hpp-tutorial 9.0.0__0-py3-none-any.whl
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- cmeel.prefix/include/hpp/tutorial/config.hh +94 -0
- cmeel.prefix/include/hpp/tutorial/deprecated.hh +56 -0
- cmeel.prefix/include/hpp/tutorial/warning.hh +35 -0
- cmeel.prefix/lib/cmake/hpp_tutorial/cxx-standard.cmake +193 -0
- cmeel.prefix/lib/cmake/hpp_tutorial/hpp_tutorialConfig.cmake +209 -0
- cmeel.prefix/lib/cmake/hpp_tutorial/hpp_tutorialConfigVersion.cmake +65 -0
- cmeel.prefix/lib/cmake/hpp_tutorial/hpp_tutorialTargets.cmake +102 -0
- cmeel.prefix/lib/pkgconfig/hpp_tutorial.pc +22 -0
- cmeel.prefix/share/ament_index/resource_index/packages/hpp_tutorial +0 -0
- cmeel.prefix/share/hpp_tutorial/Media/materials/textures/auf_saeule_bei_shop.png +0 -0
- cmeel.prefix/share/hpp_tutorial/Media/materials/textures/ganz_links_neben_roboterplakat.png +0 -0
- cmeel.prefix/share/hpp_tutorial/Media/materials/textures/ganz_links_vorn_bei_biolab.png +0 -0
- cmeel.prefix/share/hpp_tutorial/Media/materials/textures/ganz_rechts_neben_kuecheninsel.png +0 -0
- cmeel.prefix/share/hpp_tutorial/Media/materials/textures/hinter_shopschraenken_an_saeule.png +0 -0
- cmeel.prefix/share/hpp_tutorial/Media/materials/textures/mittig_neben_roboterplakat.png +0 -0
- cmeel.prefix/share/hpp_tutorial/Media/materials/textures/sink.png +0 -0
- cmeel.prefix/share/hpp_tutorial/Media/materials/textures/stove.png +0 -0
- cmeel.prefix/share/hpp_tutorial/Media/materials/textures/wallpaper.png +0 -0
- cmeel.prefix/share/hpp_tutorial/Media/materials/textures/wallpaper2.png +0 -0
- cmeel.prefix/share/hpp_tutorial/Media/materials/textures/wallpaper_ai_unihb.png +0 -0
- cmeel.prefix/share/hpp_tutorial/Media/materials/textures/wallpaper_project_logos.png +0 -0
- cmeel.prefix/share/hpp_tutorial/Media/models/meshes/glasses/__Color_A05_4.png +0 -0
- cmeel.prefix/share/hpp_tutorial/hook/ament_prefix_path.dsv +1 -0
- cmeel.prefix/share/hpp_tutorial/hook/python_path.dsv +1 -0
- cmeel.prefix/share/hpp_tutorial/launch/config.rviz +475 -0
- cmeel.prefix/share/hpp_tutorial/launch/tutorial_7_launch.py +124 -0
- cmeel.prefix/share/hpp_tutorial/launch/tutorial_8_launch.py +193 -0
- cmeel.prefix/share/hpp_tutorial/meshes/box.dae +601 -0
- cmeel.prefix/share/hpp_tutorial/meshes/drill.stl +0 -0
- cmeel.prefix/share/hpp_tutorial/meshes/staubli-tx2-90/collision/base_link.stl +0 -0
- cmeel.prefix/share/hpp_tutorial/meshes/staubli-tx2-90/collision/link_1.stl +0 -0
- cmeel.prefix/share/hpp_tutorial/meshes/staubli-tx2-90/collision/link_2.stl +0 -0
- cmeel.prefix/share/hpp_tutorial/meshes/staubli-tx2-90/collision/link_3.stl +0 -0
- cmeel.prefix/share/hpp_tutorial/meshes/staubli-tx2-90/collision/link_4.stl +0 -0
- cmeel.prefix/share/hpp_tutorial/meshes/staubli-tx2-90/collision/link_5.stl +0 -0
- cmeel.prefix/share/hpp_tutorial/meshes/staubli-tx2-90/collision/link_6.stl +0 -0
- cmeel.prefix/share/hpp_tutorial/meshes/staubli-tx2-90/visual/base_link.stl +0 -0
- cmeel.prefix/share/hpp_tutorial/meshes/staubli-tx2-90/visual/link_1.stl +0 -0
- cmeel.prefix/share/hpp_tutorial/meshes/staubli-tx2-90/visual/link_2.stl +0 -0
- cmeel.prefix/share/hpp_tutorial/meshes/staubli-tx2-90/visual/link_3.stl +0 -0
- cmeel.prefix/share/hpp_tutorial/meshes/staubli-tx2-90/visual/link_4.stl +0 -0
- cmeel.prefix/share/hpp_tutorial/meshes/staubli-tx2-90/visual/link_5.stl +0 -0
- cmeel.prefix/share/hpp_tutorial/meshes/staubli-tx2-90/visual/link_6.stl +0 -0
- cmeel.prefix/share/hpp_tutorial/package.xml +20 -0
- cmeel.prefix/share/hpp_tutorial/srdf/box.srdf +13 -0
- cmeel.prefix/share/hpp_tutorial/srdf/cup.srdf +22 -0
- cmeel.prefix/share/hpp_tutorial/srdf/door.srdf +14 -0
- cmeel.prefix/share/hpp_tutorial/srdf/fr3.srdf +92 -0
- cmeel.prefix/share/hpp_tutorial/srdf/ground.srdf +8 -0
- cmeel.prefix/share/hpp_tutorial/srdf/kitchen_area.srdf +11770 -0
- cmeel.prefix/share/hpp_tutorial/srdf/panda.srdf +76 -0
- cmeel.prefix/share/hpp_tutorial/srdf/rod.srdf +2 -0
- cmeel.prefix/share/hpp_tutorial/srdf/staubli-drill.srdf +14 -0
- cmeel.prefix/share/hpp_tutorial/srdf/table.srdf +16 -0
- cmeel.prefix/share/hpp_tutorial/tutorial_7/controllers.yaml +28 -0
- cmeel.prefix/share/hpp_tutorial/tutorial_8/controllers.yaml +44 -0
- cmeel.prefix/share/hpp_tutorial/urdf/box.urdf +26 -0
- cmeel.prefix/share/hpp_tutorial/urdf/box_color.urdf +16 -0
- cmeel.prefix/share/hpp_tutorial/urdf/cup.urdf +26 -0
- cmeel.prefix/share/hpp_tutorial/urdf/door.urdf +111 -0
- cmeel.prefix/share/hpp_tutorial/urdf/fr3.urdf +452 -0
- cmeel.prefix/share/hpp_tutorial/urdf/ground.urdf +20 -0
- cmeel.prefix/share/hpp_tutorial/urdf/kitchen_area.urdf +4729 -0
- cmeel.prefix/share/hpp_tutorial/urdf/kitchen_area_obstacle.urdf +4729 -0
- cmeel.prefix/share/hpp_tutorial/urdf/obstacle.urdf +18 -0
- cmeel.prefix/share/hpp_tutorial/urdf/rod.urdf +19 -0
- cmeel.prefix/share/hpp_tutorial/urdf/square-plate.urdf +17 -0
- cmeel.prefix/share/hpp_tutorial/urdf/staubli-drill.urdf +254 -0
- cmeel.prefix/share/hpp_tutorial/urdf/table.urdf +160 -0
- hpp_tutorial-9.0.0.dist-info/METADATA +36 -0
- hpp_tutorial-9.0.0.dist-info/RECORD +74 -0
- hpp_tutorial-9.0.0.dist-info/WHEEL +6 -0
- hpp_tutorial-9.0.0.dist-info/licenses/LICENSE +24 -0
- hpp_tutorial-9.0.0.dist-info/top_level.txt +0 -0
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<robot name="kitchen" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor">
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name="shelf_bottom"
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/>
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<counter parent="kitchen"
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name="shelf_center"
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/>
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<counter parent="kitchen"
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name="shelf_top"
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pos_x="-5.22" pos_y="-5.65" pos_z="1.48"
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roll="0" pitch="0" yaw="0"
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size_x="0.25" size_y="0.38" size_z="0.025"
|
|
240
|
+
/>-->
|
|
241
|
+
<joint name="island_block_stove_joint" type="fixed">
|
|
242
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
243
|
+
<parent link="island_block_link"/>
|
|
244
|
+
<child link="stove_link"/>
|
|
245
|
+
</joint>
|
|
246
|
+
<link name="stove_link">
|
|
247
|
+
<inertial>
|
|
248
|
+
<mass value="1.0"/>
|
|
249
|
+
<inertia ixx="0.0270770833333" ixy="0" ixz="0" iyy="0.0479083333333" iyz="0" izz="0.0208354166667"/>
|
|
250
|
+
</inertial>
|
|
251
|
+
<visual>
|
|
252
|
+
<origin rpy="0 0 0" xyz=".30 1.895 .8525"/>
|
|
253
|
+
<geometry>
|
|
254
|
+
<box size=".50 .57 0.005"/>
|
|
255
|
+
</geometry>
|
|
256
|
+
<material name="KitchenStove"/>
|
|
257
|
+
</visual>fixed
|
|
258
|
+
<collision>
|
|
259
|
+
<origin rpy="0 0 0" xyz=".30 1.895 .8525"/>
|
|
260
|
+
<geometry>
|
|
261
|
+
<box size=".50 .57 0.005"/>
|
|
262
|
+
</geometry>
|
|
263
|
+
</collision>
|
|
264
|
+
</link>
|
|
265
|
+
<gazebo reference="stove_link">
|
|
266
|
+
<material value="Ias/KitchenStove"/>
|
|
267
|
+
</gazebo>
|
|
268
|
+
<joint name="island_block_counter_side_island_left_joint" type="fixed">
|
|
269
|
+
<origin rpy="0 0 0" xyz="0.3 0.015 0.41"/>
|
|
270
|
+
<parent link="island_block_link"/>
|
|
271
|
+
<child link="counter_side_island_left_link"/>
|
|
272
|
+
</joint>
|
|
273
|
+
<link name="counter_side_island_left_link">
|
|
274
|
+
<inertial>
|
|
275
|
+
<mass value="2.0"/>
|
|
276
|
+
<inertia ixx="0.112216666667" ixy="0" ixz="0" iyy="0.06015" iyz="0" izz="0.172066666667"/>
|
|
277
|
+
</inertial>
|
|
278
|
+
<visual>
|
|
279
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
280
|
+
<geometry>
|
|
281
|
+
<box size="0.6 0.03 0.82"/>
|
|
282
|
+
</geometry>
|
|
283
|
+
<material name="KitchenDarkGray"/>
|
|
284
|
+
</visual>
|
|
285
|
+
<collision>
|
|
286
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
287
|
+
<geometry>
|
|
288
|
+
<box size="0.6 0.03 0.82"/>
|
|
289
|
+
</geometry>
|
|
290
|
+
</collision>
|
|
291
|
+
</link>
|
|
292
|
+
<gazebo reference="counter_side_island_left_link">
|
|
293
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
294
|
+
</gazebo>
|
|
295
|
+
<joint name="island_block_counter_side_island_right_joint" type="fixed">
|
|
296
|
+
<origin rpy="0 0 0" xyz="0.3 2.245 0.41"/>
|
|
297
|
+
<parent link="island_block_link"/>
|
|
298
|
+
<child link="counter_side_island_right_link"/>
|
|
299
|
+
</joint>
|
|
300
|
+
<link name="counter_side_island_right_link">
|
|
301
|
+
<inertial>
|
|
302
|
+
<mass value="2.0"/>
|
|
303
|
+
<inertia ixx="0.112216666667" ixy="0" ixz="0" iyy="0.06015" iyz="0" izz="0.172066666667"/>
|
|
304
|
+
</inertial>
|
|
305
|
+
<visual>
|
|
306
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
307
|
+
<geometry>
|
|
308
|
+
<box size="0.6 0.03 0.82"/>
|
|
309
|
+
</geometry>
|
|
310
|
+
<material name="KitchenDarkGray"/>
|
|
311
|
+
</visual>
|
|
312
|
+
<collision>
|
|
313
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
314
|
+
<geometry>
|
|
315
|
+
<box size="0.6 0.03 0.82"/>
|
|
316
|
+
</geometry>
|
|
317
|
+
</collision>
|
|
318
|
+
</link>
|
|
319
|
+
<gazebo reference="counter_side_island_right_link">
|
|
320
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
321
|
+
</gazebo>
|
|
322
|
+
<joint name="island_block_counter_side_island_back_joint" type="fixed">
|
|
323
|
+
<origin rpy="0 0 0" xyz="0.01 1.13 0.41"/>
|
|
324
|
+
<parent link="island_block_link"/>
|
|
325
|
+
<child link="counter_side_island_back_link"/>
|
|
326
|
+
</joint>
|
|
327
|
+
<link name="counter_side_island_back_link">
|
|
328
|
+
<inertial>
|
|
329
|
+
<mass value="2.0"/>
|
|
330
|
+
<inertia ixx="0.918733333333" ixy="0" ixz="0" iyy="0.806733333333" iyz="0" izz="0.112133333333"/>
|
|
331
|
+
</inertial>
|
|
332
|
+
<visual>
|
|
333
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
334
|
+
<geometry>
|
|
