name="x_neg_wall"> |
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<contact> |
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<lateral_friction value="1"/> |
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</contact> |
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<inertial> |
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<origin rpy="0 0 0" xyz="-0.155 0 0.025"/> |
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<mass value="0"/> |
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/> |
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</inertial> |
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<visual> |
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<origin rpy="0 0 0" xyz="-0.155 0 0.025"/> |
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<geometry> |
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<mesh filename="wallx30.obj" scale="1 1 1"/> |
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</geometry> |
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</visual> |
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<collision> |
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<origin rpy="0 0 0" xyz="-0.155 0 0.025"/> |
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<geometry> |
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<mesh filename="wallx30.obj" scale="1 1 1"/> |
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</geometry> |
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</collision> |
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</link> |
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<joint name="base_to_x_neg_wall" type="fixed"> |
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<parent link="wall_base_link"/> |
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<child link="x_neg_wall"/> |
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</joint> |
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<link name="x_pos_wall"> |
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<contact> |
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<lateral_friction value="1"/> |
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</contact> |
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<inertial> |
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<origin rpy="0 0 0" xyz="0.155 0 0.025"/> |
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<mass value="0"/> |
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/> |
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</inertial> |
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<visual> |
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<origin rpy="0 0 0" xyz="0.155 0 0.025"/> |
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<geometry> |
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<mesh filename="wallx30.obj" scale="1 1 1"/> |
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</geometry> |
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</visual> |
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<collision> |
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<origin rpy="0 0 0" xyz="0.155 0 0.025"/> |
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<geometry> |
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<mesh filename="wallx30.obj" scale="1 1 1"/> |
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</geometry> |
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</collision> |
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</link> |
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<joint name="base_to_x_pos_wall" type="fixed"> |
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<parent link="wall_base_link"/> |
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<child link="x_pos_wall"/> |
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</joint> |
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<link name="y_neg_wall"> |
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<contact> |
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<lateral_friction value="1"/> |
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</contact> |
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<inertial> |
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<origin rpy="0 0 0" xyz="0 -0.155 0.025"/> |
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<mass value="0"/> |
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/> |
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</inertial> |
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<visual> |
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<origin rpy="0 0 0" xyz="0 -0.155 0.025"/> |
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<geometry> |
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<mesh filename="wally32.obj" scale="1 1 1"/> |
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</geometry> |
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</visual> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 -0.155 0.025"/> |
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<geometry> |
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<mesh filename="wally32.obj" scale="1 1 1"/> |
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</geometry> |
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</collision> |
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</link> |
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<joint name="base_to_y_neg_wall" type="fixed"> |
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<parent link="wall_base_link"/> |
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<child link="y_neg_wall"/> |
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</joint> |
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<link name="y_pos_wall"> |
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<contact> |
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<lateral_friction value="1"/> |
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</contact> |
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<inertial> |
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<origin rpy="0 0 0" xyz="0 0.155 0.025"/> |
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<mass value="0"/> |
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/> |
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</inertial> |
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<visual> |
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<origin rpy="0 0 0" xyz="0 0.155 0.025"/> |
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<geometry> |
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<mesh filename="wally32.obj" scale="1 1 1"/> |
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</geometry> |
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</visual> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 0.155 0.025"/> |
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<geometry> |
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<mesh filename="wally32.obj" scale="1 1 1"/> |
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</geometry> |
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</collision> |
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</link> |
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<joint name="base_to_y_pos_wall" type="fixed"> |
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<parent link="wall_base_link"/> |
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<child link="y_pos_wall"/> |
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</joint> |
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</robot> |
