Commit
·
c8fc559
1
Parent(s):
9459972
Add chair models
Browse files- models/chair/chair.urdf +231 -0
- models/chair/chair_scaled_0.8.urdf +231 -0
- models/chair/chair_scaled_0.9.urdf +231 -0
- models/chair/chair_scaled_1.0.urdf +231 -0
- models/chair/chair_scaled_1.1.urdf +231 -0
- models/chair/chair_scaled_1.2.urdf +231 -0
models/chair/chair.urdf
ADDED
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@@ -0,0 +1,231 @@
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| 1 |
+
<?xml version="1.0"?>
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| 2 |
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<robot name="chair">
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| 3 |
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| 4 |
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<!-- Base link at the top of the front right leg -->
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| 5 |
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<link name="chair_link">
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| 6 |
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<visual>
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| 7 |
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<geometry>
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| 8 |
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<sphere radius="0.001"/>
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| 9 |
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</geometry>
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| 10 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
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| 11 |
+
<material name="invisible">
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| 12 |
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<color rgba="0 0 0 0"/>
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| 13 |
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</material>
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| 14 |
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</visual>
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| 15 |
+
<collision name="chair">
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| 16 |
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<geometry>
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| 17 |
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<sphere radius="0.001"/>
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| 18 |
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</geometry>
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| 19 |
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<origin xyz="0 0 0" rpy="0 0 0"/>
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| 20 |
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</collision>
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| 21 |
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<inertial>
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| 22 |
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<mass value="0.001"/>
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| 23 |
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<inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
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| 24 |
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</inertial>
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| 25 |
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</link>
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| 26 |
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| 27 |
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<!-- Base link at the top of the front right leg -->
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| 28 |
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<link name="base">
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| 29 |
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<visual>
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| 30 |
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<geometry>
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| 31 |
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<sphere radius="0.001"/>
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| 32 |
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</geometry>
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| 33 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
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| 34 |
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<material name="invisible">
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| 35 |
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<color rgba="0 0 0 0"/>
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| 36 |
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</material>
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| 37 |
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</visual>
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| 38 |
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<inertial>
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| 39 |
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<mass value="0.001"/>
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| 40 |
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<inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
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| 41 |
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</inertial>
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| 42 |
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</link>
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| 43 |
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| 44 |
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<!-- Seat -->
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| 45 |
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<link name="seat">
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| 46 |
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<visual>
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| 47 |
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<geometry>
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| 48 |
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<box size="0.36 0.39 0.02"/>
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| 49 |
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</geometry>
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| 50 |
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<origin xyz="0 0 0" rpy="0 0 0"/>
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| 51 |
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<material name="wood">
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| 52 |
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<color rgba="0.6 0.4 0.2 1.0"/>
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| 53 |
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</material>
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| 54 |
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</visual>
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| 55 |
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<collision>
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| 56 |
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<geometry>
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| 57 |
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<box size="0.36 0.39 0.02"/>
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| 58 |
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</geometry>
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| 59 |
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<origin xyz="0 0 0" rpy="0 0 0"/>
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| 60 |
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</collision>
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| 61 |
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<inertial>
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| 62 |
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<mass value="1.0"/>
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| 63 |
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<inertia ixx="0.012" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.02"/>
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| 64 |
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</inertial>
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| 65 |
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</link>
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| 66 |
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| 67 |
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<!-- Front left leg -->
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| 68 |
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<link name="front_left_leg">
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| 69 |
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<visual>
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| 70 |
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<geometry>
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| 71 |
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<cylinder radius="0.02" length="0.44"/>
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| 72 |
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</geometry>
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| 73 |
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<origin xyz="0 0 0" rpy="0 0 0"/>