335
|
+
<box size="0.02 2.2 0.82"/>
|
|
336
|
+
</geometry>
|
|
337
|
+
<material name="KitchenDarkGray"/>
|
|
338
|
+
</visual>
|
|
339
|
+
<collision>
|
|
340
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
341
|
+
<geometry>
|
|
342
|
+
<box size="0.02 2.2 0.82"/>
|
|
343
|
+
</geometry>
|
|
344
|
+
</collision>
|
|
345
|
+
</link>
|
|
346
|
+
<gazebo reference="counter_side_island_back_link">
|
|
347
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
348
|
+
</gazebo>
|
|
349
|
+
<joint name="island_block_counter_top_island_joint" type="fixed">
|
|
350
|
+
<origin rpy="0 0 0" xyz="0.3 1.125 0.835"/>
|
|
351
|
+
<parent link="island_block_link"/>
|
|
352
|
+
<child link="counter_top_island_link"/>
|
|
353
|
+
</joint>
|
|
354
|
+
<link name="counter_top_island_link">
|
|
355
|
+
<inertial>
|
|
356
|
+
<mass value="2.0"/>
|
|
357
|
+
<inertia ixx="1.00056666667" ixy="0" ixz="0" iyy="1.10708333333" iyz="0" izz="0.106816666667"/>
|
|
358
|
+
</inertial>
|
|
359
|
+
<visual>
|
|
360
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
361
|
+
<geometry>
|
|
362
|
+
<box size="0.8 2.45 0.03"/>
|
|
363
|
+
</geometry>
|
|
364
|
+
<material name="KitchenDarkGray"/>
|
|
365
|
+
</visual>
|
|
366
|
+
<collision>
|
|
367
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
368
|
+
<geometry>
|
|
369
|
+
<box size="0.8 2.45 0.03"/>
|
|
370
|
+
</geometry>
|
|
371
|
+
</collision>
|
|
372
|
+
</link>
|
|
373
|
+
<gazebo reference="counter_top_island_link">
|
|
374
|
+
<kp>100000</kp>
|
|
375
|
+
<kd>1000000</kd>
|
|
376
|
+
<mu1>50000</mu1>
|
|
377
|
+
<mu2>50000</mu2>
|
|
378
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
379
|
+
</gazebo>
|
|
380
|
+
<joint name="island_block_white_counter_top_island_joint" type="fixed">
|
|
381
|
+
<origin rpy="0 0 0" xyz="0.3 1.125 0.851"/>
|
|
382
|
+
<parent link="island_block_link"/>
|
|
383
|
+
<child link="white_counter_top_island_link"/>
|
|
384
|
+
</joint>
|
|
385
|
+
<link name="white_counter_top_island_link">
|
|
386
|
+
<inertial>
|
|
387
|
+
<mass value="2.0"/>
|
|
388
|
+
<inertia ixx="1.00041733333" ixy="0" ixz="0" iyy="1.10708333333" iyz="0" izz="0.106667333333"/>
|
|
389
|
+
</inertial>
|
|
390
|
+
<visual>
|
|
391
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
392
|
+
<geometry>
|
|
393
|
+
<box size="0.8 2.45 0.002"/>
|
|
394
|
+
</geometry>
|
|
395
|
+
<material name="KitchenWhite"/>
|
|
396
|
+
</visual>
|
|
397
|
+
<collision>
|
|
398
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
399
|
+
<geometry>
|
|
400
|
+
<box size="0.8 2.45 0.002"/>
|
|
401
|
+
</geometry>
|
|
402
|
+
</collision>
|
|
403
|
+
</link>
|
|
404
|
+
<gazebo reference="white_counter_top_island_link">
|
|
405
|
+
<kp>100000</kp>
|
|
406
|
+
<kd>1000000</kd>
|
|
407
|
+
<mu1>50000</mu1>
|
|
408
|
+
<mu2>50000</mu2>
|
|
409
|
+
<material value="Ias/KitchenWhite"/>
|
|
410
|
+
</gazebo>
|
|
411
|
+
<joint name="island_block_drawer_island_col1_bottom_fixed_joint" type="fixed">
|
|
412
|
+
<origin rpy="0 0 0" xyz="0.57 0.33 0.245"/>
|
|
413
|
+
<parent link="island_block_link"/>
|
|
414
|
+
<child link="drawer_island_col1_bottom_fixed_link"/>
|
|
415
|
+
</joint>
|
|
416
|
+
<link name="drawer_island_col1_bottom_fixed_link">
|
|
417
|
+
<inertial>
|
|
418
|
+
<mass value="1"/>
|
|
419
|
+
<inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
|
|
420
|
+
</inertial>
|
|
421
|
+
</link>
|
|
422
|
+
<joint name="island_block_drawer_island_col1_bottom_joint" type="fixed">
|
|
423
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
424
|
+
<parent link="drawer_island_col1_bottom_fixed_link"/>
|
|
425
|
+
<child link="drawer_island_col1_bottom_link"/>
|
|
426
|
+
<axis xyz="0.999 0 0.044"/>
|
|
427
|
+
<!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
|
|
428
|
+
<limit effort="300" lower="0" upper="0.48" velocity="10"/>
|
|
429
|
+
</joint>
|
|
430
|
+
<gazebo reference="island_block_drawer_island_col1_bottom_joint">
|
|
431
|
+
<erp>0.8</erp>
|
|
432
|
+
<cfm>0.0000001</cfm>
|
|
433
|
+
<stopKp>1000000.0</stopKp>
|
|
434
|
+
<stopKd>1.0</stopKd>
|
|
435
|
+
</gazebo>
|
|
436
|
+
<link name="drawer_island_col1_bottom_link">
|
|
437
|
+
<inertial>
|
|
438
|
+
<mass value="1.0"/>
|
|
439
|
+
<inertia ixx="0.0370083333333" ixy="0" ixz="0" iyy="0.0300333333333" iyz="0" izz="0.00704166666667"/>
|
|
440
|
+
</inertial>
|
|
441
|
+
<visual>
|
|
442
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
443
|
+
<geometry>
|
|
444
|
+
<box size="0.02 0.595 0.285"/>
|
|
445
|
+
</geometry>
|
|
446
|
+
<material name="KitchenLightGray"/>
|
|
447
|
+
</visual>
|
|
448
|
+
<collision>
|
|
449
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
450
|
+
<geometry>
|
|
451
|
+
<box size="0.02 0.6 0.29"/>
|
|
452
|
+
</geometry>
|
|
453
|
+
</collision>
|
|
454
|
+
</link>
|
|
455
|
+
<gazebo reference="drawer_island_col1_bottom_link">
|
|
456
|
+
<material value="Ias/KitchenLightGray"/>
|
|
457
|
+
</gazebo>
|
|
458
|
+
<joint name="drawer_island_col1_bottom_left_fixed_joint" type="fixed">
|
|
459
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
460
|
+
<parent link="drawer_island_col1_bottom_link"/>
|
|
461
|
+
<child link="drawer_island_col1_bottom_left_link"/>
|
|
462
|
+
</joint>
|
|
463
|
+
<link name="drawer_island_col1_bottom_left_link">
|
|
464
|
+
<inertial>
|
|
465
|
+
<mass value="1.0"/>
|
|
466
|
+
<inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
|
|
467
|
+
</inertial>
|
|
468
|
+
<visual>
|
|
469
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
|
|
470
|
+
<geometry>
|
|
471
|
+
<box size="0.54 0.02 0.24"/>
|
|
472
|
+
</geometry>
|
|
473
|
+
<material name="KitchenDarkGray"/>
|
|
474
|
+
</visual>
|
|
475
|
+
<collision>
|
|
476
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
|
|
477
|
+
<geometry>
|
|
478
|
+
<box size="0.54 0.02 0.24"/>
|
|
479
|
+
</geometry>
|
|
480
|
+
</collision>
|
|
481
|
+
</link>
|
|
482
|
+
<gazebo reference="drawer_island_col1_bottom_left_link">
|
|
483
|
+
<material value="Ias/KitchenLightGray"/>
|
|
484
|
+
</gazebo>
|
|
485
|
+
<joint name="drawer_island_col1_bottom_right_fixed_joint" type="fixed">
|
|
486
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
487
|
+
<parent link="drawer_island_col1_bottom_link"/>
|
|
488
|
+
<child link="drawer_island_col1_bottom_right_link"/>
|
|
489
|
+
</joint>
|
|
490
|
+
<link name="drawer_island_col1_bottom_right_link">
|
|
491
|
+
<inertial>
|
|
492
|
+
<mass value="1.0"/>
|
|
493
|
+
<inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
|
|
494
|
+
</inertial>
|
|
495
|
+
<visual>
|
|
496
|
+
<origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
|
|
497
|
+
<geometry>
|
|
498
|
+
<box size="0.54 0.02 0.24"/>
|
|
499
|
+
</geometry>
|
|
500
|
+
<material name="KitchenDarkGray"/>
|
|
501
|
+
</visual>
|
|
502
|
+
<collision>
|
|
503
|
+
<origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
|
|
504
|
+
<geometry>
|
|
505
|
+
<box size="0.54 0.02 0.24"/>
|
|
506
|
+
</geometry>
|
|
507
|
+
</collision>
|
|
508
|
+
</link>
|
|
509
|
+
<gazebo reference="drawer_island_col1_bottom_right_link">
|
|
510
|
+
<material value="Ias/KitchenLightGray"/>
|
|
511
|
+
</gazebo>
|
|
512
|
+
<joint name="drawer_island_col1_bottom_back_fixed_joint" type="fixed">
|
|
513
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
514
|
+
<parent link="drawer_island_col1_bottom_link"/>
|
|
515
|
+
<child link="drawer_island_col1_bottom_back_link"/>
|
|
516
|
+
</joint>
|
|
517
|
+
<link name="drawer_island_col1_bottom_back_link">
|
|
518
|
+
<inertial>
|
|
519
|
+
<mass value="1.0"/>
|
|
520
|
+
<inertia ixx="0.0256333333333" ixy="0" ixz="0" iyy="0.0208666666667" iyz="0" izz="0.00483333333333"/>
|
|
521
|
+
</inertial>
|
|
522
|
+
<visual>
|
|
523
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
524
|
+
<geometry>
|
|
525
|
+
<box size="0.02 0.5 0.24"/>
|
|
526
|
+
</geometry>
|
|
527
|
+
<material name="KitchenDarkGray"/>
|
|
528
|
+
</visual>
|
|
529
|
+
<collision>
|
|
530
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
531
|
+
<geometry>
|
|
532
|
+
<box size="0.02 0.5 0.24"/>
|
|
533
|
+
</geometry>
|
|
534
|
+
</collision>
|
|
535
|
+
</link>
|
|
536
|
+
<gazebo reference="drawer_island_col1_bottom_back_link">
|
|
537
|
+
<material value="Ias/KitchenLightGray"/>
|
|
538
|
+
</gazebo>
|
|
539
|
+
<joint name="drawer_island_col1_bottom_bottom_fixed_joint" type="fixed">
|
|
540
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
541
|
+
<parent link="drawer_island_col1_bottom_link"/>
|
|
542
|
+
<child link="drawer_island_col1_bottom_bottom_link"/>
|
|
543
|
+
</joint>
|
|
544
|
+
<link name="drawer_island_col1_bottom_bottom_link">
|
|
545
|
+
<inertial>
|
|
546
|
+
<mass value="1.0"/>
|
|
547
|
+
<inertia ixx="0.0208666666667" ixy="0" ixz="0" iyy="0.0451333333333" iyz="0" izz="0.0243333333333"/>
|
|
548
|
+
</inertial>
|
|
549
|
+
<visual>
|
|
550
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
|
|
551
|
+
<geometry>
|
|
552
|
+
<box size="0.54 0.5 0.02"/>
|
|
553
|
+
</geometry>
|
|
554
|
+
<material name="KitchenDarkGray"/>
|
|
555
|
+
</visual>
|
|
556
|
+
<collision>
|
|
557
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
|
|
558
|
+
<geometry>
|
|
559
|
+
<box size="0.54 0.5 0.02"/>
|
|
560
|
+
</geometry>
|
|
561
|
+
</collision>
|
|
562
|
+
</link>
|
|
563
|
+
<gazebo reference="drawer_island_col1_bottom_bottom_link">
|
|
564
|
+
<material value="Ias/KitchenLightGray"/>
|
|
565
|
+
</gazebo>
|
|
566
|
+
<joint name="drawer_island_col1_bottom_handle_drawer_island_col1_bottom_joint" type="fixed">
|
|
567
|
+
<origin rpy="0 0 0" xyz="0.0625 0.0 0.0925"/>
|
|
568
|
+
<parent link="drawer_island_col1_bottom_link"/>
|
|
569
|
+
<child link="handle_drawer_island_col1_bottom_link"/>
|
|
570
|
+
</joint>
|
|
571
|
+
<link name="handle_drawer_island_col1_bottom_link">
|
|
572
|
+
<inertial>
|
|
573
|
+
<mass value="0.1"/>
|
|
574
|
+
<inertia ixx="0.00212604166667" ixy="0" ixz="0" iyy="0.00212604166667" iyz="0" izz="1.66666666667e-06"/>
