37 lines
1.5 KiB
XML
37 lines
1.5 KiB
XML
<?xml version="1.0"?>
|
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="table">
|
|
<xacro:macro name="table" params="*origin parent">
|
|
<link name="table_body">
|
|
<static>true</static>
|
|
<inertial>
|
|
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
|
<mass value="0.0"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
|
<geometry>
|
|
<!-- <mesh filename="package://rbs_simulation/table/model/table.dae" scale="1 1 1"/> -->
|
|
<box size="0.8 0.8 0.4"/>
|
|
</geometry>
|
|
<material name="asd">
|
|
<color rgba="1.0 1.0 0.0 1.0"/>
|
|
<!-- <texture filename="package://rbs_simulation/table/model/Metal.jpg"/> -->
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
|
<geometry>
|
|
<!-- <mesh filename="package://rbs_simulation/table/model/table.stl" scale="1 1 1"/> -->
|
|
<box size="0.8 0.8 0.4"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="table_base_joint" type="fixed">
|
|
<parent link="${parent}" />
|
|
<child link="table_body" />
|
|
<xacro:insert_block name="origin" />
|
|
</joint>
|
|
</xacro:macro>
|
|
</robot>
|