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| 74 |
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<material name="wood">
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| 75 |
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<color rgba="0.6 0.4 0.2 1.0"/>
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| 76 |
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</material>
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| 77 |
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</visual>
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| 78 |
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<collision>
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| 79 |
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<geometry>
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| 80 |
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<cylinder radius="0.02" length="0.44"/>
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| 81 |
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</geometry>
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| 82 |
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<origin xyz="0 0 0" rpy="0 0 0"/>
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| 83 |
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</collision>
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| 84 |
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<inertial>
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| 85 |
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<mass value="0.01"/>
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| 86 |
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.0001"/>
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| 87 |
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</inertial>
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| 88 |
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</link>
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| 89 |
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| 90 |
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<!-- Front right leg -->
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| 91 |
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<link name="front_right_leg">
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| 92 |
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<visual>
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| 93 |
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<geometry>
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| 94 |
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<cylinder radius="0.02" length="0.44"/>
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| 95 |
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</geometry>
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| 96 |
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<origin xyz="0 0 0" rpy="0 0 0"/>
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| 97 |
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<material name="wood">
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| 98 |
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<color rgba="0.6 0.4 0.2 1.0"/>
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| 99 |
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</material>
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| 100 |
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</visual>
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| 101 |
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<collision>
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| 102 |
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<geometry>
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| 103 |
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<cylinder radius="0.02" length="0.44"/>
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| 104 |
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</geometry>
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| 105 |
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<origin xyz="0 0 0" rpy="0 0 0"/>
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| 106 |
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</collision>
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| 107 |
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<inertial>
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| 108 |
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<mass value="0.01"/>
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| 109 |
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.0001"/>
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| 110 |
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</inertial>
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| 111 |
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</link>
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| 112 |
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| 113 |
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<!-- Back left leg -->
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| 114 |
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<link name="back_left_leg">
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| 115 |
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<visual>
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| 116 |
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<geometry>
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| 117 |
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<cylinder radius="0.02" length="0.44"/>
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| 118 |
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</geometry>
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| 119 |
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<origin xyz="0 0 0" rpy="0 0 0"/>
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| 120 |
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<material name="wood">
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| 121 |
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<color rgba="0.6 0.4 0.2 1.0"/>
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| 122 |
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</material>
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| 123 |
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</visual>
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| 124 |
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<collision>
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| 125 |
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<geometry>
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| 126 |
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<cylinder radius="0.02" length="0.44"/>
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| 127 |
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</geometry>
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| 128 |
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<origin xyz="0 0 0" rpy="0 0 0"/>
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| 129 |
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</collision>
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| 130 |
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<inertial>
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| 131 |
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<mass value="0.01"/>
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| 132 |
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.0001"/>
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| 133 |
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</inertial>
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| 134 |
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</link>
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| 135 |
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| 136 |
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<!-- Back right leg -->
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| 137 |
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<link name="back_right_leg">
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| 138 |
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<visual>
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| 139 |
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<geometry>
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| 140 |
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<cylinder radius="0.02" length="0.44"/>
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| 141 |
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</geometry>
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| 142 |
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<origin xyz="0 0 0" rpy="0 0 0"/>
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| 143 |
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<material name="wood">
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| 144 |
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<color rgba="0.6 0.4 0.2 1.0"/>
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| 145 |
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</material>
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| 146 |
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</visual>
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| 147 |
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<collision>
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| 148 |