|
|
575
|
+
</inertial>
|
|
576
|
+
<visual>
|
|
577
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
578
|
+
<geometry>
|
|
579
|
+
<box size="0.01 0.505 0.01"/>
|
|
580
|
+
</geometry>
|
|
581
|
+
<material name="KitchenDarkGray"/>
|
|
582
|
+
</visual>
|
|
583
|
+
<collision>
|
|
584
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
585
|
+
<geometry>
|
|
586
|
+
<box size="0.015 0.51 0.015"/>
|
|
587
|
+
</geometry>
|
|
588
|
+
</collision>
|
|
589
|
+
</link>
|
|
590
|
+
<gazebo reference="handle_drawer_island_col1_bottom_link">
|
|
591
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
592
|
+
</gazebo>
|
|
593
|
+
<joint name="island_block_drawer_island_col1_center_fixed_joint" type="fixed">
|
|
594
|
+
<origin rpy="0 0 0" xyz="0.57 0.33 0.535"/>
|
|
595
|
+
<parent link="island_block_link"/>
|
|
596
|
+
<child link="drawer_island_col1_center_fixed_link"/>
|
|
597
|
+
</joint>
|
|
598
|
+
<link name="drawer_island_col1_center_fixed_link">
|
|
599
|
+
<inertial>
|
|
600
|
+
<mass value="1"/>
|
|
601
|
+
<inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
|
|
602
|
+
</inertial>
|
|
603
|
+
</link>
|
|
604
|
+
<joint name="island_block_drawer_island_col1_center_joint" type="fixed">
|
|
605
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
606
|
+
<parent link="drawer_island_col1_center_fixed_link"/>
|
|
607
|
+
<child link="drawer_island_col1_center_link"/>
|
|
608
|
+
<axis xyz="0.999 0 0.044"/>
|
|
609
|
+
<!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
|
|
610
|
+
<limit effort="300" lower="0" upper="0.48" velocity="10"/>
|
|
611
|
+
</joint>
|
|
612
|
+
<gazebo reference="island_block_drawer_island_col1_center_joint">
|
|
613
|
+
<erp>0.8</erp>
|
|
614
|
+
<cfm>0.0000001</cfm>
|
|
615
|
+
<stopKp>1000000.0</stopKp>
|
|
616
|
+
<stopKd>1.0</stopKd>
|
|
617
|
+
</gazebo>
|
|
618
|
+
<link name="drawer_island_col1_center_link">
|
|
619
|
+
<inertial>
|
|
620
|
+
<mass value="1.0"/>
|
|
621
|
+
<inertia ixx="0.0370083333333" ixy="0" ixz="0" iyy="0.0300333333333" iyz="0" izz="0.00704166666667"/>
|
|
622
|
+
</inertial>
|
|
623
|
+
<visual>
|
|
624
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
625
|
+
<geometry>
|
|
626
|
+
<box size="0.02 0.595 0.285"/>
|
|
627
|
+
</geometry>
|
|
628
|
+
<material name="KitchenLightGray"/>
|
|
629
|
+
</visual>
|
|
630
|
+
<collision>
|
|
631
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
632
|
+
<geometry>
|
|
633
|
+
<box size="0.02 0.6 0.29"/>
|
|
634
|
+
</geometry>
|
|
635
|
+
</collision>
|
|
636
|
+
</link>
|
|
637
|
+
<gazebo reference="drawer_island_col1_center_link">
|
|
638
|
+
<material value="Ias/KitchenLightGray"/>
|
|
639
|
+
</gazebo>
|
|
640
|
+
<joint name="drawer_island_col1_center_left_fixed_joint" type="fixed">
|
|
641
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
642
|
+
<parent link="drawer_island_col1_center_link"/>
|
|
643
|
+
<child link="drawer_island_col1_center_left_link"/>
|
|
644
|
+
</joint>
|
|
645
|
+
<link name="drawer_island_col1_center_left_link">
|
|
646
|
+
<inertial>
|
|
647
|
+
<mass value="1.0"/>
|
|
648
|
+
<inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
|
|
649
|
+
</inertial>
|
|
650
|
+
<visual>
|
|
651
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
|
|
652
|
+
<geometry>
|
|
653
|
+
<box size="0.54 0.02 0.24"/>
|
|
654
|
+
</geometry>
|
|
655
|
+
<material name="KitchenDarkGray"/>
|
|
656
|
+
</visual>
|
|
657
|
+
<collision>
|
|
658
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
|
|
659
|
+
<geometry>
|
|
660
|
+
<box size="0.54 0.02 0.24"/>
|
|
661
|
+
</geometry>
|
|
662
|
+
</collision>
|
|
663
|
+
</link>
|
|
664
|
+
<gazebo reference="drawer_island_col1_center_left_link">
|
|
665
|
+
<material value="Ias/KitchenLightGray"/>
|
|
666
|
+
</gazebo>
|
|
667
|
+
<joint name="drawer_island_col1_center_right_fixed_joint" type="fixed">
|
|
668
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
669
|
+
<parent link="drawer_island_col1_center_link"/>
|
|
670
|
+
<child link="drawer_island_col1_center_right_link"/>
|
|
671
|
+
</joint>
|
|
672
|
+
<link name="drawer_island_col1_center_right_link">
|
|
673
|
+
<inertial>
|
|
674
|
+
<mass value="1.0"/>
|
|
675
|
+
<inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
|
|
676
|
+
</inertial>
|
|
677
|
+
<visual>
|
|
678
|
+
<origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
|
|
679
|
+
<geometry>
|
|
680
|
+
<box size="0.54 0.02 0.24"/>
|
|
681
|
+
</geometry>
|
|
682
|
+
<material name="KitchenDarkGray"/>
|
|
683
|
+
</visual>
|
|
684
|
+
<collision>
|
|
685
|
+
<origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
|
|
686
|
+
<geometry>
|
|
687
|
+
<box size="0.54 0.02 0.24"/>
|
|
688
|
+
</geometry>
|
|
689
|
+
</collision>
|
|
690
|
+
</link>
|
|
691
|
+
<gazebo reference="drawer_island_col1_center_right_link">
|
|
692
|
+
<material value="Ias/KitchenLightGray"/>
|
|
693
|
+
</gazebo>
|
|
694
|
+
<joint name="drawer_island_col1_center_back_fixed_joint" type="fixed">
|
|
695
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
696
|
+
<parent link="drawer_island_col1_center_link"/>
|
|
697
|
+
<child link="drawer_island_col1_center_back_link"/>
|
|
698
|
+
</joint>
|
|
699
|
+
<link name="drawer_island_col1_center_back_link">
|
|
700
|
+
<inertial>
|
|
701
|
+
<mass value="1.0"/>
|
|
702
|
+
<inertia ixx="0.0256333333333" ixy="0" ixz="0" iyy="0.0208666666667" iyz="0" izz="0.00483333333333"/>
|
|
703
|
+
</inertial>
|
|
704
|
+
<visual>
|
|
705
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
706
|
+
<geometry>
|
|
707
|
+
<box size="0.02 0.5 0.24"/>
|
|
708
|
+
</geometry>
|
|
709
|
+
<material name="KitchenDarkGray"/>
|
|
710
|
+
</visual>
|
|
711
|
+
<collision>
|
|
712
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
713
|
+
<geometry>
|
|
714
|
+
<box size="0.02 0.5 0.24"/>
|
|
715
|
+
</geometry>
|
|
716
|
+
</collision>
|
|
717
|
+
</link>
|
|
718
|
+
<gazebo reference="drawer_island_col1_center_back_link">
|
|
719
|
+
<material value="Ias/KitchenLightGray"/>
|
|
720
|
+
</gazebo>
|
|
721
|
+
<joint name="drawer_island_col1_center_bottom_fixed_joint" type="fixed">
|
|
722
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
723
|
+
<parent link="drawer_island_col1_center_link"/>
|
|
724
|
+
<child link="drawer_island_col1_center_bottom_link"/>
|
|
725
|
+
</joint>
|
|
726
|
+
<link name="drawer_island_col1_center_bottom_link">
|
|
727
|
+
<inertial>
|
|
728
|
+
<mass value="1.0"/>
|
|
729
|
+
<inertia ixx="0.0208666666667" ixy="0" ixz="0" iyy="0.0451333333333" iyz="0" izz="0.0243333333333"/>
|
|
730
|
+
</inertial>
|
|
731
|
+
<visual>
|
|
732
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
|
|
733
|
+
<geometry>
|
|
734
|
+
<box size="0.54 0.5 0.02"/>
|
|
735
|
+
</geometry>
|
|
736
|
+
<material name="KitchenDarkGray"/>
|
|
737
|
+
</visual>
|
|
738
|
+
<collision>
|
|
739
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
|
|
740
|
+
<geometry>
|
|
741
|
+
<box size="0.54 0.5 0.02"/>
|
|
742
|
+
</geometry>
|
|
743
|
+
</collision>
|
|
744
|
+
</link>
|
|
745
|
+
<gazebo reference="drawer_island_col1_center_bottom_link">
|
|
746
|
+
<material value="Ias/KitchenLightGray"/>
|
|
747
|
+
</gazebo>
|
|
748
|
+
<joint name="drawer_island_col1_center_handle_drawer_island_col1_center_joint" type="fixed">
|
|
749
|
+
<origin rpy="0 0 0" xyz="0.0625 0.0 0.0925"/>
|
|
750
|
+
<parent link="drawer_island_col1_center_link"/>
|
|
751
|
+
<child link="handle_drawer_island_col1_center_link"/>
|
|
752
|
+
</joint>
|
|
753
|
+
<link name="handle_drawer_island_col1_center_link">
|
|
754
|
+
<inertial>
|
|
755
|
+
<mass value="0.1"/>
|
|
756
|
+
<inertia ixx="0.00212604166667" ixy="0" ixz="0" iyy="0.00212604166667" iyz="0" izz="1.66666666667e-06"/>
|
|
757
|
+
</inertial>
|
|
758
|
+
<visual>
|
|
759
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
760
|
+
<geometry>
|
|
761
|
+
<box size="0.01 0.505 0.01"/>
|
|
762
|
+
</geometry>
|
|
763
|
+
<material name="KitchenDarkGray"/>
|
|
764
|
+
</visual>
|
|
765
|
+
<collision>
|
|
766
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
767
|
+
<geometry>
|
|
768
|
+
<box size="0.015 0.51 0.015"/>
|
|
769
|
+
</geometry>
|
|
770
|
+
</collision>
|
|
771
|
+
</link>
|
|
772
|
+
<gazebo reference="handle_drawer_island_col1_center_link">
|
|
773
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
774
|
+
</gazebo>
|
|
775
|
+
<joint name="island_block_drawer_island_col1_top_fixed_joint" type="fixed">
|
|
776
|
+
<origin rpy="0 0 0" xyz="0.57 0.33 0.75"/>
|
|
777
|
+
<parent link="island_block_link"/>
|
|
778
|
+
<child link="drawer_island_col1_top_fixed_link"/>
|
|
779
|
+
</joint>
|
|
780
|
+
<link name="drawer_island_col1_top_fixed_link">
|
|
781
|
+
<inertial>
|
|
782
|
+
<mass value="1"/>
|
|
783
|
+
<inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
|
|
784
|
+
</inertial>
|
|
785
|
+
</link>
|
|
786
|
+
<joint name="island_block_drawer_island_col1_top_joint" type="fixed">
|
|
787
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
788
|
+
<parent link="drawer_island_col1_top_fixed_link"/>
|
|
789
|
+
<child link="drawer_island_col1_top_link"/>
|
|
790
|
+
<axis xyz="0.999 0 0.044"/>
|
|
791
|
+
<!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
|
|
792
|
+
<limit effort="300" lower="0" upper="0.48" velocity="10"/>
|
|
793
|
+
</joint>
|
|
794
|
+
<gazebo reference="island_block_drawer_island_col1_top_joint">
|
|
795
|
+
<erp>0.8</erp>
|
|
796
|
+
<cfm>0.0000001</cfm>
|
|
797
|
+
<stopKp>1000000.0</stopKp>
|
|
798
|
+
<stopKd>1.0</stopKd>
|
|
799
|
+
</gazebo>
|
|
800
|
+
<link name="drawer_island_col1_top_link">
|
|
801
|
+
<inertial>
|
|
802
|
+
<mass value="1.0"/>
|
|
803
|
+
<inertia ixx="0.0316333333333" ixy="0" ixz="0" iyy="0.0300333333333" iyz="0" izz="0.00166666666667"/>
|
|
804
|
+
</inertial>
|
|
805
|
+
<visual>
|
|
806
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
807
|
+
<geometry>
|
|
808
|
+
