135 lines
3.5 KiB
XML
135 lines
3.5 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="table">
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<static>true</static>
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<link name="link">
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<collision name="surface">
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<pose>0 0 1.0 0 0 0</pose>
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<geometry>
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<box>
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<size>1.5 0.8 0.03</size>
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</box>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>0.6</mu>
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<mu2>0.6</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="visual1">
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<pose>0 0 1.0 0 0 0</pose>
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<geometry>
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<box>
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<size>1.5 0.8 0.03</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Wood</name>
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</script>
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</material>
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</visual>
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<collision name="front_left_leg">
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<pose>0.68 0.38 0.5 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.02</radius>
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<length>1.0</length>
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</cylinder>
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</geometry>
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</collision>
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<visual name="front_left_leg">
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<pose>0.68 0.38 0.5 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.02</radius>
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<length>1.0</length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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<collision name="front_right_leg">
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<pose>0.68 -0.38 0.5 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.02</radius>
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<length>1.0</length>
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</cylinder>
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</geometry>
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</collision>
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<visual name="front_right_leg">
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<pose>0.68 -0.38 0.5 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.02</radius>
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<length>1.0</length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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<collision name="back_right_leg">
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<pose>-0.68 -0.38 0.5 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.02</radius>
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<length>1.0</length>
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</cylinder>
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</geometry>
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</collision>
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<visual name="back_right_leg">
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<pose>-0.68 -0.38 0.5 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.02</radius>
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<length>1.0</length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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<collision name="back_left_leg">
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<pose>-0.68 0.38 0.5 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.02</radius>
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<length>1.0</length>
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</cylinder>
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</geometry>
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</collision>
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<visual name="back_left_leg">
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<pose>-0.68 0.38 0.5 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.02</radius>
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<length>1.0</length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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</link>
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</model>
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</sdf>
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