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<geometry>
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| 149 |
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<cylinder radius="0.02" length="0.44"/>
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| 150 |
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</geometry>
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| 151 |
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<origin xyz="0 0 0" rpy="0 0 0"/>
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| 152 |
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</collision>
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| 153 |
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<inertial>
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| 154 |
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<mass value="0.01"/>
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| 155 |
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.0001"/>
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| 156 |
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</inertial>
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| 157 |
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</link>
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| 158 |
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| 159 |
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<!-- Backrest (tilted back support) -->
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| 160 |
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<link name="backrest">
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| 161 |
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<visual>
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| 162 |
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<geometry>
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| 163 |
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<box size="0.36 0.015 0.41"/>
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| 164 |
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</geometry>
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| 165 |
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<origin xyz="0 0 0" rpy="0 0 0"/>
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| 166 |
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<material name="wood">
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| 167 |
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<color rgba="0.6 0.4 0.2 1.0"/>
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| 168 |
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</material>
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| 169 |
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</visual>
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| 170 |
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<collision>
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| 171 |
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<geometry>
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| 172 |
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<box size="0.36 0.015 0.41"/>
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| 173 |
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</geometry>
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| 174 |
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<origin xyz="0 0 0" rpy="0 0 0"/>
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| 175 |
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</collision>
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| 176 |
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<inertial>
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| 177 |
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<mass value=".5"/>
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| 178 |
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<inertia ixx="0.012" ixy="0" ixz="0" iyy="0.02" iyz="0" izz="0.01"/>
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| 179 |
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</inertial>
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| 180 |
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</link>
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| 181 |
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| 182 |
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<!-- Joint connecting base_link to seat -->
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| 183 |
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| 184 |
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<joint name="baselink_to_base" type="fixed">
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| 185 |
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<parent link="chair_link"/>
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| 186 |
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<child link="base"/>
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| 187 |
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<origin xyz="0 0 0" rpy="0 0 0"/>
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| 188 |
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</joint>
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| 189 |
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| 190 |
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<joint name="base_to_seat" type="fixed">
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| 191 |
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<parent link="base"/>
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| 192 |
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<child link="seat"/>
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| 193 |
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<origin xyz="0.16 -0.18 0." rpy="0 0 0"/>
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| 194 |
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</joint>
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| 195 |
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| 196 |
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<!-- Joint connecting front left leg to seat -->
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| 197 |
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<joint name="seat_to_front_left_leg" type="fixed">
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| 198 |
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<parent link="seat"/>
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| 199 |
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<child link="front_left_leg"/>
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| 200 |
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<origin xyz="0.15 0.15 -0.23" rpy="0 0 0"/>
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| 201 |
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</joint>
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| 202 |
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| 203 |
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<!-- Joint connecting front right leg to seat -->
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| 204 |
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<joint name="seat_to_front_right_leg" type="fixed">
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| 205 |
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<parent link="seat"/>
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| 206 |
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<child link="front_right_leg"/>
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| 207 |
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<origin xyz="0.15 -0.15 -0.23" rpy="0 0 0"/>
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| 208 |
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</joint>
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| 209 |
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| 210 |
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<!-- Joint connecting back left leg to seat -->
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| 211 |
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<joint name="seat_to_back_left_leg" type="fixed">
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| 212 |
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<parent link="seat"/>
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| 213 |
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<child link="back_left_leg"/>
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| 214 |
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<origin xyz="-0.15 0.15 -0.23" rpy="0 0 0"/>
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| 215 |
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</joint>
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| 216 |
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| 217 |
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<!-- Joint connecting back right leg to seat -->
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| 218 |
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<joint name="seat_to_back_right_leg" type="fixed">
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| 219 |
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<parent link="seat"/>
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| 220 |
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<child link="back_right_leg"/>
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| 221 |
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<origin xyz="-0.15 -0.15 -0.23" rpy="0 0 0"/>