<box size="0.02 0.595 0.135"/>
|
|
809
|
+
</geometry>
|
|
810
|
+
<material name="KitchenLightGray"/>
|
|
811
|
+
</visual>
|
|
812
|
+
<collision>
|
|
813
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
814
|
+
<geometry>
|
|
815
|
+
<box size="0.02 0.6 0.14"/>
|
|
816
|
+
</geometry>
|
|
817
|
+
</collision>
|
|
818
|
+
</link>
|
|
819
|
+
<gazebo reference="drawer_island_col1_top_link">
|
|
820
|
+
<material value="Ias/KitchenLightGray"/>
|
|
821
|
+
</gazebo>
|
|
822
|
+
<joint name="drawer_island_col1_top_left_fixed_joint" type="fixed">
|
|
823
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
824
|
+
<parent link="drawer_island_col1_top_link"/>
|
|
825
|
+
<child link="drawer_island_col1_top_left_link"/>
|
|
826
|
+
</joint>
|
|
827
|
+
<link name="drawer_island_col1_top_left_link">
|
|
828
|
+
<inertial>
|
|
829
|
+
<mass value="1.0"/>
|
|
830
|
+
<inertia ixx="0.000708333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.024975"/>
|
|
831
|
+
</inertial>
|
|
832
|
+
<visual>
|
|
833
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
|
|
834
|
+
<geometry>
|
|
835
|
+
<box size="0.54 0.02 0.09"/>
|
|
836
|
+
</geometry>
|
|
837
|
+
<material name="KitchenDarkGray"/>
|
|
838
|
+
</visual>
|
|
839
|
+
<collision>
|
|
840
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
|
|
841
|
+
<geometry>
|
|
842
|
+
<box size="0.54 0.02 0.09"/>
|
|
843
|
+
</geometry>
|
|
844
|
+
</collision>
|
|
845
|
+
</link>
|
|
846
|
+
<gazebo reference="drawer_island_col1_top_left_link">
|
|
847
|
+
<material value="Ias/KitchenLightGray"/>
|
|
848
|
+
</gazebo>
|
|
849
|
+
<joint name="drawer_island_col1_top_right_fixed_joint" type="fixed">
|
|
850
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
851
|
+
<parent link="drawer_island_col1_top_link"/>
|
|
852
|
+
<child link="drawer_island_col1_top_right_link"/>
|
|
853
|
+
</joint>
|
|
854
|
+
<link name="drawer_island_col1_top_right_link">
|
|
855
|
+
<inertial>
|
|
856
|
+
<mass value="1.0"/>
|
|
857
|
+
<inertia ixx="0.000708333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.024975"/>
|
|
858
|
+
</inertial>
|
|
859
|
+
<visual>
|
|
860
|
+
<origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
|
|
861
|
+
<geometry>
|
|
862
|
+
<box size="0.54 0.02 0.09"/>
|
|
863
|
+
</geometry>
|
|
864
|
+
<material name="KitchenDarkGray"/>
|
|
865
|
+
</visual>
|
|
866
|
+
<collision>
|
|
867
|
+
<origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
|
|
868
|
+
<geometry>
|
|
869
|
+
<box size="0.54 0.02 0.09"/>
|
|
870
|
+
</geometry>
|
|
871
|
+
</collision>
|
|
872
|
+
</link>
|
|
873
|
+
<gazebo reference="drawer_island_col1_top_right_link">
|
|
874
|
+
<material value="Ias/KitchenLightGray"/>
|
|
875
|
+
</gazebo>
|
|
876
|
+
<joint name="drawer_island_col1_top_back_fixed_joint" type="fixed">
|
|
877
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
878
|
+
<parent link="drawer_island_col1_top_link"/>
|
|
879
|
+
<child link="drawer_island_col1_top_back_link"/>
|
|
880
|
+
</joint>
|
|
881
|
+
<link name="drawer_island_col1_top_back_link">
|
|
882
|
+
<inertial>
|
|
883
|
+
<mass value="1.0"/>
|
|
884
|
+
<inertia ixx="0.0215083333333" ixy="0" ixz="0" iyy="0.0208666666667" iyz="0" izz="0.000708333333333"/>
|
|
885
|
+
</inertial>
|
|
886
|
+
<visual>
|
|
887
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
888
|
+
<geometry>
|
|
889
|
+
<box size="0.02 0.5 0.09"/>
|
|
890
|
+
</geometry>
|
|
891
|
+
<material name="KitchenDarkGray"/>
|
|
892
|
+
</visual>
|
|
893
|
+
<collision>
|
|
894
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
895
|
+
<geometry>
|
|
896
|
+
<box size="0.02 0.5 0.09"/>
|
|
897
|
+
</geometry>
|
|
898
|
+
</collision>
|
|
899
|
+
</link>
|
|
900
|
+
<gazebo reference="drawer_island_col1_top_back_link">
|
|
901
|
+
<material value="Ias/KitchenLightGray"/>
|
|
902
|
+
</gazebo>
|
|
903
|
+
<joint name="drawer_island_col1_top_bottom_fixed_joint" type="fixed">
|
|
904
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
905
|
+
<parent link="drawer_island_col1_top_link"/>
|
|
906
|
+
<child link="drawer_island_col1_top_bottom_link"/>
|
|
907
|
+
</joint>
|
|
908
|
+
<link name="drawer_island_col1_top_bottom_link">
|
|
909
|
+
<inertial>
|
|
910
|
+
<mass value="1.0"/>
|
|
911
|
+
<inertia ixx="0.0208666666667" ixy="0" ixz="0" iyy="0.0451333333333" iyz="0" izz="0.0243333333333"/>
|
|
912
|
+
</inertial>
|
|
913
|
+
<visual>
|
|
914
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.035"/>
|
|
915
|
+
<geometry>
|
|
916
|
+
<box size="0.54 0.5 0.02"/>
|
|
917
|
+
</geometry>
|
|
918
|
+
<material name="KitchenDarkGray"/>
|
|
919
|
+
</visual>
|
|
920
|
+
<collision>
|
|
921
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.035"/>
|
|
922
|
+
<geometry>
|
|
923
|
+
<box size="0.54 0.5 0.02"/>
|
|
924
|
+
</geometry>
|
|
925
|
+
</collision>
|
|
926
|
+
</link>
|
|
927
|
+
<gazebo reference="drawer_island_col1_top_bottom_link">
|
|
928
|
+
<material value="Ias/KitchenLightGray"/>
|
|
929
|
+
</gazebo>
|
|
930
|
+
<joint name="drawer_island_col1_top_handle_drawer_island_col1_top_joint" type="fixed">
|
|
931
|
+
<origin rpy="0 0 0" xyz="0.0625 0.0 0.0175"/>
|
|
932
|
+
<parent link="drawer_island_col1_top_link"/>
|
|
933
|
+
<child link="handle_drawer_island_col1_top_link"/>
|
|
934
|
+
</joint>
|
|
935
|
+
<link name="handle_drawer_island_col1_top_link">
|
|
936
|
+
<inertial>
|
|
937
|
+
<mass value="0.1"/>
|
|
938
|
+
<inertia ixx="0.00212604166667" ixy="0" ixz="0" iyy="0.00212604166667" iyz="0" izz="1.66666666667e-06"/>
|
|
939
|
+
</inertial>
|
|
940
|
+
<visual>
|
|
941
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
942
|
+
<geometry>
|
|
943
|
+
<box size="0.01 0.505 0.01"/>
|
|
944
|
+
</geometry>
|
|
945
|
+
<material name="KitchenDarkGray"/>
|
|
946
|
+
</visual>
|
|
947
|
+
<collision>
|
|
948
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
949
|
+
<geometry>
|
|
950
|
+
<box size="0.015 0.51 0.015"/>
|
|
951
|
+
</geometry>
|
|
952
|
+
</collision>
|
|
953
|
+
</link>
|
|
954
|
+
<gazebo reference="handle_drawer_island_col1_top_link">
|
|
955
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
956
|
+
</gazebo>
|
|
957
|
+
<joint name="island_block_drawer_island_col2_bottom_fixed_joint" type="fixed">
|
|
958
|
+
<origin rpy="0 0 0" xyz="0.57 1.13 0.245"/>
|
|
959
|
+
<parent link="island_block_link"/>
|
|
960
|
+
<child link="drawer_island_col2_bottom_fixed_link"/>
|
|
961
|
+
</joint>
|
|
962
|
+
<link name="drawer_island_col2_bottom_fixed_link">
|
|
963
|
+
<inertial>
|
|
964
|
+
<mass value="1"/>
|
|
965
|
+
<inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
|
|
966
|
+
</inertial>
|
|
967
|
+
</link>
|
|
968
|
+
<joint name="island_block_drawer_island_col2_bottom_joint" type="fixed">
|
|
969
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
970
|
+
<parent link="drawer_island_col2_bottom_fixed_link"/>
|
|
971
|
+
<child link="drawer_island_col2_bottom_link"/>
|
|
972
|
+
<axis xyz="0.999 0 0.044"/>
|
|
973
|
+
<!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
|
|
974
|
+
<limit effort="300" lower="0" upper="0.48" velocity="10"/>
|
|
975
|
+
</joint>
|
|
976
|
+
<gazebo reference="island_block_drawer_island_col2_bottom_joint">
|
|
977
|
+
<erp>0.8</erp>
|
|
978
|
+
<cfm>0.0000001</cfm>
|
|
979
|
+
<stopKp>1000000.0</stopKp>
|
|
980
|
+
<stopKd>1.0</stopKd>
|
|
981
|
+
</gazebo>
|
|
982
|
+
<link name="drawer_island_col2_bottom_link">
|
|
983
|
+
<inertial>
|
|
984
|
+
<mass value="1.0"/>
|
|
985
|
+
<inertia ixx="0.0903416666667" ixy="0" ixz="0" iyy="0.0833666666667" iyz="0" izz="0.00704166666667"/>
|
|
986
|
+
</inertial>
|
|
987
|
+
<visual>
|
|
988
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
989
|
+
<geometry>
|
|
990
|
+
<box size="0.02 0.995 0.285"/>
|
|
991
|
+
</geometry>
|
|
992
|
+
<material name="KitchenLightGray"/>
|
|
993
|
+
</visual>
|
|
994
|
+
<collision>
|
|
995
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
996
|
+
<geometry>
|
|
997
|
+
<box size="0.02 1.0 0.29"/>
|
|
998
|
+
</geometry>
|
|
999
|
+
</collision>
|
|
1000
|
+
</link>
|
|
1001
|
+
<gazebo reference="drawer_island_col2_bottom_link">
|
|
1002
|
+
<material value="Ias/KitchenLightGray"/>
|
|
1003
|
+
</gazebo>
|
|
1004
|
+
<joint name="drawer_island_col2_bottom_left_fixed_joint" type="fixed">
|
|
1005
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1006
|
+
<parent link="drawer_island_col2_bottom_link"/>
|
|
1007
|
+
<child link="drawer_island_col2_bottom_left_link"/>
|
|
1008
|
+
</joint>
|
|
1009
|
+
<link name="drawer_island_col2_bottom_left_link">
|
|
1010
|
+
<inertial>
|
|
1011
|
+
<mass value="1.0"/>
|
|
1012
|
+
<inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
|
|
1013
|
+
</inertial>
|
|
1014
|
+
<visual>
|
|
1015
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.44 0"/>
|
|
1016
|
+
<geometry>
|
|
1017
|
+
<box size="0.54 0.02 0.24"/>
|
|
1018
|
+
</geometry>
|
|
1019
|
+
<material name="KitchenDarkGray"/>
|
|
1020
|
+
</visual>
|
|
1021
|
+
<collision>
|
|
1022
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.44 0"/>
|
|
1023
|
+
<geometry>
|
|
1024
|
+
<box size="0.54 0.02 0.24"/>
|
|
1025
|
+
</geometry>
|
|
1026
|
+
</collision>
|
|
1027
|
+
</link>
|
|
1028
|
+
<gazebo reference="drawer_island_col2_bottom_left_link">
|
|
1029
|
+
<material value="Ias/KitchenLightGray"/>
|
|
1030
|
+
</gazebo>
|
|
1031
|
+
<joint name="drawer_island_col2_bottom_right_fixed_joint" type="fixed">
|
|
1032
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1033
|
+
<parent link="drawer_island_col2_bottom_link"/>
|
|
1034
|
+
<child link="drawer_island_col2_bottom_right_link"/>
|
|
1035
|
+
</joint>
|
|
1036
|
+
<link name="drawer_island_col2_bottom_right_link">
|
|
1037
|
+
<inertial>
|
|
1038
|
+
<mass value="1.0"/>
|
|
1039
|
+
<inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
|
|
1040
|
+
</inertial>
|
|
1041
|
+
<visual>
|
|
1042
|
+
<origin rpy="0 0 0" xyz="-0.27 0.44 0"/>
|
|
1043
|
+
<geometry>
|
|
