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