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| 222 |
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</joint>
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| 223 |
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| 224 |
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<!-- Joint connecting backrest to seat (tilted back 15 degrees) -->
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| 225 |
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<joint name="seat_to_backrest" type="fixed">
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| 226 |
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<parent link="seat"/>
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| 227 |
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<child link="backrest"/>
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| 228 |
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<origin xyz="0 -0.23 0.2" rpy="0.21 0 0"/>
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| 229 |
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</joint>
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| 230 |
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| 231 |
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</robot>
|
models/chair/chair_scaled_0.8.urdf
ADDED
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@@ -0,0 +1,231 @@
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|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0"?>
|
| 2 |
+
<robot name="chair">
|
| 3 |
+
|
| 4 |
+
<!-- Base link at the top of the front right leg -->
|
| 5 |
+
<link name="chair_link">
|
| 6 |
+
<visual>
|
| 7 |
+
<geometry>
|
| 8 |
+
<sphere radius="0.0005932584269662922"/>
|
| 9 |
+
</geometry>
|
| 10 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 11 |
+
<material name="invisible">
|
| 12 |
+
<color rgba="0 0 0 0"/>
|
| 13 |
+
</material>
|
| 14 |
+
</visual>
|
| 15 |
+
<collision name="chair">
|
| 16 |
+
<geometry>
|
| 17 |
+
<sphere radius="0.0005932584269662922"/>
|
| 18 |
+
</geometry>
|
| 19 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 20 |
+
</collision>
|
| 21 |
+
<inertial>
|
| 22 |
+
<mass value="0.00020880060257968795"/>
|
| 23 |
+
<inertia ixx="7.348853325284146e-08" ixy="0.0" ixz="0.0" iyy="7.348853325284146e-08" iyz="0.0" izz="7.348853325284146e-08"/>
|
| 24 |
+
</inertial>
|
| 25 |
+
</link>
|
| 26 |
+
|
| 27 |
+
<!-- Base link at the top of the front right leg -->
|
| 28 |
+
<link name="base">
|
| 29 |
+
<visual>
|
| 30 |
+
<geometry>
|
| 31 |
+
<sphere radius="0.0005932584269662922"/>
|
| 32 |
+
</geometry>
|
| 33 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 34 |
+
<material name="invisible">
|
| 35 |
+
<color rgba="0 0 0 0"/>
|
| 36 |
+
</material>
|
| 37 |
+
</visual>
|
| 38 |
+
<inertial>
|
| 39 |
+
<mass value="0.00020880060257968795"/>
|
| 40 |
+
<inertia ixx="7.348853325284146e-08" ixy="0.0" ixz="0.0" iyy="7.348853325284146e-08" iyz="0.0" izz="7.348853325284146e-08"/>
|
| 41 |
+
</inertial>
|
| 42 |
+
</link>
|
| 43 |
+
|
| 44 |
+
<!-- Seat -->
|
| 45 |
+
<link name="seat">
|
| 46 |
+
<visual>
|
| 47 |
+
<geometry>
|
| 48 |
+
<box size="0.21357303370786518 0.23137078651685394 0.011865168539325843"/>
|
| 49 |
+
</geometry>
|
| 50 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 51 |
+
<material name="wood">
|
| 52 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 53 |
+
</material>
|
| 54 |
+
</visual>
|
| 55 |
+
<collision>
|
| 56 |
+
<geometry>
|
| 57 |
+
<box size="0.21357303370786518 0.23137078651685394 0.011865168539325843"/>
|
| 58 |
+
</geometry>
|
| 59 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 60 |
+
</collision>
|
| 61 |
+
<inertial>
|
| 62 |
+
<mass value="0.20880060257968794"/>
|
| 63 |
+
<inertia ixx="0.0008818623990340976" ixy="0.0" ixz="0.0" iyy="0.0007348853325284146" iyz="0.0" izz="0.0014697706650568293"/>
|
| 64 |
+
</inertial>
|
| 65 |
+
</link>
|
| 66 |
+
|
| 67 |
+
<!-- Front left leg -->
|
| 68 |
+
<link name="front_left_leg">
|
| 69 |
+
<visual>
|
| 70 |
+
<geometry>
|
| 71 |
+
<cylinder radius="0.011865168539325843" length="0.26103370786516855"/>
|
| 72 |
+
</geometry>
|
| 73 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 74 |
+
<material name="wood">
|
| 75 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 76 |
+
</material>
|
| 77 |
+
</visual>
|
| 78 |
+
<collision>
|
| 79 |
+
<geometry>
|
| 80 |
+
<cylinder radius="0.011865168539325843" length="0.26103370786516855"/>
|
| 81 |
+
</geometry>
|
| 82 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 83 |
+
</collision>
|
| 84 |
+
<inertial>
|
| 85 |
+
<mass value="0.0020880060257968793"/>
|
| 86 |
+
<inertia ixx="7.348853325284147e-05" ixy="0.0" ixz="0.0" iyy="7.348853325284147e-05" iyz="0.0" izz="7.3488533252841466e-06"/>
|
| 87 |
+
</inertial>
|
| 88 |
+
</link>
|
| 89 |
+
|
| 90 |
+
<!-- Front right leg -->
|
| 91 |
+
<link name="front_right_leg">
|
| 92 |
+
<visual>
|
| 93 |
+
<geometry>
|
| 94 |
+
<cylinder radius="0.011865168539325843" length="0.26103370786516855"/>
|
| 95 |
+
</geometry>
|
| 96 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 97 |
+
<material name="wood">
|
| 98 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 99 |
+
</material>
|
| 100 |
+
</visual>
|
| 101 |
+
<collision>
|
| 102 |
+
<geometry>
|
| 103 |
+
<cylinder radius="0.011865168539325843" length="0.26103370786516855"/>
|
| 104 |
+
</geometry>
|
| 105 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 106 |
+
</collision>
|
| 107 |
+
<inertial>
|
| 108 |
+
<mass value="0.0020880060257968793"/>
|
| 109 |
+
<inertia ixx="7.348853325284147e-05" ixy="0.0" ixz="0.0" iyy="7.348853325284147e-05" iyz="0.0" izz="7.3488533252841466e-06"/>
|
| 110 |
+
</inertial>
|
| 111 |
+
</link>
|
| 112 |
+
|
| 113 |
+
<!-- Back left leg -->
|
| 114 |
+
<link name="back_left_leg">
|
| 115 |
+
<visual>
|
| 116 |
+
<geometry>
|
| 117 |
+
<cylinder radius="0.011865168539325843" length="0.26103370786516855"/>
|
| 118 |
+
</geometry>
|
| 119 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 120 |
+
<material name="wood">
|
| 121 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 122 |
+
</material>
|
| 123 |
+
</visual>
|
| 124 |
+
<collision>
|
| 125 |
+
<geometry>
|
| 126 |
+
<cylinder radius="0.011865168539325843" length="0.26103370786516855"/>
|
| 127 |
+
</geometry>
|
| 128 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 129 |
+
</collision>
|
| 130 |
+
<inertial>
|
| 131 |
+
<mass value="0.0020880060257968793"/>
|
| 132 |
+
<inertia ixx="7.348853325284147e-05" ixy="0.0" ixz="0.0" iyy="7.348853325284147e-05" iyz="0.0" izz="7.3488533252841466e-06"/>
|
| 133 |
+
</inertial>
|
| 134 |
+
</link>
|
| 135 |
+
|
| 136 |
+
<!-- Back right leg -->
|
| 137 |
+
<link name="back_right_leg">
|
| 138 |
+
<visual>
|
| 139 |
+
<geometry>
|
| 140 |
+
<cylinder radius="0.011865168539325843" length="0.26103370786516855"/>
|
| 141 |
+
</geometry>
|
| 142 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 143 |
+
<material name="wood">
|
| 144 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 145 |
+
</material>
|
| 146 |
+
</visual>
|
| 147 |
+
<collision>
|
| 148 |
+
<geometry>
|
| 149 |
+
<cylinder radius="0.011865168539325843" length="0.26103370786516855"/>
|
| 150 |
+
</geometry>
|
| 151 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 152 |
+
</collision>
|
| 153 |
+
<inertial>
|
| 154 |
+
<mass value="0.0020880060257968793"/>
|
| 155 |
+
<inertia ixx="7.348853325284147e-05" ixy="0.0" ixz="0.0" iyy="7.348853325284147e-05" iyz="0.0" izz="7.3488533252841466e-06"/>
|
| 156 |
+
</inertial>
|
| 157 |
+
</link>
|
| 158 |
+
|
| 159 |
+
<!-- Backrest (tilted back support) -->
|
| 160 |
+
<link name="backrest">
|
| 161 |
+
<visual>
|
| 162 |
+
<geometry>
|
| 163 |
+
<box size="0.21357303370786518 0.008898876404494382 0.24323595505617976"/>
|
| 164 |
+
</geometry>
|
| 165 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 166 |
+
<material name="wood">
|
| 167 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 168 |
+
</material>
|
| 169 |
+
</visual>
|
| 170 |
+
<collision>
|
| 171 |
+
<geometry>
|
| 172 |
+
<box size="0.21357303370786518 0.008898876404494382 0.24323595505617976"/>
|
| 173 |
+
</geometry>
|
| 174 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 175 |
+
</collision>
|
| 176 |
+
<inertial>
|
| 177 |
+
<mass value="0.10440030128984397"/>
|
| 178 |
+
<inertia ixx="0.0008818623990340976" ixy="0.0" ixz="0.0" iyy="0.0014697706650568293" iyz="0.0" izz="0.0007348853325284146"/>
|
| 179 |
+
</inertial>
|
| 180 |
+
</link>
|
| 181 |
+
|
| 182 |
+
<!-- Joint connecting base_link to seat -->
|
| 183 |
+
|
| 184 |
+
<joint name="baselink_to_base" type="fixed">
|
| 185 |
+
<parent link="chair_link"/>
|
| 186 |
+
<child link="base"/>
|
| 187 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 188 |
+
</joint>
|
| 189 |
+
|
| 190 |
+
<joint name="base_to_seat" type="fixed">
|
| 191 |
+
<parent link="base"/>
|
| 192 |
+
<child link="seat"/>
|
| 193 |
+
<origin xyz="0.09492134831460675 -0.10678651685393259 0.0" rpy="0 0 0"/>
|
| 194 |
+
</joint>
|
| 195 |
+
|
| 196 |
+
<!-- Joint connecting front left leg to seat -->
|
| 197 |
+
<joint name="seat_to_front_left_leg" type="fixed">
|
| 198 |
+
<parent link="seat"/>
|
| 199 |
+
<child link="front_left_leg"/>
|
| 200 |
+
<origin xyz="0.08898876404494382 0.08898876404494382 -0.1364494382022472" rpy="0 0 0"/>
|
| 201 |
+
</joint>
|
| 202 |
+
|
| 203 |
+
<!-- Joint connecting front right leg to seat -->
|
| 204 |
+
<joint name="seat_to_front_right_leg" type="fixed">
|
| 205 |
+
<parent link="seat"/>
|
| 206 |
+
<child link="front_right_leg"/>
|
| 207 |
+