1044
|
+
<box size="0.54 0.02 0.24"/>
|
|
1045
|
+
</geometry>
|
|
1046
|
+
<material name="KitchenDarkGray"/>
|
|
1047
|
+
</visual>
|
|
1048
|
+
<collision>
|
|
1049
|
+
<origin rpy="0 0 0" xyz="-0.27 0.44 0"/>
|
|
1050
|
+
<geometry>
|
|
1051
|
+
<box size="0.54 0.02 0.24"/>
|
|
1052
|
+
</geometry>
|
|
1053
|
+
</collision>
|
|
1054
|
+
</link>
|
|
1055
|
+
<gazebo reference="drawer_island_col2_bottom_right_link">
|
|
1056
|
+
<material value="Ias/KitchenLightGray"/>
|
|
1057
|
+
</gazebo>
|
|
1058
|
+
<joint name="drawer_island_col2_bottom_back_fixed_joint" type="fixed">
|
|
1059
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1060
|
+
<parent link="drawer_island_col2_bottom_link"/>
|
|
1061
|
+
<child link="drawer_island_col2_bottom_back_link"/>
|
|
1062
|
+
</joint>
|
|
1063
|
+
<link name="drawer_island_col2_bottom_back_link">
|
|
1064
|
+
<inertial>
|
|
1065
|
+
<mass value="1.0"/>
|
|
1066
|
+
<inertia ixx="0.0723" ixy="0" ixz="0" iyy="0.0675333333333" iyz="0" izz="0.00483333333333"/>
|
|
1067
|
+
</inertial>
|
|
1068
|
+
<visual>
|
|
1069
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
1070
|
+
<geometry>
|
|
1071
|
+
<box size="0.02 0.9 0.24"/>
|
|
1072
|
+
</geometry>
|
|
1073
|
+
<material name="KitchenDarkGray"/>
|
|
1074
|
+
</visual>
|
|
1075
|
+
<collision>
|
|
1076
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
1077
|
+
<geometry>
|
|
1078
|
+
<box size="0.02 0.9 0.24"/>
|
|
1079
|
+
</geometry>
|
|
1080
|
+
</collision>
|
|
1081
|
+
</link>
|
|
1082
|
+
<gazebo reference="drawer_island_col2_bottom_back_link">
|
|
1083
|
+
<material value="Ias/KitchenLightGray"/>
|
|
1084
|
+
</gazebo>
|
|
1085
|
+
<joint name="drawer_island_col2_bottom_bottom_fixed_joint" type="fixed">
|
|
1086
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1087
|
+
<parent link="drawer_island_col2_bottom_link"/>
|
|
1088
|
+
<child link="drawer_island_col2_bottom_bottom_link"/>
|
|
1089
|
+
</joint>
|
|
1090
|
+
<link name="drawer_island_col2_bottom_bottom_link">
|
|
1091
|
+
<inertial>
|
|
1092
|
+
<mass value="1.0"/>
|
|
1093
|
+
<inertia ixx="0.0675333333333" ixy="0" ixz="0" iyy="0.0918" iyz="0" izz="0.0243333333333"/>
|
|
1094
|
+
</inertial>
|
|
1095
|
+
<visual>
|
|
1096
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
|
|
1097
|
+
<geometry>
|
|
1098
|
+
<box size="0.54 0.9 0.02"/>
|
|
1099
|
+
</geometry>
|
|
1100
|
+
<material name="KitchenDarkGray"/>
|
|
1101
|
+
</visual>
|
|
1102
|
+
<collision>
|
|
1103
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
|
|
1104
|
+
<geometry>
|
|
1105
|
+
<box size="0.54 0.9 0.02"/>
|
|
1106
|
+
</geometry>
|
|
1107
|
+
</collision>
|
|
1108
|
+
</link>
|
|
1109
|
+
<gazebo reference="drawer_island_col2_bottom_bottom_link">
|
|
1110
|
+
<material value="Ias/KitchenLightGray"/>
|
|
1111
|
+
</gazebo>
|
|
1112
|
+
<joint name="drawer_island_col2_bottom_handle_drawer_island_col2_bottom_joint" type="fixed">
|
|
1113
|
+
<origin rpy="0 0 0" xyz="0.0625 0.0 0.0925"/>
|
|
1114
|
+
<parent link="drawer_island_col2_bottom_link"/>
|
|
1115
|
+
<child link="handle_drawer_island_col2_bottom_link"/>
|
|
1116
|
+
</joint>
|
|
1117
|
+
<link name="handle_drawer_island_col2_bottom_link">
|
|
1118
|
+
<inertial>
|
|
1119
|
+
<mass value="0.1"/>
|
|
1120
|
+
<inertia ixx="0.00682604166667" ixy="0" ixz="0" iyy="0.00682604166667" iyz="0" izz="1.66666666667e-06"/>
|
|
1121
|
+
</inertial>
|
|
1122
|
+
<visual>
|
|
1123
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1124
|
+
<geometry>
|
|
1125
|
+
<box size="0.01 0.905 0.01"/>
|
|
1126
|
+
</geometry>
|
|
1127
|
+
<material name="KitchenDarkGray"/>
|
|
1128
|
+
</visual>
|
|
1129
|
+
<collision>
|
|
1130
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1131
|
+
<geometry>
|
|
1132
|
+
<box size="0.015 0.91 0.015"/>
|
|
1133
|
+
</geometry>
|
|
1134
|
+
</collision>
|
|
1135
|
+
</link>
|
|
1136
|
+
<gazebo reference="handle_drawer_island_col2_bottom_link">
|
|
1137
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
1138
|
+
</gazebo>
|
|
1139
|
+
<joint name="island_block_drawer_island_col2_center_fixed_joint" type="fixed">
|
|
1140
|
+
<origin rpy="0 0 0" xyz="0.57 1.13 0.535"/>
|
|
1141
|
+
<parent link="island_block_link"/>
|
|
1142
|
+
<child link="drawer_island_col2_center_fixed_link"/>
|
|
1143
|
+
</joint>
|
|
1144
|
+
<link name="drawer_island_col2_center_fixed_link">
|
|
1145
|
+
<inertial>
|
|
1146
|
+
<mass value="1"/>
|
|
1147
|
+
<inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
|
|
1148
|
+
</inertial>
|
|
1149
|
+
</link>
|
|
1150
|
+
<joint name="island_block_drawer_island_col2_center_joint" type="fixed">
|
|
1151
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1152
|
+
<parent link="drawer_island_col2_center_fixed_link"/>
|
|
1153
|
+
<child link="drawer_island_col2_center_link"/>
|
|
1154
|
+
<axis xyz="0.999 0 0.044"/>
|
|
1155
|
+
<!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
|
|
1156
|
+
<limit effort="300" lower="0" upper="0.48" velocity="10"/>
|
|
1157
|
+
</joint>
|
|
1158
|
+
<gazebo reference="island_block_drawer_island_col2_center_joint">
|
|
1159
|
+
<erp>0.8</erp>
|
|
1160
|
+
<cfm>0.0000001</cfm>
|
|
1161
|
+
<stopKp>1000000.0</stopKp>
|
|
1162
|
+
<stopKd>1.0</stopKd>
|
|
1163
|
+
</gazebo>
|
|
1164
|
+
<link name="drawer_island_col2_center_link">
|
|
1165
|
+
<inertial>
|
|
1166
|
+
<mass value="1.0"/>
|
|
1167
|
+
<inertia ixx="0.0903416666667" ixy="0" ixz="0" iyy="0.0833666666667" iyz="0" izz="0.00704166666667"/>
|
|
1168
|
+
</inertial>
|
|
1169
|
+
<visual>
|
|
1170
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1171
|
+
<geometry>
|
|
1172
|
+
<box size="0.02 0.995 0.285"/>
|
|
1173
|
+
</geometry>
|
|
1174
|
+
<material name="KitchenLightGray"/>
|
|
1175
|
+
</visual>
|
|
1176
|
+
<collision>
|
|
1177
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1178
|
+
<geometry>
|
|
1179
|
+
<box size="0.02 1.0 0.29"/>
|
|
1180
|
+
</geometry>
|
|
1181
|
+
</collision>
|
|
1182
|
+
</link>
|
|
1183
|
+
<gazebo reference="drawer_island_col2_center_link">
|
|
1184
|
+
<material value="Ias/KitchenLightGray"/>
|
|
1185
|
+
</gazebo>
|
|
1186
|
+
<joint name="drawer_island_col2_center_left_fixed_joint" type="fixed">
|
|
1187
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1188
|
+
<parent link="drawer_island_col2_center_link"/>
|
|
1189
|
+
<child link="drawer_island_col2_center_left_link"/>
|
|
1190
|
+
</joint>
|
|
1191
|
+
<link name="drawer_island_col2_center_left_link">
|
|
1192
|
+
<inertial>
|
|
1193
|
+
<mass value="1.0"/>
|
|
1194
|
+
<inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
|
|
1195
|
+
</inertial>
|
|
1196
|
+
<visual>
|
|
1197
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.44 0"/>
|
|
1198
|
+
<geometry>
|
|
1199
|
+
<box size="0.54 0.02 0.24"/>
|
|
1200
|
+
</geometry>
|
|
1201
|
+
<material name="KitchenDarkGray"/>
|
|
1202
|
+
</visual>
|
|
1203
|
+
<collision>
|
|
1204
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.44 0"/>
|
|
1205
|
+
<geometry>
|
|
1206
|
+
<box size="0.54 0.02 0.24"/>
|
|
1207
|
+
</geometry>
|
|
1208
|
+
</collision>
|
|
1209
|
+
</link>
|
|
1210
|
+
<gazebo reference="drawer_island_col2_center_left_link">
|
|
1211
|
+
<material value="Ias/KitchenLightGray"/>
|
|
1212
|
+
</gazebo>
|
|
1213
|
+
<joint name="drawer_island_col2_center_right_fixed_joint" type="fixed">
|
|
1214
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1215
|
+
<parent link="drawer_island_col2_center_link"/>
|
|
1216
|
+
<child link="drawer_island_col2_center_right_link"/>
|
|
1217
|
+
</joint>
|
|
1218
|
+
<link name="drawer_island_col2_center_right_link">
|
|
1219
|
+
<inertial>
|
|
1220
|
+
<mass value="1.0"/>
|
|
1221
|
+
<inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
|
|
1222
|
+
</inertial>
|
|
1223
|
+
<visual>
|
|
1224
|
+
<origin rpy="0 0 0" xyz="-0.27 0.44 0"/>
|
|
1225
|
+
<geometry>
|
|
1226
|
+
<box size="0.54 0.02 0.24"/>
|
|
1227
|
+
</geometry>
|
|
1228
|
+
<material name="KitchenDarkGray"/>
|
|
1229
|
+
</visual>
|
|
1230
|
+
<collision>
|
|
1231
|
+
<origin rpy="0 0 0" xyz="-0.27 0.44 0"/>
|
|
1232
|
+
<geometry>
|
|
1233
|
+
<box size="0.54 0.02 0.24"/>
|
|
1234
|
+
</geometry>
|
|
1235
|
+
</collision>
|
|
1236
|
+
</link>
|
|
1237
|
+
<gazebo reference="drawer_island_col2_center_right_link">
|
|
1238
|
+
<material value="Ias/KitchenLightGray"/>
|
|
1239
|
+
</gazebo>
|
|
1240
|
+
<joint name="drawer_island_col2_center_back_fixed_joint" type="fixed">
|
|
1241
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1242
|
+
<parent link="drawer_island_col2_center_link"/>
|
|
1243
|
+
<child link="drawer_island_col2_center_back_link"/>
|
|
1244
|
+
</joint>
|
|
1245
|
+
<link name="drawer_island_col2_center_back_link">
|
|
1246
|
+
<inertial>
|
|
1247
|
+
<mass value="1.0"/>
|
|
1248
|
+
<inertia ixx="0.0723" ixy="0" ixz="0" iyy="0.0675333333333" iyz="0" izz="0.00483333333333"/>
|
|
1249
|
+
</inertial>
|
|
1250
|
+
<visual>
|
|
1251
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
1252
|
+
<geometry>
|
|
1253
|
+
<box size="0.02 0.9 0.24"/>
|
|
1254
|
+
</geometry>
|
|
1255
|
+
<material name="KitchenDarkGray"/>
|
|
1256
|
+
</visual>
|
|
1257
|
+
<collision>
|
|
1258
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
1259
|
+
<geometry>
|
|
1260
|
+
<box size="0.02 0.9 0.24"/>
|
|
1261
|
+
</geometry>
|
|
1262
|
+
</collision>
|
|
1263
|
+
</link>
|
|
1264
|
+
<gazebo reference="drawer_island_col2_center_back_link">
|
|
1265
|
+
<material value="Ias/KitchenLightGray"/>
|
|
1266
|
+
</gazebo>
|
|
1267
|
+
<joint name="drawer_island_col2_center_bottom_fixed_joint" type="fixed">
|
|
1268
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1269
|
+
<parent link="drawer_island_col2_center_link"/>
|
|
1270
|
+
<child link="drawer_island_col2_center_bottom_link"/>
|
|
1271
|
+
</joint>
|
|
1272
|
+
<link name="drawer_island_col2_center_bottom_link">
|
|
1273
|
+
<inertial>
|
|
1274
|
+
<mass value="1.0"/>
|
|
1275
|
+
