50 lines
1.3 KiB
Plaintext
50 lines
1.3 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.6">
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<model name="warehouse_robot">
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<static>true</static>
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<link name="link">
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<visual name="visual">
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<geometry>
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<mesh>
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<uri>model://warehouse_robot/meshes/robot.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<collision name="collision_base">
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<pose>0 0 0.20437 0 0 0</pose>
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<geometry>
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<box>
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<size>0.55508 1.0228 0.40874</size>
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</box>
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</geometry>
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</collision>
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<collision name="collision_bumper">
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<pose>0 0 0.062205 0 0 0</pose>
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<geometry>
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<box>
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<size>0.67266 1.17126 0.12441</size>
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</box>
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</geometry>
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</collision>
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<collision name="collision_column_large">
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<pose>0 -0.27539 0.43738 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.08652</radius>
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<length>0.87476</length>
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</cylinder>
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</geometry>
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</collision>
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<collision name="collision_column_small">
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<pose>0 -0.27539 0.70424 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.04261</radius>
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<length>1.40848</length>
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</cylinder>
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</geometry>
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</collision>
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</link>
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</model>
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</sdf>
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