<origin xyz="0.08898876404494382 -0.08898876404494382 -0.1364494382022472" rpy="0 0 0"/>
|
| 208 |
+
</joint>
|
| 209 |
+
|
| 210 |
+
<!-- Joint connecting back left leg to seat -->
|
| 211 |
+
<joint name="seat_to_back_left_leg" type="fixed">
|
| 212 |
+
<parent link="seat"/>
|
| 213 |
+
<child link="back_left_leg"/>
|
| 214 |
+
<origin xyz="-0.08898876404494382 0.08898876404494382 -0.1364494382022472" rpy="0 0 0"/>
|
| 215 |
+
</joint>
|
| 216 |
+
|
| 217 |
+
<!-- Joint connecting back right leg to seat -->
|
| 218 |
+
<joint name="seat_to_back_right_leg" type="fixed">
|
| 219 |
+
<parent link="seat"/>
|
| 220 |
+
<child link="back_right_leg"/>
|
| 221 |
+
<origin xyz="-0.08898876404494382 -0.08898876404494382 -0.1364494382022472" rpy="0 0 0"/>
|
| 222 |
+
</joint>
|
| 223 |
+
|
| 224 |
+
<!-- Joint connecting backrest to seat (tilted back 15 degrees) -->
|
| 225 |
+
<joint name="seat_to_backrest" type="fixed">
|
| 226 |
+
<parent link="seat"/>
|
| 227 |
+
<child link="backrest"/>
|
| 228 |
+
<origin xyz="0.0 -0.1364494382022472 0.11865168539325843" rpy="0.21 0 0"/>
|
| 229 |
+
</joint>
|
| 230 |
+
|
| 231 |
+
</robot>
|
models/chair/chair_scaled_0.9.urdf
ADDED
|
@@ -0,0 +1,231 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0"?>
|
| 2 |
+
<robot name="chair">
|
| 3 |
+
|
| 4 |
+
<!-- Base link at the top of the front right leg -->
|
| 5 |
+
<link name="chair_link">
|
| 6 |
+
<visual>
|
| 7 |
+
<geometry>
|
| 8 |
+
<sphere radius="0.0006674157303370787"/>
|
| 9 |
+
</geometry>
|
| 10 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 11 |
+
<material name="invisible">
|
| 12 |
+
<color rgba="0 0 0 0"/>
|
| 13 |
+
</material>
|
| 14 |
+
</visual>
|
| 15 |
+
<collision name="chair">
|
| 16 |
+
<geometry>
|
| 17 |
+
<sphere radius="0.0006674157303370787"/>
|
| 18 |
+
</geometry>
|
| 19 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 20 |
+
</collision>
|
| 21 |
+
<inertial>
|
| 22 |
+
<mass value="0.00029729617046990724"/>
|
| 23 |
+
<inertia ixx="1.3242872314596665e-07" ixy="0.0" ixz="0.0" iyy="1.3242872314596665e-07" iyz="0.0" izz="1.3242872314596665e-07"/>
|
| 24 |
+
</inertial>
|
| 25 |
+
</link>
|
| 26 |
+
|
| 27 |
+
<!-- Base link at the top of the front right leg -->
|
| 28 |
+
<link name="base">
|
| 29 |
+
<visual>
|
| 30 |
+
<geometry>
|
| 31 |
+
<sphere radius="0.0006674157303370787"/>
|
| 32 |
+
</geometry>
|
| 33 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 34 |
+
<material name="invisible">
|
| 35 |
+
<color rgba="0 0 0 0"/>
|
| 36 |
+
</material>
|
| 37 |
+
</visual>
|
| 38 |
+
<inertial>
|
| 39 |
+
<mass value="0.00029729617046990724"/>
|
| 40 |
+
<inertia ixx="1.3242872314596665e-07" ixy="0.0" ixz="0.0" iyy="1.3242872314596665e-07" iyz="0.0" izz="1.3242872314596665e-07"/>
|
| 41 |
+
</inertial>
|
| 42 |
+
</link>
|
| 43 |
+
|
| 44 |
+
<!-- Seat -->
|
| 45 |
+
<link name="seat">
|
| 46 |
+
<visual>
|
| 47 |
+
<geometry>
|
| 48 |
+
<box size="0.24026966292134833 0.2602921348314607 0.013348314606741574"/>
|
| 49 |
+
</geometry>
|
| 50 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 51 |
+
<material name="wood">
|
| 52 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 53 |
+
</material>
|
| 54 |
+
</visual>
|
| 55 |
+
<collision>
|
| 56 |
+
<geometry>
|
| 57 |
+
<box size="0.24026966292134833 0.2602921348314607 0.013348314606741574"/>
|
| 58 |
+
</geometry>
|
| 59 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 60 |
+
</collision>
|
| 61 |
+
<inertial>
|
| 62 |
+
<mass value="0.29729617046990725"/>
|
| 63 |
+
<inertia ixx="0.0015891446777515999" ixy="0.0" ixz="0.0" iyy="0.0013242872314596665" iyz="0.0" izz="0.002648574462919333"/>
|
| 64 |
+
</inertial>
|
| 65 |
+
</link>
|
| 66 |
+
|
| 67 |
+
<!-- Front left leg -->
|
| 68 |
+
<link name="front_left_leg">
|
| 69 |
+
<visual>
|
| 70 |
+
<geometry>
|
| 71 |
+
<cylinder radius="0.013348314606741574" length="0.2936629213483146"/>
|
| 72 |
+
</geometry>
|
| 73 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 74 |
+
<material name="wood">
|
| 75 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 76 |
+
</material>
|
| 77 |
+
</visual>
|
| 78 |
+
<collision>
|
| 79 |
+
<geometry>
|
| 80 |
+
<cylinder radius="0.013348314606741574" length="0.2936629213483146"/>
|
| 81 |
+
</geometry>
|
| 82 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 83 |
+
</collision>
|
| 84 |
+
<inertial>
|
| 85 |
+
<mass value="0.0029729617046990726"/>
|
| 86 |
+
<inertia ixx="0.00013242872314596666" ixy="0.0" ixz="0.0" iyy="0.00013242872314596666" iyz="0.0" izz="1.3242872314596666e-05"/>
|
| 87 |
+
</inertial>
|
| 88 |
+
</link>
|
| 89 |
+
|
| 90 |
+
<!-- Front right leg -->
|
| 91 |
+
<link name="front_right_leg">
|
| 92 |
+
<visual>
|
| 93 |
+
<geometry>
|
| 94 |
+
<cylinder radius="0.013348314606741574" length="0.2936629213483146"/>
|
| 95 |
+
</geometry>
|
| 96 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 97 |
+
<material name="wood">
|
| 98 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 99 |
+
</material>
|
| 100 |
+
</visual>
|
| 101 |
+
<collision>
|
| 102 |
+
<geometry>
|
| 103 |
+
<cylinder radius="0.013348314606741574" length="0.2936629213483146"/>
|
| 104 |
+
</geometry>
|
| 105 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 106 |
+
</collision>
|
| 107 |
+
<inertial>
|
| 108 |
+
<mass value="0.0029729617046990726"/>
|
| 109 |
+
<inertia ixx="0.00013242872314596666" ixy="0.0" ixz="0.0" iyy="0.00013242872314596666" iyz="0.0" izz="1.3242872314596666e-05"/>
|
| 110 |
+
</inertial>
|
| 111 |
+
</link>
|
| 112 |
+
|
| 113 |
+
<!-- Back left leg -->
|
| 114 |
+
<link name="back_left_leg">
|
| 115 |
+
<visual>
|
| 116 |
+
<geometry>
|
| 117 |
+
<cylinder radius="0.013348314606741574" length="0.2936629213483146"/>
|
| 118 |
+
</geometry>
|
| 119 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 120 |
+
<material name="wood">
|
| 121 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 122 |
+
</material>
|
| 123 |
+
</visual>
|
| 124 |
+
<collision>
|
| 125 |
+
<geometry>
|
| 126 |
+
<cylinder radius="0.013348314606741574" length="0.2936629213483146"/>
|
| 127 |
+
</geometry>
|
| 128 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 129 |
+
</collision>
|
| 130 |
+
<inertial>
|
| 131 |
+
<mass value="0.0029729617046990726"/>
|
| 132 |
+
<inertia ixx="0.00013242872314596666" ixy="0.0" ixz="0.0" iyy="0.00013242872314596666" iyz="0.0" izz="1.3242872314596666e-05"/>
|
| 133 |
+
</inertial>
|
| 134 |
+
</link>
|
| 135 |
+
|
| 136 |
+
<!-- Back right leg -->
|
| 137 |
+
<link name="back_right_leg">
|
| 138 |
+
<visual>
|
| 139 |
+
<geometry>
|
| 140 |
+
<cylinder radius="0.013348314606741574" length="0.2936629213483146"/>
|
| 141 |
+
</geometry>
|
| 142 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 143 |
+
<material name="wood">
|
| 144 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 145 |
+
</material>
|
| 146 |
+
</visual>
|
| 147 |
+
<collision>
|
| 148 |
+
<geometry>
|
| 149 |
+
<cylinder radius="0.013348314606741574" length="0.2936629213483146"/>
|
| 150 |
+
</geometry>
|
| 151 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 152 |
+
</collision>
|
| 153 |
+
<inertial>
|
| 154 |
+
<mass value="0.0029729617046990726"/>
|
| 155 |
+
<inertia ixx="0.00013242872314596666" ixy="0.0" ixz="0.0" iyy="0.00013242872314596666" iyz="0.0" izz="1.3242872314596666e-05"/>
|
| 156 |
+
</inertial>
|
| 157 |
+
</link>
|
| 158 |
+
|
| 159 |
+
<!-- Backrest (tilted back support) -->
|
| 160 |
+
<link name="backrest">
|
| 161 |
+
<visual>
|
| 162 |
+
<geometry>
|
| 163 |
+
<box size="0.24026966292134833 0.01001123595505618 0.27364044943820226"/>
|
| 164 |
+
</geometry>
|
| 165 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 166 |
+
<material name="wood">
|
| 167 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 168 |
+
</material>
|
| 169 |
+
</visual>
|
| 170 |
+
<collision>
|
| 171 |
+
<geometry>
|
| 172 |
+
<box size="0.24026966292134833 0.01001123595505618 0.27364044943820226"/>
|
| 173 |
+
</geometry>
|
| 174 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 175 |
+
</collision>
|
| 176 |
+
<inertial>
|
| 177 |
+
<mass value="0.14864808523495363"/>
|
| 178 |
+
<inertia ixx="0.0015891446777515999" ixy="0.0" ixz="0.0" iyy="0.002648574462919333" iyz="0.0" izz="0.0013242872314596665"/>
|
| 179 |
+
</inertial>
|
| 180 |
+
</link>
|
| 181 |
+
|
| 182 |
+
<!-- Joint connecting base_link to seat -->
|
| 183 |
+
|
| 184 |
+
<joint name="baselink_to_base" type="fixed">
|
| 185 |
+
<parent link="chair_link"/>
|
| 186 |
+
<child link="base"/>
|
| 187 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 188 |
+
</joint>
|
| 189 |
+
|
| 190 |
+
<joint name="base_to_seat" type="fixed">
|
| 191 |
+
<parent link="base"/>
|
| 192 |
+
<child link="seat"/>
|
| 193 |
+
<origin xyz="0.10678651685393259 -0.12013483146067416 0.0" rpy="0 0 0"/>
|
| 194 |
+
</joint>
|
| 195 |
+
|
| 196 |
+
<!-- Joint connecting front left leg to seat -->
|
| 197 |
+
<joint name="seat_to_front_left_leg" type="fixed">
|
| 198 |
+
<parent link="seat"/>
|
| 199 |
+
<child link="front_left_leg"/>
|
| 200 |
+
<origin xyz="0.1001123595505618 0.1001123595505618 -0.1535056179775281" rpy="0 0 0"/>
|
| 201 |
+
</joint>
|
| 202 |
+
|
| 203 |
+
<!-- Joint connecting front right leg to seat -->
|
| 204 |
+
<joint name="seat_to_front_right_leg" type="fixed">
|
| 205 |
+
<parent link="seat"/>
|
| 206 |
+
<child link="front_right_leg"/>
|
| 207 |
+
<origin xyz="0.1001123595505618 -0.1001123595505618 -0.1535056179775281" rpy="0 0 0"/>
|
| 208 |
+
</joint>
|
| 209 |
+
|
| 210 |
+
<!-- Joint connecting back left leg to seat -->
|
| 211 |
+
<joint name="seat_to_back_left_leg" type="fixed">
|
| 212 |
+
<parent link="seat"/>
|
| 213 |
+
<child link="back_left_leg"/>