<inertia ixx="0.0675333333333" ixy="0" ixz="0" iyy="0.0918" iyz="0" izz="0.0243333333333"/>
|
|
1276
|
+
</inertial>
|
|
1277
|
+
<visual>
|
|
1278
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
|
|
1279
|
+
<geometry>
|
|
1280
|
+
<box size="0.54 0.9 0.02"/>
|
|
1281
|
+
</geometry>
|
|
1282
|
+
<material name="KitchenDarkGray"/>
|
|
1283
|
+
</visual>
|
|
1284
|
+
<collision>
|
|
1285
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
|
|
1286
|
+
<geometry>
|
|
1287
|
+
<box size="0.54 0.9 0.02"/>
|
|
1288
|
+
</geometry>
|
|
1289
|
+
</collision>
|
|
1290
|
+
</link>
|
|
1291
|
+
<gazebo reference="drawer_island_col2_center_bottom_link">
|
|
1292
|
+
<material value="Ias/KitchenLightGray"/>
|
|
1293
|
+
</gazebo>
|
|
1294
|
+
<joint name="drawer_island_col2_center_handle_drawer_island_col2_center_joint" type="fixed">
|
|
1295
|
+
<origin rpy="0 0 0" xyz="0.0625 0.0 0.0925"/>
|
|
1296
|
+
<parent link="drawer_island_col2_center_link"/>
|
|
1297
|
+
<child link="handle_drawer_island_col2_center_link"/>
|
|
1298
|
+
</joint>
|
|
1299
|
+
<link name="handle_drawer_island_col2_center_link">
|
|
1300
|
+
<inertial>
|
|
1301
|
+
<mass value="0.1"/>
|
|
1302
|
+
<inertia ixx="0.00682604166667" ixy="0" ixz="0" iyy="0.00682604166667" iyz="0" izz="1.66666666667e-06"/>
|
|
1303
|
+
</inertial>
|
|
1304
|
+
<visual>
|
|
1305
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1306
|
+
<geometry>
|
|
1307
|
+
<box size="0.01 0.905 0.01"/>
|
|
1308
|
+
</geometry>
|
|
1309
|
+
<material name="KitchenDarkGray"/>
|
|
1310
|
+
</visual>
|
|
1311
|
+
<collision>
|
|
1312
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1313
|
+
<geometry>
|
|
1314
|
+
<box size="0.015 0.91 0.015"/>
|
|
1315
|
+
</geometry>
|
|
1316
|
+
</collision>
|
|
1317
|
+
</link>
|
|
1318
|
+
<gazebo reference="handle_drawer_island_col2_center_link">
|
|
1319
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
1320
|
+
</gazebo>
|
|
1321
|
+
<joint name="island_block_drawer_island_col2_top_fixed_joint" type="fixed">
|
|
1322
|
+
<origin rpy="0 0 0" xyz="0.57 1.13 0.75"/>
|
|
1323
|
+
<parent link="island_block_link"/>
|
|
1324
|
+
<child link="drawer_island_col2_top_fixed_link"/>
|
|
1325
|
+
</joint>
|
|
1326
|
+
<link name="drawer_island_col2_top_fixed_link">
|
|
1327
|
+
<inertial>
|
|
1328
|
+
<mass value="1"/>
|
|
1329
|
+
<inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
|
|
1330
|
+
</inertial>
|
|
1331
|
+
</link>
|
|
1332
|
+
<joint name="island_block_drawer_island_col2_top_joint" type="fixed">
|
|
1333
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1334
|
+
<parent link="drawer_island_col2_top_fixed_link"/>
|
|
1335
|
+
<child link="drawer_island_col2_top_link"/>
|
|
1336
|
+
<axis xyz="0.999 0 0.044"/>
|
|
1337
|
+
<!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
|
|
1338
|
+
<limit effort="300" lower="0" upper="0.48" velocity="10"/>
|
|
1339
|
+
</joint>
|
|
1340
|
+
<gazebo reference="island_block_drawer_island_col2_top_joint">
|
|
1341
|
+
<erp>0.8</erp>
|
|
1342
|
+
<cfm>0.0000001</cfm>
|
|
1343
|
+
<stopKp>1000000.0</stopKp>
|
|
1344
|
+
<stopKd>1.0</stopKd>
|
|
1345
|
+
</gazebo>
|
|
1346
|
+
<link name="drawer_island_col2_top_link">
|
|
1347
|
+
<inertial>
|
|
1348
|
+
<mass value="1.0"/>
|
|
1349
|
+
<inertia ixx="0.0849666666667" ixy="0" ixz="0" iyy="0.0833666666667" iyz="0" izz="0.00166666666667"/>
|
|
1350
|
+
</inertial>
|
|
1351
|
+
<visual>
|
|
1352
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1353
|
+
<geometry>
|
|
1354
|
+
<box size="0.02 0.995 0.135"/>
|
|
1355
|
+
</geometry>
|
|
1356
|
+
<material name="KitchenLightGray"/>
|
|
1357
|
+
</visual>
|
|
1358
|
+
<collision>
|
|
1359
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1360
|
+
<geometry>
|
|
1361
|
+
<box size="0.02 1.0 0.14"/>
|
|
1362
|
+
</geometry>
|
|
1363
|
+
</collision>
|
|
1364
|
+
</link>
|
|
1365
|
+
<gazebo reference="drawer_island_col2_top_link">
|
|
1366
|
+
<material value="Ias/KitchenLightGray"/>
|
|
1367
|
+
</gazebo>
|
|
1368
|
+
<joint name="drawer_island_col2_top_left_fixed_joint" type="fixed">
|
|
1369
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1370
|
+
<parent link="drawer_island_col2_top_link"/>
|
|
1371
|
+
<child link="drawer_island_col2_top_left_link"/>
|
|
1372
|
+
</joint>
|
|
1373
|
+
<link name="drawer_island_col2_top_left_link">
|
|
1374
|
+
<inertial>
|
|
1375
|
+
<mass value="1.0"/>
|
|
1376
|
+
<inertia ixx="0.000708333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.024975"/>
|
|
1377
|
+
</inertial>
|
|
1378
|
+
<visual>
|
|
1379
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.44 0"/>
|
|
1380
|
+
<geometry>
|
|
1381
|
+
<box size="0.54 0.02 0.09"/>
|
|
1382
|
+
</geometry>
|
|
1383
|
+
<material name="KitchenDarkGray"/>
|
|
1384
|
+
</visual>
|
|
1385
|
+
<collision>
|
|
1386
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.44 0"/>
|
|
1387
|
+
<geometry>
|
|
1388
|
+
<box size="0.54 0.02 0.09"/>
|
|
1389
|
+
</geometry>
|
|
1390
|
+
</collision>
|
|
1391
|
+
</link>
|
|
1392
|
+
<gazebo reference="drawer_island_col2_top_left_link">
|
|
1393
|
+
<material value="Ias/KitchenLightGray"/>
|
|
1394
|
+
</gazebo>
|
|
1395
|
+
<joint name="drawer_island_col2_top_right_fixed_joint" type="fixed">
|
|
1396
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1397
|
+
<parent link="drawer_island_col2_top_link"/>
|
|
1398
|
+
<child link="drawer_island_col2_top_right_link"/>
|
|
1399
|
+
</joint>
|
|
1400
|
+
<link name="drawer_island_col2_top_right_link">
|
|
1401
|
+
<inertial>
|
|
1402
|
+
<mass value="1.0"/>
|
|
1403
|
+
<inertia ixx="0.000708333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.024975"/>
|
|
1404
|
+
</inertial>
|
|
1405
|
+
<visual>
|
|
1406
|
+
<origin rpy="0 0 0" xyz="-0.27 0.44 0"/>
|
|
1407
|
+
<geometry>
|
|
1408
|
+
<box size="0.54 0.02 0.09"/>
|
|
1409
|
+
</geometry>
|
|
1410
|
+
<material name="KitchenDarkGray"/>
|
|
1411
|
+
</visual>
|
|
1412
|
+
<collision>
|
|
1413
|
+
<origin rpy="0 0 0" xyz="-0.27 0.44 0"/>
|
|
1414
|
+
<geometry>
|
|
1415
|
+
<box size="0.54 0.02 0.09"/>
|
|
1416
|
+
</geometry>
|
|
1417
|
+
</collision>
|
|
1418
|
+
</link>
|
|
1419
|
+
<gazebo reference="drawer_island_col2_top_right_link">
|
|
1420
|
+
<material value="Ias/KitchenLightGray"/>
|
|
1421
|
+
</gazebo>
|
|
1422
|
+
<joint name="drawer_island_col2_top_back_fixed_joint" type="fixed">
|
|
1423
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1424
|
+
<parent link="drawer_island_col2_top_link"/>
|
|
1425
|
+
<child link="drawer_island_col2_top_back_link"/>
|
|
1426
|
+
</joint>
|
|
1427
|
+
<link name="drawer_island_col2_top_back_link">
|
|
1428
|
+
<inertial>
|
|
1429
|
+
<mass value="1.0"/>
|
|
1430
|
+
<inertia ixx="0.068175" ixy="0" ixz="0" iyy="0.0675333333333" iyz="0" izz="0.000708333333333"/>
|
|
1431
|
+
</inertial>
|
|
1432
|
+
<visual>
|
|
1433
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
1434
|
+
<geometry>
|
|
1435
|
+
<box size="0.02 0.9 0.09"/>
|
|
1436
|
+
</geometry>
|
|
1437
|
+
<material name="KitchenDarkGray"/>
|
|
1438
|
+
</visual>
|
|
1439
|
+
<collision>
|
|
1440
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
1441
|
+
<geometry>
|
|
1442
|
+
<box size="0.02 0.9 0.09"/>
|
|
1443
|
+
</geometry>
|
|
1444
|
+
</collision>
|
|
1445
|
+
</link>
|
|
1446
|
+
<gazebo reference="drawer_island_col2_top_back_link">
|
|
1447
|
+
<material value="Ias/KitchenLightGray"/>
|
|
1448
|
+
</gazebo>
|
|
1449
|
+
<joint name="drawer_island_col2_top_bottom_fixed_joint" type="fixed">
|
|
1450
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1451
|
+
<parent link="drawer_island_col2_top_link"/>
|
|
1452
|
+
<child link="drawer_island_col2_top_bottom_link"/>
|
|
1453
|
+
</joint>
|
|
1454
|
+
<link name="drawer_island_col2_top_bottom_link">
|
|
1455
|
+
<inertial>
|
|
1456
|
+
<mass value="1.0"/>
|
|
1457
|
+
<inertia ixx="0.0675333333333" ixy="0" ixz="0" iyy="0.0918" iyz="0" izz="0.0243333333333"/>
|
|
1458
|
+
</inertial>
|
|
1459
|
+
<visual>
|
|
1460
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.035"/>
|
|
1461
|
+
<geometry>
|
|
1462
|
+
<box size="0.54 0.9 0.02"/>
|
|
1463
|
+
</geometry>
|
|
1464
|
+
<material name="KitchenDarkGray"/>
|
|
1465
|
+
</visual>
|
|
1466
|
+
<collision>
|
|
1467
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.035"/>
|
|
1468
|
+
<geometry>
|
|
1469
|
+
<box size="0.54 0.9 0.02"/>
|
|
1470
|
+
</geometry>
|
|
1471
|
+
</collision>
|
|
1472
|
+
</link>
|
|
1473
|
+
<gazebo reference="drawer_island_col2_top_bottom_link">
|
|
1474
|
+
<material value="Ias/KitchenLightGray"/>
|
|
1475
|
+
</gazebo>
|
|
1476
|
+
<joint name="drawer_island_col2_top_handle_drawer_island_col2_top_joint" type="fixed">
|
|
1477
|
+
<origin rpy="0 0 0" xyz="0.0625 0.0 0.0175"/>
|
|
1478
|
+
<parent link="drawer_island_col2_top_link"/>
|
|
1479
|
+
<child link="handle_drawer_island_col2_top_link"/>
|
|
1480
|
+
</joint>
|
|
1481
|
+
<link name="handle_drawer_island_col2_top_link">
|
|
1482
|
+
<inertial>
|
|
1483
|
+
<mass value="0.1"/>
|
|
1484
|
+
<inertia ixx="0.00682604166667" ixy="0" ixz="0" iyy="0.00682604166667" iyz="0" izz="1.66666666667e-06"/>
|
|
1485
|
+
</inertial>
|
|
1486
|
+
<visual>
|
|
1487
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1488
|
+
<geometry>
|
|
1489
|
+
<box size="0.01 0.905 0.01"/>
|
|
1490
|
+
</geometry>
|
|
1491
|
+
<material name="KitchenDarkGray"/>
|
|
1492
|
+
</visual>
|
|
1493
|
+
<collision>
|
|
1494
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1495
|
+
<geometry>
|
|
1496
|
+
<box size="0.015 0.91 0.015"/>
|
|
1497
|
+
</geometry>
|
|
1498
|
+
</collision>
|
|
1499
|
+
</link>
|
|
1500
|
+
<gazebo reference="handle_drawer_island_col2_top_link">
|
|
1501
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
1502
|
+
</gazebo>
|
|
1503
|
+
<joint name="island_block_drawer_island_col3_bottom_fixed_joint" type="fixed">
|
|
1504
|
+
<origin rpy="0 0 0" xyz="0.57 1.93 0.245"/>
|
|
1505
|
+
<parent link="island_block_link"/>