|
| 214 |
+
<origin xyz="-0.1001123595505618 0.1001123595505618 -0.1535056179775281" rpy="0 0 0"/>
|
| 215 |
+
</joint>
|
| 216 |
+
|
| 217 |
+
<!-- Joint connecting back right leg to seat -->
|
| 218 |
+
<joint name="seat_to_back_right_leg" type="fixed">
|
| 219 |
+
<parent link="seat"/>
|
| 220 |
+
<child link="back_right_leg"/>
|
| 221 |
+
<origin xyz="-0.1001123595505618 -0.1001123595505618 -0.1535056179775281" rpy="0 0 0"/>
|
| 222 |
+
</joint>
|
| 223 |
+
|
| 224 |
+
<!-- Joint connecting backrest to seat (tilted back 15 degrees) -->
|
| 225 |
+
<joint name="seat_to_backrest" type="fixed">
|
| 226 |
+
<parent link="seat"/>
|
| 227 |
+
<child link="backrest"/>
|
| 228 |
+
<origin xyz="0.0 -0.1535056179775281 0.13348314606741574" rpy="0.21 0 0"/>
|
| 229 |
+
</joint>
|
| 230 |
+
|
| 231 |
+
</robot>
|
models/chair/chair_scaled_1.0.urdf
ADDED
|
@@ -0,0 +1,231 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
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|
|
|
|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0"?>
|
| 2 |
+
<robot name="chair">
|
| 3 |
+
|
| 4 |
+
<!-- Base link at the top of the front right leg -->
|
| 5 |
+
<link name="chair_link">
|
| 6 |
+
<visual>
|
| 7 |
+
<geometry>
|
| 8 |
+
<sphere radius="0.0007415730337078652"/>
|
| 9 |
+
</geometry>
|
| 10 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 11 |
+
<material name="invisible">
|
| 12 |
+
<color rgba="0 0 0 0"/>
|
| 13 |
+
</material>
|
| 14 |
+
</visual>
|
| 15 |
+
<collision name="chair">
|
| 16 |
+
<geometry>
|
| 17 |
+
<sphere radius="0.0007415730337078652"/>
|
| 18 |
+
</geometry>
|
| 19 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 20 |
+
</collision>
|
| 21 |
+
<inertial>
|
| 22 |
+
<mass value="0.000407813676913453"/>
|
| 23 |
+
<inertia ixx="2.2426920548352496e-07" ixy="0.0" ixz="0.0" iyy="2.2426920548352496e-07" iyz="0.0" izz="2.2426920548352496e-07"/>
|
| 24 |
+
</inertial>
|
| 25 |
+
</link>
|
| 26 |
+
|
| 27 |
+
<!-- Base link at the top of the front right leg -->
|
| 28 |
+
<link name="base">
|
| 29 |
+
<visual>
|
| 30 |
+
<geometry>
|
| 31 |
+
<sphere radius="0.0007415730337078652"/>
|
| 32 |
+
</geometry>
|
| 33 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 34 |
+
<material name="invisible">
|
| 35 |
+
<color rgba="0 0 0 0"/>
|
| 36 |
+
</material>
|
| 37 |
+
</visual>
|
| 38 |
+
<inertial>
|
| 39 |
+
<mass value="0.000407813676913453"/>
|
| 40 |
+
<inertia ixx="2.2426920548352496e-07" ixy="0.0" ixz="0.0" iyy="2.2426920548352496e-07" iyz="0.0" izz="2.2426920548352496e-07"/>
|
| 41 |
+
</inertial>
|
| 42 |
+
</link>
|
| 43 |
+
|
| 44 |
+
<!-- Seat -->
|
| 45 |
+
<link name="seat">
|
| 46 |
+
<visual>
|
| 47 |
+
<geometry>
|
| 48 |
+
<box size="0.2669662921348315 0.28921348314606743 0.014831460674157304"/>
|
| 49 |
+
</geometry>
|
| 50 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 51 |
+
<material name="wood">
|
| 52 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 53 |
+
</material>
|
| 54 |
+
</visual>
|
| 55 |
+
<collision>
|
| 56 |
+
<geometry>
|
| 57 |
+
<box size="0.2669662921348315 0.28921348314606743 0.014831460674157304"/>
|
| 58 |
+
</geometry>
|
| 59 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 60 |
+
</collision>
|
| 61 |
+
<inertial>
|
| 62 |
+
<mass value="0.407813676913453"/>
|
| 63 |
+
<inertia ixx="0.0026912304658022997" ixy="0.0" ixz="0.0" iyy="0.0022426920548352497" iyz="0.0" izz="0.0044853841096704995"/>
|
| 64 |
+
</inertial>
|
| 65 |
+
</link>
|
| 66 |
+
|
| 67 |
+
<!-- Front left leg -->
|
| 68 |
+
<link name="front_left_leg">
|
| 69 |
+
<visual>
|
| 70 |
+
<geometry>
|
| 71 |
+
<cylinder radius="0.014831460674157304" length="0.3262921348314607"/>
|
| 72 |
+
</geometry>
|
| 73 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 74 |
+
<material name="wood">
|
| 75 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 76 |
+
</material>
|
| 77 |
+
</visual>
|
| 78 |
+
<collision>
|
| 79 |
+
<geometry>
|
| 80 |
+
<cylinder radius="0.014831460674157304" length="0.3262921348314607"/>
|
| 81 |
+
</geometry>
|
| 82 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 83 |
+
</collision>
|
| 84 |
+
<inertial>
|
| 85 |
+
<mass value="0.00407813676913453"/>
|
| 86 |
+
<inertia ixx="0.00022426920548352497" ixy="0.0" ixz="0.0" iyy="0.00022426920548352497" iyz="0.0" izz="2.24269205483525e-05"/>
|
| 87 |
+
</inertial>
|
| 88 |
+
</link>
|
| 89 |
+
|
| 90 |
+
<!-- Front right leg -->
|
| 91 |
+
<link name="front_right_leg">
|
| 92 |
+
<visual>
|
| 93 |
+
<geometry>
|
| 94 |
+
<cylinder radius="0.014831460674157304" length="0.3262921348314607"/>
|
| 95 |
+
</geometry>
|
| 96 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 97 |
+
<material name="wood">
|
| 98 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 99 |
+
</material>
|
| 100 |
+
</visual>
|
| 101 |
+
<collision>
|
| 102 |
+
<geometry>
|
| 103 |
+
<cylinder radius="0.014831460674157304" length="0.3262921348314607"/>
|
| 104 |
+
</geometry>
|
| 105 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 106 |
+
</collision>
|
| 107 |
+
<inertial>
|
| 108 |
+
<mass value="0.00407813676913453"/>
|
| 109 |
+
<inertia ixx="0.00022426920548352497" ixy="0.0" ixz="0.0" iyy="0.00022426920548352497" iyz="0.0" izz="2.24269205483525e-05"/>
|
| 110 |
+
</inertial>
|
| 111 |
+
</link>
|
| 112 |
+
|
| 113 |
+
<!-- Back left leg -->
|
| 114 |
+
<link name="back_left_leg">
|
| 115 |
+
<visual>
|
| 116 |
+
<geometry>
|
| 117 |
+
<cylinder radius="0.014831460674157304" length="0.3262921348314607"/>
|
| 118 |
+
</geometry>
|
| 119 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 120 |
+
<material name="wood">
|
| 121 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 122 |
+
</material>
|
| 123 |
+
</visual>
|
| 124 |
+
<collision>
|
| 125 |
+
<geometry>
|
| 126 |
+
<cylinder radius="0.014831460674157304" length="0.3262921348314607"/>
|
| 127 |
+
</geometry>
|
| 128 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 129 |
+
</collision>
|
| 130 |
+
<inertial>
|
| 131 |
+
<mass value="0.00407813676913453"/>
|
| 132 |
+
<inertia ixx="0.00022426920548352497" ixy="0.0" ixz="0.0" iyy="0.00022426920548352497" iyz="0.0" izz="2.24269205483525e-05"/>
|
| 133 |
+
</inertial>
|
| 134 |
+
</link>
|
| 135 |
+
|
| 136 |
+
<!-- Back right leg -->
|
| 137 |
+
<link name="back_right_leg">
|
| 138 |
+
<visual>
|
| 139 |
+
<geometry>
|
| 140 |
+
<cylinder radius="0.014831460674157304" length="0.3262921348314607"/>
|
| 141 |
+
</geometry>
|
| 142 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 143 |
+
<material name="wood">
|
| 144 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 145 |
+
</material>
|
| 146 |
+
</visual>
|
| 147 |
+
<collision>
|
| 148 |
+
<geometry>
|
| 149 |
+
<cylinder radius="0.014831460674157304" length="0.3262921348314607"/>
|
| 150 |
+
</geometry>
|
| 151 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 152 |
+
</collision>
|
| 153 |
+
<inertial>
|
| 154 |
+
<mass value="0.00407813676913453"/>
|
| 155 |
+
<inertia ixx="0.00022426920548352497" ixy="0.0" ixz="0.0" iyy="0.00022426920548352497" iyz="0.0" izz="2.24269205483525e-05"/>
|
| 156 |
+
</inertial>
|
| 157 |
+
</link>
|
| 158 |
+
|
| 159 |
+
<!-- Backrest (tilted back support) -->
|
| 160 |
+
<link name="backrest">
|
| 161 |
+
<visual>
|
| 162 |
+
<geometry>
|
| 163 |
+
<box size="0.2669662921348315 0.011123595505617978 0.30404494382022473"/>
|
| 164 |
+
</geometry>
|
| 165 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 166 |
+
<material name="wood">
|
| 167 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 168 |
+
</material>
|
| 169 |
+
</visual>
|
| 170 |
+
<collision>
|
| 171 |
+
<geometry>
|
| 172 |
+
<box size="0.2669662921348315 0.011123595505617978 0.30404494382022473"/>
|
| 173 |
+
</geometry>
|
| 174 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 175 |
+
</collision>
|
| 176 |
+
<inertial>
|
| 177 |
+
<mass value="0.2039068384567265"/>
|
| 178 |
+
<inertia ixx="0.0026912304658022997" ixy="0.0" ixz="0.0" iyy="0.0044853841096704995" iyz="0.0" izz="0.0022426920548352497"/>
|
| 179 |
+
</inertial>
|
| 180 |
+
</link>
|
| 181 |
+
|
| 182 |
+
<!-- Joint connecting base_link to seat -->
|
| 183 |
+
|
| 184 |
+
<joint name="baselink_to_base" type="fixed">
|
| 185 |
+
<parent link="chair_link"/>
|
| 186 |
+
<child link="base"/>
|
| 187 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 188 |
+
</joint>
|
| 189 |
+
|
| 190 |
+
<joint name="base_to_seat" type="fixed">
|
| 191 |
+
<parent link="base"/>
|
| 192 |
+
<child link="seat"/>
|
| 193 |
+
<origin xyz="0.11865168539325843 -0.13348314606741574 0.0" rpy="0 0 0"/>
|
| 194 |
+
</joint>
|
| 195 |
+
|
| 196 |
+
<!-- Joint connecting front left leg to seat -->
|
| 197 |
+
<joint name="seat_to_front_left_leg" type="fixed">
|
| 198 |
+
<parent link="seat"/>
|
| 199 |
+
<child link="front_left_leg"/>
|
| 200 |
+
<origin xyz="0.11123595505617978 0.11123595505617978 -0.170561797752809" rpy="0 0 0"/>
|
| 201 |
+
</joint>
|
| 202 |
+
|
| 203 |
+
<!-- Joint connecting front right leg to seat -->
|
| 204 |
+
<joint name="seat_to_front_right_leg" type="fixed">
|
| 205 |
+
<parent link="seat"/>
|
| 206 |
+
<child link="front_right_leg"/>
|
| 207 |
+
<origin xyz="0.11123595505617978 -0.11123595505617978 -0.170561797752809" rpy="0 0 0"/>
|
| 208 |
+
</joint>
|
| 209 |
+
|
| 210 |
+
<!-- Joint connecting back left leg to seat -->
|
| 211 |
+
<joint name="seat_to_back_left_leg" type="fixed">
|
| 212 |
+
<parent link="seat"/>
|
| 213 |
+
<child link="back_left_leg"/>
|
| 214 |
+
<origin xyz="-0.11123595505617978 0.11123595505617978 -0.170561797752809" rpy="0 0 0"/>
|
| 215 |
+
</joint>
|
| 216 |
+
|
| 217 |
+
<!-- Joint connecting back right leg to seat -->
|
| 218 |
+
<joint name="seat_to_back_right_leg" type="fixed">
|
| 219 |
+
<parent link="seat"/>
|
| 220 |
+
<child link="back_right_leg"/>
|
| 221 |
+
<origin xyz="-0.11123595505617978 -0.11123595505617978 -0.170561797752809" rpy="0 0 0"/>
|
| 222 |
+
</joint>
|
| 223 |
+
|
| 224 |
+
<!-- Joint connecting backrest to seat (tilted back 15 degrees) -->
|
| 225 |
+
<joint name="seat_to_backrest" type="fixed">
|
| 226 |
+
<parent link="seat"/>
|
| 227 |
+
<child link="backrest"/>
|
| 228 |
+
<origin xyz="0.0 -0.170561797752809 0.14831460674157304" rpy="0.21 0 0"/>
|
| 229 |
+
</joint>
|
| 230 |
+
|
| 231 |
+
</robot>
|
models/chair/chair_scaled_1.1.urdf
ADDED
|
@@ -0,0 +1,231 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0"?>
|
| 2 |
+
<robot name="chair">
|
| 3 |
+
|
| 4 |
+
<!-- Base link at the top of the front right leg -->
|
| 5 |
+
<link name="chair_link">
|
| 6 |
+
<visual>
|
| 7 |
+
<geometry>
|
| 8 |
+
<sphere radius="0.0008157303370786519"/>
|
| 9 |
+
</geometry>
|
| 10 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 11 |
+
<material name="invisible">
|
| 12 |
+
<color rgba="0 0 0 0"/>
|
| 13 |
+
</material>
|
| 14 |
+
</visual>
|
| 15 |
+
<collision name="chair">
|
| 16 |
+
<geometry>
|
| 17 |
+
<sphere radius="0.0008157303370786519"/>
|
| 18 |
+
</geometry>
|
| 19 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 20 |
+
</collision>
|
| 21 |
+
<inertial>
|
| 22 |
+
<mass value="0.0005428000039718061"/>
|
| 23 |
+
<inertia ixx="3.6118779812327207e-07" ixy="0.0" ixz="0.0" iyy="3.6118779812327207e-07" iyz="0.0" izz="3.6118779812327207e-07"/>
|
| 24 |
+
</inertial>
|
| 25 |
+
</link>
|
| 26 |
+
|
| 27 |
+
<!-- Base link at the top of the front right leg -->
|
| 28 |
+
<link name="base">
|
| 29 |
+
<visual>
|
| 30 |
+
<geometry>
|
| 31 |
+
<sphere radius="0.0008157303370786519"/>
|
| 32 |
+
</geometry>
|
| 33 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 34 |
+
<material name="invisible">
|
| 35 |
+
<color rgba="0 0 0 0"/>
|
| 36 |
+
</material>
|
| 37 |
+
</visual>
|
| 38 |
+
<inertial>
|
| 39 |
+
<mass value="0.0005428000039718061"/>
|
| 40 |
+
<inertia ixx="3.6118779812327207e-07" ixy="0.0" ixz="0.0" iyy="3.6118779812327207e-07" iyz="0.0" izz="3.6118779812327207e-07"/>
|
| 41 |
+
</inertial>
|
| 42 |
+
</link>
|
| 43 |
+
|
| 44 |
+
<!-- Seat -->
|
| 45 |
+
<link name="seat">
|
| 46 |
+
<visual>
|
| 47 |
+
<geometry>
|
| 48 |
+
<box size="0.2936629213483147 0.31813483146067423 0.016314606741573038"/>
|
| 49 |
+
</geometry>
|
| 50 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 51 |
+
<material name="wood">
|
| 52 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 53 |
+
</material>
|
| 54 |
+
</visual>
|
| 55 |
+
<collision>
|
| 56 |
+
<geometry>
|
| 57 |
+
<box size="0.2936629213483147 0.31813483146067423 0.016314606741573038"/>
|
| 58 |
+
</geometry>
|
| 59 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 60 |
+
</collision>
|
| 61 |
+
<inertial>
|
| 62 |
+
<mass value="0.5428000039718062"/>
|
| 63 |
+
<inertia ixx="0.004334253577479265" ixy="0.0" ixz="0.0" iyy="0.003611877981232721" iyz="0.0" izz="0.007223755962465442"/>
|
| 64 |
+
</inertial>
|
| 65 |
+
</link>
|
| 66 |
+
|
| 67 |
+
<!-- Front left leg -->
|
| 68 |
+
<link name="front_left_leg">
|
| 69 |
+
<visual>
|
| 70 |
+
<geometry>
|
| 71 |
+
<cylinder radius="0.016314606741573038" length="0.3589213483146068"/>
|
| 72 |
+
</geometry>
|
| 73 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 74 |
+
<material name="wood">
|
| 75 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 76 |
+
</material>
|
| 77 |
+
</visual>
|
| 78 |
+
<collision>
|
| 79 |
+
<geometry>
|
| 80 |
+
<cylinder radius="0.016314606741573038" length="0.3589213483146068"/>
|
| 81 |
+
</geometry>
|
| 82 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 83 |
+
</collision>
|
| 84 |
+
<inertial>
|
| 85 |
+
<mass value="0.005428000039718062"/>
|
| 86 |
+
<inertia ixx="0.00036118779812327207" ixy="0.0" ixz="0.0" iyy="0.00036118779812327207" iyz="0.0" izz="3.611877981232721e-05"/>
|
| 87 |
+
</inertial>
|
| 88 |
+
</link>
|
| 89 |
+
|
| 90 |
+
<!-- Front right leg -->
|
| 91 |
+
<link name="front_right_leg">
|
| 92 |
+
<visual>
|
| 93 |
+
<geometry>
|
| 94 |
+
<cylinder radius="0.016314606741573038" length="0.3589213483146068"/>
|
| 95 |
+
</geometry>
|
| 96 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 97 |
+
<material name="wood">
|
| 98 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 99 |
+
</material>
|
| 100 |
+
</visual>
|
| 101 |
+
<collision>
|
| 102 |
+
<geometry>
|
| 103 |
+
<cylinder radius="0.016314606741573038" length="0.3589213483146068"/>
|
| 104 |
+
</geometry>
|
| 105 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 106 |
+
</collision>
|
| 107 |
+
<inertial>
|
| 108 |
+
<mass value="0.005428000039718062"/>
|
| 109 |
+
<inertia ixx="0.00036118779812327207" ixy="0.0" ixz="0.0" iyy="0.00036118779812327207" iyz="0.0" izz="3.611877981232721e-05"/>
|
| 110 |
+
</inertial>
|
| 111 |
+
</link>
|
| 112 |
+
|
| 113 |
+
<!-- Back left leg -->
|
| 114 |
+
<link name="back_left_leg">
|
| 115 |
+
<visual>
|
| 116 |
+
<geometry>
|
| 117 |
+
<cylinder radius="0.016314606741573038" length="0.3589213483146068"/>
|
| 118 |
+
</geometry>
|
| 119 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 120 |
+
<material name="wood">
|
| 121 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 122 |
+
</material>
|
| 123 |
+
</visual>
|
| 124 |
+
<collision>
|
| 125 |
+
<geometry>
|
| 126 |
+
<cylinder radius="0.016314606741573038" length="0.3589213483146068"/>
|
| 127 |
+
</geometry>
|
| 128 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 129 |
+
</collision>
|
| 130 |
+
<inertial>
|
| 131 |
+
<mass value="0.005428000039718062"/>
|
| 132 |
+
<inertia ixx="0.00036118779812327207" ixy="0.0" ixz="0.0" iyy="0.00036118779812327207" iyz="0.0" izz="3.611877981232721e-05"/>
|
| 133 |
+
</inertial>
|
| 134 |
+
</link>
|
| 135 |
+
|
| 136 |
+
<!-- Back right leg -->
|
| 137 |
+
<link name="back_right_leg">
|
| 138 |
+
<visual>
|
| 139 |
+
<geometry>
|
| 140 |
+
<cylinder radius="0.016314606741573038" length="0.3589213483146068"/>
|
| 141 |
+
</geometry>
|
| 142 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 143 |
+
<material name="wood">
|
| 144 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 145 |
+
</material>
|
| 146 |
+
</visual>
|
| 147 |
+
<collision>
|
| 148 |
+
<geometry>
|
| 149 |
+
<cylinder radius="0.016314606741573038" length="0.3589213483146068"/>
|
| 150 |
+
</geometry>
|
| 151 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 152 |
+
</collision>
|
| 153 |
+
<inertial>
|
| 154 |
+
<mass value="0.005428000039718062"/>
|
| 155 |
+
<inertia ixx="0.00036118779812327207" ixy="0.0" ixz="0.0" iyy="0.00036118779812327207" iyz="0.0" izz="3.611877981232721e-05"/>
|
| 156 |
+
</inertial>
|
| 157 |
+
</link>
|
| 158 |
+
|
| 159 |
+
<!-- Backrest (tilted back support) -->
|
| 160 |
+
<link name="backrest">
|
| 161 |
+
<visual>
|
| 162 |
+
<geometry>
|
| 163 |
+
<box size="0.2936629213483147 0.012235955056179778 0.3344494382022472"/>
|
| 164 |
+
</geometry>
|
| 165 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 166 |
+
<material name="wood">
|
| 167 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 168 |
+
</material>
|
| 169 |
+
</visual>
|
| 170 |
+
<collision>
|
| 171 |
+
<geometry>
|
| 172 |
+
<box size="0.2936629213483147 0.012235955056179778 0.3344494382022472"/>
|
| 173 |
+
</geometry>
|
| 174 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 175 |
+
</collision>
|
| 176 |
+
<inertial>
|
| 177 |
+
<mass value="0.2714000019859031"/>
|
| 178 |
+
<inertia ixx="0.004334253577479265" ixy="0.0" ixz="0.0" iyy="0.007223755962465442" iyz="0.0" izz="0.003611877981232721"/>
|
| 179 |
+
</inertial>
|
| 180 |
+
</link>
|
| 181 |
+
|
| 182 |
+
<!-- Joint connecting base_link to seat -->
|
| 183 |
+
|
| 184 |
+
<joint name="baselink_to_base" type="fixed">
|
| 185 |
+
<parent link="chair_link"/>
|
| 186 |
+
<child link="base"/>
|
| 187 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 188 |
+
</joint>
|
| 189 |
+
|
| 190 |
+
<joint name="base_to_seat" type="fixed">
|
| 191 |
+
<parent link="base"/>
|
| 192 |
+
<child link="seat"/>
|
| 193 |
+
<origin xyz="0.1305168539325843 -0.14683146067415734 0.0" rpy="0 0 0"/>
|
| 194 |
+
</joint>
|
| 195 |
+
|
| 196 |
+
<!-- Joint connecting front left leg to seat -->
|
| 197 |
+
<joint name="seat_to_front_left_leg" type="fixed">
|
| 198 |
+
<parent link="seat"/>
|
| 199 |
+
<child link="front_left_leg"/>
|
| 200 |
+
<origin xyz="0.12235955056179777 0.12235955056179777 -0.18761797752808992" rpy="0 0 0"/>
|
| 201 |
+
</joint>
|
| 202 |
+
|
| 203 |
+
<!-- Joint connecting front right leg to seat -->
|
| 204 |
+
<joint name="seat_to_front_right_leg" type="fixed">
|
| 205 |
+
<parent link="seat"/>
|
| 206 |
+
<child link="front_right_leg"/>
|
| 207 |
+
<origin xyz="0.12235955056179777 -0.12235955056179777 -0.18761797752808992" rpy="0 0 0"/>
|
| 208 |
+
</joint>
|
| 209 |
+
|
| 210 |
+
<!-- Joint connecting back left leg to seat -->
|
| 211 |
+
<joint name="seat_to_back_left_leg" type="fixed">
|
| 212 |
+
<parent link="seat"/>
|
| 213 |
+
<child link="back_left_leg"/>
|
| 214 |
+
<origin xyz="-0.12235955056179777 0.12235955056179777 -0.18761797752808992" rpy="0 0 0"/>
|
| 215 |
+
</joint>
|
| 216 |
+
|
| 217 |
+
<!-- Joint connecting back right leg to seat -->
|
| 218 |
+
<joint name="seat_to_back_right_leg" type="fixed">
|
| 219 |
+
<parent link="seat"/>
|
| 220 |
+
<child link="back_right_leg"/>
|
| 221 |
+
<origin xyz="-0.12235955056179777 -0.12235955056179777 -0.18761797752808992" rpy="0 0 0"/>
|
| 222 |
+
</joint>
|
| 223 |
+
|
| 224 |
+