|
|
1506
|
+
<child link="drawer_island_col3_bottom_fixed_link"/>
|
|
1507
|
+
</joint>
|
|
1508
|
+
<link name="drawer_island_col3_bottom_fixed_link">
|
|
1509
|
+
<inertial>
|
|
1510
|
+
<mass value="1"/>
|
|
1511
|
+
<inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
|
|
1512
|
+
</inertial>
|
|
1513
|
+
</link>
|
|
1514
|
+
<joint name="island_block_drawer_island_col3_bottom_joint" type="fixed">
|
|
1515
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1516
|
+
<parent link="drawer_island_col3_bottom_fixed_link"/>
|
|
1517
|
+
<child link="drawer_island_col3_bottom_link"/>
|
|
1518
|
+
<axis xyz="0.999 0 0.044"/>
|
|
1519
|
+
<!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
|
|
1520
|
+
<limit effort="300" lower="0" upper="0.48" velocity="10"/>
|
|
1521
|
+
</joint>
|
|
1522
|
+
<gazebo reference="island_block_drawer_island_col3_bottom_joint">
|
|
1523
|
+
<erp>0.8</erp>
|
|
1524
|
+
<cfm>0.0000001</cfm>
|
|
1525
|
+
<stopKp>1000000.0</stopKp>
|
|
1526
|
+
<stopKd>1.0</stopKd>
|
|
1527
|
+
</gazebo>
|
|
1528
|
+
<link name="drawer_island_col3_bottom_link">
|
|
1529
|
+
<inertial>
|
|
1530
|
+
<mass value="1.0"/>
|
|
1531
|
+
<inertia ixx="0.0370083333333" ixy="0" ixz="0" iyy="0.0300333333333" iyz="0" izz="0.00704166666667"/>
|
|
1532
|
+
</inertial>
|
|
1533
|
+
<visual>
|
|
1534
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1535
|
+
<geometry>
|
|
1536
|
+
<box size="0.02 0.595 0.285"/>
|
|
1537
|
+
</geometry>
|
|
1538
|
+
<material name="KitchenLightGray"/>
|
|
1539
|
+
</visual>
|
|
1540
|
+
<collision>
|
|
1541
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1542
|
+
<geometry>
|
|
1543
|
+
<box size="0.02 0.6 0.29"/>
|
|
1544
|
+
</geometry>
|
|
1545
|
+
</collision>
|
|
1546
|
+
</link>
|
|
1547
|
+
<gazebo reference="drawer_island_col3_bottom_link">
|
|
1548
|
+
<material value="Ias/KitchenLightGray"/>
|
|
1549
|
+
</gazebo>
|
|
1550
|
+
<joint name="drawer_island_col3_bottom_left_fixed_joint" type="fixed">
|
|
1551
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1552
|
+
<parent link="drawer_island_col3_bottom_link"/>
|
|
1553
|
+
<child link="drawer_island_col3_bottom_left_link"/>
|
|
1554
|
+
</joint>
|
|
1555
|
+
<link name="drawer_island_col3_bottom_left_link">
|
|
1556
|
+
<inertial>
|
|
1557
|
+
<mass value="1.0"/>
|
|
1558
|
+
<inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
|
|
1559
|
+
</inertial>
|
|
1560
|
+
<visual>
|
|
1561
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
|
|
1562
|
+
<geometry>
|
|
1563
|
+
<box size="0.54 0.02 0.24"/>
|
|
1564
|
+
</geometry>
|
|
1565
|
+
<material name="KitchenDarkGray"/>
|
|
1566
|
+
</visual>
|
|
1567
|
+
<collision>
|
|
1568
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
|
|
1569
|
+
<geometry>
|
|
1570
|
+
<box size="0.54 0.02 0.24"/>
|
|
1571
|
+
</geometry>
|
|
1572
|
+
</collision>
|
|
1573
|
+
</link>
|
|
1574
|
+
<gazebo reference="drawer_island_col3_bottom_left_link">
|
|
1575
|
+
<material value="Ias/KitchenLightGray"/>
|
|
1576
|
+
</gazebo>
|
|
1577
|
+
<joint name="drawer_island_col3_bottom_right_fixed_joint" type="fixed">
|
|
1578
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1579
|
+
<parent link="drawer_island_col3_bottom_link"/>
|
|
1580
|
+
<child link="drawer_island_col3_bottom_right_link"/>
|
|
1581
|
+
</joint>
|
|
1582
|
+
<link name="drawer_island_col3_bottom_right_link">
|
|
1583
|
+
<inertial>
|
|
1584
|
+
<mass value="1.0"/>
|
|
1585
|
+
<inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
|
|
1586
|
+
</inertial>
|
|
1587
|
+
<visual>
|
|
1588
|
+
<origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
|
|
1589
|
+
<geometry>
|
|
1590
|
+
<box size="0.54 0.02 0.24"/>
|
|
1591
|
+
</geometry>
|
|
1592
|
+
<material name="KitchenDarkGray"/>
|
|
1593
|
+
</visual>
|
|
1594
|
+
<collision>
|
|
1595
|
+
<origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
|
|
1596
|
+
<geometry>
|
|
1597
|
+
<box size="0.54 0.02 0.24"/>
|
|
1598
|
+
</geometry>
|
|
1599
|
+
</collision>
|
|
1600
|
+
</link>
|
|
1601
|
+
<gazebo reference="drawer_island_col3_bottom_right_link">
|
|
1602
|
+
<material value="Ias/KitchenLightGray"/>
|
|
1603
|
+
</gazebo>
|
|
1604
|
+
<joint name="drawer_island_col3_bottom_back_fixed_joint" type="fixed">
|
|
1605
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1606
|
+
<parent link="drawer_island_col3_bottom_link"/>
|
|
1607
|
+
<child link="drawer_island_col3_bottom_back_link"/>
|
|
1608
|
+
</joint>
|
|
1609
|
+
<link name="drawer_island_col3_bottom_back_link">
|
|
1610
|
+
<inertial>
|
|
1611
|
+
<mass value="1.0"/>
|
|
1612
|
+
<inertia ixx="0.0256333333333" ixy="0" ixz="0" iyy="0.0208666666667" iyz="0" izz="0.00483333333333"/>
|
|
1613
|
+
</inertial>
|
|
1614
|
+
<visual>
|
|
1615
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
1616
|
+
<geometry>
|
|
1617
|
+
<box size="0.02 0.5 0.24"/>
|
|
1618
|
+
</geometry>
|
|
1619
|
+
<material name="KitchenDarkGray"/>
|
|
1620
|
+
</visual>
|
|
1621
|
+
<collision>
|
|
1622
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
1623
|
+
<geometry>
|
|
1624
|
+
<box size="0.02 0.5 0.24"/>
|
|
1625
|
+
</geometry>
|
|
1626
|
+
</collision>
|
|
1627
|
+
</link>
|
|
1628
|
+
<gazebo reference="drawer_island_col3_bottom_back_link">
|
|
1629
|
+
<material value="Ias/KitchenLightGray"/>
|
|
1630
|
+
</gazebo>
|
|
1631
|
+
<joint name="drawer_island_col3_bottom_bottom_fixed_joint" type="fixed">
|
|
1632
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1633
|
+
<parent link="drawer_island_col3_bottom_link"/>
|
|
1634
|
+
<child link="drawer_island_col3_bottom_bottom_link"/>
|
|
1635
|
+
</joint>
|
|
1636
|
+
<link name="drawer_island_col3_bottom_bottom_link">
|
|
1637
|
+
<inertial>
|
|
1638
|
+
<mass value="1.0"/>
|
|
1639
|
+
<inertia ixx="0.0208666666667" ixy="0" ixz="0" iyy="0.0451333333333" iyz="0" izz="0.0243333333333"/>
|
|
1640
|
+
</inertial>
|
|
1641
|
+
<visual>
|
|
1642
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
|
|
1643
|
+
<geometry>
|
|
1644
|
+
<box size="0.54 0.5 0.02"/>
|
|
1645
|
+
</geometry>
|
|
1646
|
+
<material name="KitchenDarkGray"/>
|
|
1647
|
+
</visual>
|
|
1648
|
+
<collision>
|
|
1649
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
|
|
1650
|
+
<geometry>
|
|
1651
|
+
<box size="0.54 0.5 0.02"/>
|
|
1652
|
+
</geometry>
|
|
1653
|
+
</collision>
|
|
1654
|
+
</link>
|
|
1655
|
+
<gazebo reference="drawer_island_col3_bottom_bottom_link">
|
|
1656
|
+
<material value="Ias/KitchenLightGray"/>
|
|
1657
|
+
</gazebo>
|
|
1658
|
+
<joint name="drawer_island_col3_bottom_handle_drawer_island_col3_bottom_joint" type="fixed">
|
|
1659
|
+
<origin rpy="0 0 0" xyz="0.0625 0.0 0.0925"/>
|
|
1660
|
+
<parent link="drawer_island_col3_bottom_link"/>
|
|
1661
|
+
<child link="handle_drawer_island_col3_bottom_link"/>
|
|
1662
|
+
</joint>
|
|
1663
|
+
<link name="handle_drawer_island_col3_bottom_link">
|
|
1664
|
+
<inertial>
|
|
1665
|
+
<mass value="0.1"/>
|
|
1666
|
+
<inertia ixx="0.00212604166667" ixy="0" ixz="0" iyy="0.00212604166667" iyz="0" izz="1.66666666667e-06"/>
|
|
1667
|
+
</inertial>
|
|
1668
|
+
<visual>
|
|
1669
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1670
|
+
<geometry>
|
|
1671
|
+
<box size="0.01 0.505 0.01"/>
|
|
1672
|
+
</geometry>
|
|
1673
|
+
<material name="KitchenDarkGray"/>
|
|
1674
|
+
</visual>
|
|
1675
|
+
<collision>
|
|
1676
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1677
|
+
<geometry>
|
|
1678
|
+
<box size="0.015 0.51 0.015"/>
|
|
1679
|
+
</geometry>
|
|
1680
|
+
</collision>
|
|
1681
|
+
</link>
|
|
1682
|
+
<gazebo reference="handle_drawer_island_col3_bottom_link">
|
|
1683
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
1684
|
+
</gazebo>
|
|
1685
|
+
<joint name="island_block_drawer_island_col3_center_fixed_joint" type="fixed">
|
|
1686
|
+
<origin rpy="0 0 0" xyz="0.57 1.93 0.535"/>
|
|
1687
|
+
<parent link="island_block_link"/>
|
|
1688
|
+
<child link="drawer_island_col3_center_fixed_link"/>
|
|
1689
|
+
</joint>
|
|
1690
|
+
<link name="drawer_island_col3_center_fixed_link">
|
|
1691
|
+
<inertial>
|
|
1692
|
+
<mass value="1"/>
|
|
1693
|
+
<inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
|
|
1694
|
+
</inertial>
|
|
1695
|
+
</link>
|
|
1696
|
+
<joint name="island_block_drawer_island_col3_center_joint" type="fixed">
|
|
1697
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1698
|
+
<parent link="drawer_island_col3_center_fixed_link"/>
|
|
1699
|
+
<child link="drawer_island_col3_center_link"/>
|
|
1700
|
+
<axis xyz="0.999 0 0.044"/>
|
|
1701
|
+
<!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
|
|
1702
|
+
<limit effort="300" lower="0" upper="0.48" velocity="10"/>
|
|
1703
|
+
</joint>
|
|
1704
|
+
<gazebo reference="island_block_drawer_island_col3_center_joint">
|
|
1705
|
+
<erp>0.8</erp>
|
|
1706
|
+
<cfm>0.0000001</cfm>
|
|
1707
|
+
<stopKp>1000000.0</stopKp>
|
|
1708
|
+
<stopKd>1.0</stopKd>
|
|
1709
|
+
</gazebo>
|
|
1710
|
+
<link name="drawer_island_col3_center_link">
|
|
1711
|
+
<inertial>
|
|
1712
|
+
<mass value="1.0"/>
|
|
1713
|
+
<inertia ixx="0.0370083333333" ixy="0" ixz="0" iyy="0.0300333333333" iyz="0" izz="0.00704166666667"/>
|
|
1714
|
+
</inertial>
|
|
1715
|
+
<visual>
|
|
1716
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1717
|
+
<geometry>
|
|
1718
|
+
<box size="0.02 0.595 0.285"/>
|
|
1719
|
+
</geometry>
|
|
1720
|
+
<material name="KitchenLightGray"/>
|
|
1721
|
+
</visual>
|
|
1722
|
+
<collision>
|
|
1723
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1724
|
+
<geometry>
|
|
1725
|
+
<box size="0.02 0.6 0.29"/>
|
|
1726
|
+
</geometry>
|
|
1727
|
+
</collision>
|
|
1728
|
+
</link>
|
|
1729
|
+
<gazebo reference="drawer_island_col3_center_link">
|
|
1730
|
+
<material value="Ias/KitchenLightGray"/>
|
|
1731
|
+
</gazebo>
|
|
1732
|
+
<joint name="drawer_island_col3_center_left_fixed_joint" type="fixed">
|
|
1733
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1734