<!-- Joint connecting backrest to seat (tilted back 15 degrees) -->
|
| 225 |
+
<joint name="seat_to_backrest" type="fixed">
|
| 226 |
+
<parent link="seat"/>
|
| 227 |
+
<child link="backrest"/>
|
| 228 |
+
<origin xyz="0.0 -0.18761797752808992 0.16314606741573037" rpy="0.21 0 0"/>
|
| 229 |
+
</joint>
|
| 230 |
+
|
| 231 |
+
</robot>
|
models/chair/chair_scaled_1.2.urdf
ADDED
|
@@ -0,0 +1,231 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0"?>
|
| 2 |
+
<robot name="chair">
|
| 3 |
+
|
| 4 |
+
<!-- Base link at the top of the front right leg -->
|
| 5 |
+
<link name="chair_link">
|
| 6 |
+
<visual>
|
| 7 |
+
<geometry>
|
| 8 |
+
<sphere radius="0.0008898876404494383"/>
|
| 9 |
+
</geometry>
|
| 10 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 11 |
+
<material name="invisible">
|
| 12 |
+
<color rgba="0 0 0 0"/>
|
| 13 |
+
</material>
|
| 14 |
+
</visual>
|
| 15 |
+
<collision name="chair">
|
| 16 |
+
<geometry>
|
| 17 |
+
<sphere radius="0.0008898876404494383"/>
|
| 18 |
+
</geometry>
|
| 19 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 20 |
+
</collision>
|
| 21 |
+
<inertial>
|
| 22 |
+
<mass value="0.0007047020337064468"/>
|
| 23 |
+
<inertia ixx="5.580535493887648e-07" ixy="0.0" ixz="0.0" iyy="5.580535493887648e-07" iyz="0.0" izz="5.580535493887648e-07"/>
|
| 24 |
+
</inertial>
|
| 25 |
+
</link>
|
| 26 |
+
|
| 27 |
+
<!-- Base link at the top of the front right leg -->
|
| 28 |
+
<link name="base">
|
| 29 |
+
<visual>
|
| 30 |
+
<geometry>
|
| 31 |
+
<sphere radius="0.0008898876404494383"/>
|
| 32 |
+
</geometry>
|
| 33 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 34 |
+
<material name="invisible">
|
| 35 |
+
<color rgba="0 0 0 0"/>
|
| 36 |
+
</material>
|
| 37 |
+
</visual>
|
| 38 |
+
<inertial>
|
| 39 |
+
<mass value="0.0007047020337064468"/>
|
| 40 |
+
<inertia ixx="5.580535493887648e-07" ixy="0.0" ixz="0.0" iyy="5.580535493887648e-07" iyz="0.0" izz="5.580535493887648e-07"/>
|
| 41 |
+
</inertial>
|
| 42 |
+
</link>
|
| 43 |
+
|
| 44 |
+
<!-- Seat -->
|
| 45 |
+
<link name="seat">
|
| 46 |
+
<visual>
|
| 47 |
+
<geometry>
|
| 48 |
+
<box size="0.32035955056179777 0.3470561797752809 0.017797752808988765"/>
|
| 49 |
+
</geometry>
|
| 50 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 51 |
+
<material name="wood">
|
| 52 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 53 |
+
</material>
|
| 54 |
+
</visual>
|
| 55 |
+
<collision>
|
| 56 |
+
<geometry>
|
| 57 |
+
<box size="0.32035955056179777 0.3470561797752809 0.017797752808988765"/>
|
| 58 |
+
</geometry>
|
| 59 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 60 |
+
</collision>
|
| 61 |
+
<inertial>
|
| 62 |
+
<mass value="0.7047020337064468"/>
|
| 63 |
+
<inertia ixx="0.006696642592665178" ixy="0.0" ixz="0.0" iyy="0.005580535493887649" iyz="0.0" izz="0.011161070987775298"/>
|
| 64 |
+
</inertial>
|
| 65 |
+
</link>
|
| 66 |
+
|
| 67 |
+
<!-- Front left leg -->
|
| 68 |
+
<link name="front_left_leg">
|
| 69 |
+
<visual>
|
| 70 |
+
<geometry>
|
| 71 |
+
<cylinder radius="0.017797752808988765" length="0.3915505617977528"/>
|
| 72 |
+
</geometry>
|
| 73 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 74 |
+
<material name="wood">
|
| 75 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 76 |
+
</material>
|
| 77 |
+
</visual>
|
| 78 |
+
<collision>
|
| 79 |
+
<geometry>
|
| 80 |
+
<cylinder radius="0.017797752808988765" length="0.3915505617977528"/>
|
| 81 |
+
</geometry>
|
| 82 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 83 |
+
</collision>
|
| 84 |
+
<inertial>
|
| 85 |
+
<mass value="0.007047020337064468"/>
|
| 86 |
+
<inertia ixx="0.0005580535493887648" ixy="0.0" ixz="0.0" iyy="0.0005580535493887648" iyz="0.0" izz="5.5805354938876486e-05"/>
|
| 87 |
+
</inertial>
|
| 88 |
+
</link>
|
| 89 |
+
|
| 90 |
+
<!-- Front right leg -->
|
| 91 |
+
<link name="front_right_leg">
|
| 92 |
+
<visual>
|
| 93 |
+
<geometry>
|
| 94 |
+
<cylinder radius="0.017797752808988765" length="0.3915505617977528"/>
|
| 95 |
+
</geometry>
|
| 96 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 97 |
+
<material name="wood">
|
| 98 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 99 |
+
</material>
|
| 100 |
+
</visual>
|
| 101 |
+
<collision>
|
| 102 |
+
<geometry>
|
| 103 |
+
<cylinder radius="0.017797752808988765" length="0.3915505617977528"/>
|
| 104 |
+
</geometry>
|
| 105 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 106 |
+
</collision>
|
| 107 |
+
<inertial>
|
| 108 |
+
<mass value="0.007047020337064468"/>
|
| 109 |
+
<inertia ixx="0.0005580535493887648" ixy="0.0" ixz="0.0" iyy="0.0005580535493887648" iyz="0.0" izz="5.5805354938876486e-05"/>
|
| 110 |
+
</inertial>
|
| 111 |
+
</link>
|
| 112 |
+
|
| 113 |
+
<!-- Back left leg -->
|
| 114 |
+
<link name="back_left_leg">
|
| 115 |
+
<visual>
|
| 116 |
+
<geometry>
|
| 117 |
+
<cylinder radius="0.017797752808988765" length="0.3915505617977528"/>
|
| 118 |
+
</geometry>
|
| 119 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 120 |
+
<material name="wood">
|
| 121 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 122 |
+
</material>
|
| 123 |
+
</visual>
|
| 124 |
+
<collision>
|
| 125 |
+
<geometry>
|
| 126 |
+
<cylinder radius="0.017797752808988765" length="0.3915505617977528"/>
|
| 127 |
+
</geometry>
|
| 128 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 129 |
+
</collision>
|
| 130 |
+
<inertial>
|
| 131 |
+
<mass value="0.007047020337064468"/>
|
| 132 |
+
<inertia ixx="0.0005580535493887648" ixy="0.0" ixz="0.0" iyy="0.0005580535493887648" iyz="0.0" izz="5.5805354938876486e-05"/>
|
| 133 |
+
</inertial>
|
| 134 |
+
</link>
|
| 135 |
+
|
| 136 |
+
<!-- Back right leg -->
|
| 137 |
+
<link name="back_right_leg">
|
| 138 |
+
<visual>
|
| 139 |
+
<geometry>
|
| 140 |
+
<cylinder radius="0.017797752808988765" length="0.3915505617977528"/>
|
| 141 |
+
</geometry>
|
| 142 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 143 |
+
<material name="wood">
|
| 144 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 145 |
+
</material>
|
| 146 |
+
</visual>
|
| 147 |
+
<collision>
|
| 148 |
+
<geometry>
|
| 149 |
+
<cylinder radius="0.017797752808988765" length="0.3915505617977528"/>
|
| 150 |
+
</geometry>
|
| 151 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 152 |
+
</collision>
|
| 153 |
+
<inertial>
|
| 154 |
+
<mass value="0.007047020337064468"/>
|
| 155 |
+
<inertia ixx="0.0005580535493887648" ixy="0.0" ixz="0.0" iyy="0.0005580535493887648" iyz="0.0" izz="5.5805354938876486e-05"/>
|
| 156 |
+
</inertial>
|
| 157 |
+
</link>
|
| 158 |
+
|
| 159 |
+
<!-- Backrest (tilted back support) -->
|
| 160 |
+
<link name="backrest">
|
| 161 |
+
<visual>
|
| 162 |
+
<geometry>
|
| 163 |
+
<box size="0.32035955056179777 0.013348314606741574 0.3648539325842697"/>
|
| 164 |
+
</geometry>
|
| 165 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 166 |
+
<material name="wood">
|
| 167 |
+
<color rgba="0.6 0.4 0.2 1.0"/>
|
| 168 |
+
</material>
|
| 169 |
+
</visual>
|
| 170 |
+
<collision>
|
| 171 |
+
<geometry>
|
| 172 |
+
<box size="0.32035955056179777 0.013348314606741574 0.3648539325842697"/>
|
| 173 |
+
</geometry>
|
| 174 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 175 |
+
</collision>
|
| 176 |
+
<inertial>
|
| 177 |
+
<mass value="0.3523510168532234"/>
|
| 178 |
+
<inertia ixx="0.006696642592665178" ixy="0.0" ixz="0.0" iyy="0.011161070987775298" iyz="0.0" izz="0.005580535493887649"/>
|
| 179 |
+
</inertial>
|
| 180 |
+
</link>
|
| 181 |
+
|
| 182 |
+
<!-- Joint connecting base_link to seat -->
|
| 183 |
+
|
| 184 |
+
<joint name="baselink_to_base" type="fixed">
|
| 185 |
+
<parent link="chair_link"/>
|
| 186 |
+
<child link="base"/>
|
| 187 |
+
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
|
| 188 |
+
</joint>
|
| 189 |
+
|
| 190 |
+
<joint name="base_to_seat" type="fixed">
|
| 191 |
+
<parent link="base"/>
|
| 192 |
+
<child link="seat"/>
|
| 193 |
+
<origin xyz="0.14238202247191012 -0.16017977528089888 0.0" rpy="0 0 0"/>
|
| 194 |
+
</joint>
|
| 195 |
+
|
| 196 |
+
<!-- Joint connecting front left leg to seat -->
|
| 197 |
+
<joint name="seat_to_front_left_leg" type="fixed">
|
| 198 |
+
<parent link="seat"/>
|
| 199 |
+
<child link="front_left_leg"/>
|
| 200 |
+
<origin xyz="0.13348314606741574 0.13348314606741574 -0.2046741573033708" rpy="0 0 0"/>
|
| 201 |
+
</joint>
|
| 202 |
+
|
| 203 |
+
<!-- Joint connecting front right leg to seat -->
|
| 204 |
+
<joint name="seat_to_front_right_leg" type="fixed">
|
| 205 |
+
<parent link="seat"/>
|
| 206 |
+
<child link="front_right_leg"/>
|
| 207 |
+
<origin xyz="0.13348314606741574 -0.13348314606741574 -0.2046741573033708" rpy="0 0 0"/>
|
| 208 |
+
</joint>
|
| 209 |
+
|
| 210 |
+
<!-- Joint connecting back left leg to seat -->
|
| 211 |
+
<joint name="seat_to_back_left_leg" type="fixed">
|
| 212 |
+
<parent link="seat"/>
|
| 213 |
+
<child link="back_left_leg"/>
|
| 214 |
+
<origin xyz="-0.13348314606741574 0.13348314606741574 -0.2046741573033708" rpy="0 0 0"/>
|
| 215 |
+
</joint>
|
| 216 |
+
|
| 217 |
+
<!-- Joint connecting back right leg to seat -->
|
| 218 |
+
<joint name="seat_to_back_right_leg" type="fixed">
|
| 219 |
+
<parent link="seat"/>
|
| 220 |
+
<child link="back_right_leg"/>
|
| 221 |
+
<origin xyz="-0.13348314606741574 -0.13348314606741574 -0.2046741573033708" rpy="0 0 0"/>
|
| 222 |
+
</joint>
|
| 223 |
+
|
| 224 |
+
<!-- Joint connecting backrest to seat (tilted back 15 degrees) -->
|
| 225 |
+
<joint name="seat_to_backrest" type="fixed">
|
| 226 |
+
<parent link="seat"/>
|
| 227 |
+
<child link="backrest"/>
|
| 228 |
+
<origin xyz="0.0 -0.2046741573033708 0.17797752808988765" rpy="0.21 0 0"/>
|
| 229 |
+
</joint>
|
| 230 |
+
|
| 231 |
+
</robot>
|