|
+
<parent link="drawer_island_col3_center_link"/>
|
|
1735
|
+
<child link="drawer_island_col3_center_left_link"/>
|
|
1736
|
+
</joint>
|
|
1737
|
+
<link name="drawer_island_col3_center_left_link">
|
|
1738
|
+
<inertial>
|
|
1739
|
+
<mass value="1.0"/>
|
|
1740
|
+
<inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
|
|
1741
|
+
</inertial>
|
|
1742
|
+
<visual>
|
|
1743
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
|
|
1744
|
+
<geometry>
|
|
1745
|
+
<box size="0.54 0.02 0.24"/>
|
|
1746
|
+
</geometry>
|
|
1747
|
+
<material name="KitchenDarkGray"/>
|
|
1748
|
+
</visual>
|
|
1749
|
+
<collision>
|
|
1750
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
|
|
1751
|
+
<geometry>
|
|
1752
|
+
<box size="0.54 0.02 0.24"/>
|
|
1753
|
+
</geometry>
|
|
1754
|
+
</collision>
|
|
1755
|
+
</link>
|
|
1756
|
+
<gazebo reference="drawer_island_col3_center_left_link">
|
|
1757
|
+
<material value="Ias/KitchenLightGray"/>
|
|
1758
|
+
</gazebo>
|
|
1759
|
+
<joint name="drawer_island_col3_center_right_fixed_joint" type="fixed">
|
|
1760
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1761
|
+
<parent link="drawer_island_col3_center_link"/>
|
|
1762
|
+
<child link="drawer_island_col3_center_right_link"/>
|
|
1763
|
+
</joint>
|
|
1764
|
+
<link name="drawer_island_col3_center_right_link">
|
|
1765
|
+
<inertial>
|
|
1766
|
+
<mass value="1.0"/>
|
|
1767
|
+
<inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
|
|
1768
|
+
</inertial>
|
|
1769
|
+
<visual>
|
|
1770
|
+
<origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
|
|
1771
|
+
<geometry>
|
|
1772
|
+
<box size="0.54 0.02 0.24"/>
|
|
1773
|
+
</geometry>
|
|
1774
|
+
<material name="KitchenDarkGray"/>
|
|
1775
|
+
</visual>
|
|
1776
|
+
<collision>
|
|
1777
|
+
<origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
|
|
1778
|
+
<geometry>
|
|
1779
|
+
<box size="0.54 0.02 0.24"/>
|
|
1780
|
+
</geometry>
|
|
1781
|
+
</collision>
|
|
1782
|
+
</link>
|
|
1783
|
+
<gazebo reference="drawer_island_col3_center_right_link">
|
|
1784
|
+
<material value="Ias/KitchenLightGray"/>
|
|
1785
|
+
</gazebo>
|
|
1786
|
+
<joint name="drawer_island_col3_center_back_fixed_joint" type="fixed">
|
|
1787
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1788
|
+
<parent link="drawer_island_col3_center_link"/>
|
|
1789
|
+
<child link="drawer_island_col3_center_back_link"/>
|
|
1790
|
+
</joint>
|
|
1791
|
+
<link name="drawer_island_col3_center_back_link">
|
|
1792
|
+
<inertial>
|
|
1793
|
+
<mass value="1.0"/>
|
|
1794
|
+
<inertia ixx="0.0256333333333" ixy="0" ixz="0" iyy="0.0208666666667" iyz="0" izz="0.00483333333333"/>
|
|
1795
|
+
</inertial>
|
|
1796
|
+
<visual>
|
|
1797
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
1798
|
+
<geometry>
|
|
1799
|
+
<box size="0.02 0.5 0.24"/>
|
|
1800
|
+
</geometry>
|
|
1801
|
+
<material name="KitchenDarkGray"/>
|
|
1802
|
+
</visual>
|
|
1803
|
+
<collision>
|
|
1804
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
1805
|
+
<geometry>
|
|
1806
|
+
<box size="0.02 0.5 0.24"/>
|
|
1807
|
+
</geometry>
|
|
1808
|
+
</collision>
|
|
1809
|
+
</link>
|
|
1810
|
+
<gazebo reference="drawer_island_col3_center_back_link">
|
|
1811
|
+
<material value="Ias/KitchenLightGray"/>
|
|
1812
|
+
</gazebo>
|
|
1813
|
+
<joint name="drawer_island_col3_center_bottom_fixed_joint" type="fixed">
|
|
1814
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1815
|
+
<parent link="drawer_island_col3_center_link"/>
|
|
1816
|
+
<child link="drawer_island_col3_center_bottom_link"/>
|
|
1817
|
+
</joint>
|
|
1818
|
+
<link name="drawer_island_col3_center_bottom_link">
|
|
1819
|
+
<inertial>
|
|
1820
|
+
<mass value="1.0"/>
|
|
1821
|
+
<inertia ixx="0.0208666666667" ixy="0" ixz="0" iyy="0.0451333333333" iyz="0" izz="0.0243333333333"/>
|
|
1822
|
+
</inertial>
|
|
1823
|
+
<visual>
|
|
1824
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
|
|
1825
|
+
<geometry>
|
|
1826
|
+
<box size="0.54 0.5 0.02"/>
|
|
1827
|
+
</geometry>
|
|
1828
|
+
<material name="KitchenDarkGray"/>
|
|
1829
|
+
</visual>
|
|
1830
|
+
<collision>
|
|
1831
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
|
|
1832
|
+
<geometry>
|
|
1833
|
+
<box size="0.54 0.5 0.02"/>
|
|
1834
|
+
</geometry>
|
|
1835
|
+
</collision>
|
|
1836
|
+
</link>
|
|
1837
|
+
<gazebo reference="drawer_island_col3_center_bottom_link">
|
|
1838
|
+
<material value="Ias/KitchenLightGray"/>
|
|
1839
|
+
</gazebo>
|
|
1840
|
+
<joint name="drawer_island_col3_center_handle_drawer_island_col3_center_joint" type="fixed">
|
|
1841
|
+
<origin rpy="0 0 0" xyz="0.0625 0.0 0.0925"/>
|
|
1842
|
+
<parent link="drawer_island_col3_center_link"/>
|
|
1843
|
+
<child link="handle_drawer_island_col3_center_link"/>
|
|
1844
|
+
</joint>
|
|
1845
|
+
<link name="handle_drawer_island_col3_center_link">
|
|
1846
|
+
<inertial>
|
|
1847
|
+
<mass value="0.1"/>
|
|
1848
|
+
<inertia ixx="0.00212604166667" ixy="0" ixz="0" iyy="0.00212604166667" iyz="0" izz="1.66666666667e-06"/>
|
|
1849
|
+
</inertial>
|
|
1850
|
+
<visual>
|
|
1851
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1852
|
+
<geometry>
|
|
1853
|
+
<box size="0.01 0.505 0.01"/>
|
|
1854
|
+
</geometry>
|
|
1855
|
+
<material name="KitchenDarkGray"/>
|
|
1856
|
+
</visual>
|
|
1857
|
+
<collision>
|
|
1858
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1859
|
+
<geometry>
|
|
1860
|
+
<box size="0.015 0.51 0.015"/>
|
|
1861
|
+
</geometry>
|
|
1862
|
+
</collision>
|
|
1863
|
+
</link>
|
|
1864
|
+
<gazebo reference="handle_drawer_island_col3_center_link">
|
|
1865
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
1866
|
+
</gazebo>
|
|
1867
|
+
<joint name="island_block_drawer_island_col3_top_fixed_joint" type="fixed">
|
|
1868
|
+
<origin rpy="0 0 0" xyz="0.57 1.93 0.75"/>
|
|
1869
|
+
<parent link="island_block_link"/>
|
|
1870
|
+
<child link="drawer_island_col3_top_fixed_link"/>
|
|
1871
|
+
</joint>
|
|
1872
|
+
<link name="drawer_island_col3_top_fixed_link">
|
|
1873
|
+
<inertial>
|
|
1874
|
+
<mass value="1"/>
|
|
1875
|
+
<inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
|
|
1876
|
+
</inertial>
|
|
1877
|
+
</link>
|
|
1878
|
+
<joint name="island_block_drawer_island_col3_top_joint" type="fixed">
|
|
1879
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1880
|
+
<parent link="drawer_island_col3_top_fixed_link"/>
|
|
1881
|
+
<child link="drawer_island_col3_top_link"/>
|
|
1882
|
+
<axis xyz="0.999 0 0.044"/>
|
|
1883
|
+
<!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
|
|
1884
|
+
<limit effort="300" lower="0" upper="0.48" velocity="10"/>
|
|
1885
|
+
</joint>
|
|
1886
|
+
<gazebo reference="island_block_drawer_island_col3_top_joint">
|
|
1887
|
+
<erp>0.8</erp>
|
|
1888
|
+
<cfm>0.0000001</cfm>
|
|
1889
|
+
<stopKp>1000000.0</stopKp>
|
|
1890
|
+
<stopKd>1.0</stopKd>
|
|
1891
|
+
</gazebo>
|
|
1892
|
+
<link name="drawer_island_col3_top_link">
|
|
1893
|
+
<inertial>
|
|
1894
|
+
<mass value="1.0"/>
|
|
1895
|
+
<inertia ixx="0.0316333333333" ixy="0" ixz="0" iyy="0.0300333333333" iyz="0" izz="0.00166666666667"/>
|
|
1896
|
+
</inertial>
|
|
1897
|
+
<visual>
|
|
1898
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1899
|
+
<geometry>
|
|
1900
|
+
<box size="0.02 0.595 0.135"/>
|
|
1901
|
+
</geometry>
|
|
1902
|
+
<material name="KitchenLightGray"/>
|
|
1903
|
+
</visual>
|
|
1904
|
+
<collision>
|
|
1905
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1906
|
+
<geometry>
|
|
1907
|
+
<box size="0.02 0.6 0.14"/>
|
|
1908
|
+
</geometry>
|
|
1909
|
+
</collision>
|
|
1910
|
+
</link>
|
|
1911
|
+
<gazebo reference="drawer_island_col3_top_link">
|
|
1912
|
+
<material value="Ias/KitchenLightGray"/>
|
|
1913
|
+
</gazebo>
|
|
1914
|
+
<joint name="drawer_island_col3_top_left_fixed_joint" type="fixed">
|
|
1915
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1916
|
+
<parent link="drawer_island_col3_top_link"/>
|
|
1917
|
+
<child link="drawer_island_col3_top_left_link"/>
|
|
1918
|
+
</joint>
|
|
1919
|
+
<link name="drawer_island_col3_top_left_link">
|
|
1920
|
+
<inertial>
|
|
1921
|
+
<mass value="1.0"/>
|
|
1922
|
+
<inertia ixx="0.000708333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.024975"/>
|
|
1923
|
+
</inertial>
|
|
1924
|
+
<visual>
|
|
1925
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
|
|
1926
|
+
<geometry>
|
|
1927
|
+
<box size="0.54 0.02 0.09"/>
|
|
1928
|
+
</geometry>
|
|
1929
|
+
<material name="KitchenDarkGray"/>
|
|
1930
|
+
</visual>
|
|
1931
|
+
<collision>
|
|
1932
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
|
|
1933
|
+
<geometry>
|
|
1934
|
+
<box size="0.54 0.02 0.09"/>
|
|
1935
|
+
</geometry>
|
|
1936
|
+
</collision>
|
|
1937
|
+
</link>
|
|
1938
|
+
<gazebo reference="drawer_island_col3_top_left_link">
|
|
1939
|
+
<material value="Ias/KitchenLightGray"/>
|
|
1940
|
+
</gazebo>
|
|
1941
|
+
<joint name="drawer_island_col3_top_right_fixed_joint" type="fixed">
|
|
1942
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1943
|
+
<parent link="drawer_island_col3_top_link"/>
|
|
1944
|
+
<child link="drawer_island_col3_top_right_link"/>
|
|
1945
|
+
</joint>
|
|
1946
|
+
<link name="drawer_island_col3_top_right_link">
|
|
1947
|
+
<inertial>
|
|
1948
|
+
<mass value="1.0"/>
|
|
1949
|
+
<inertia ixx="0.000708333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.024975"/>
|
|
1950
|
+
</inertial>
|
|
1951
|
+
<visual>
|
|
1952
|
+
<origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
|
|
1953
|
+
<geometry>
|
|
1954
|
+
<box size="0.54 0.02 0.09"/>
|
|
1955
|
+
</geometry>
|
|
1956
|
+
<material name="KitchenDarkGray"/>
|
|
1957
|
+
</visual>
|
|
1958
|
+
<collision>
|
|
1959
|
+
<origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
|
|
1960
|
+
<geometry>
|
|
1961
|
+
<box size="0.54 0.02 0.09"/>
|
|
1962
|
+
</geometry>
|
|
1963
|
+
</collision>
|
|
1964
|
+
</link>
|
|
1965
|
+
<gazebo reference="drawer_island_col3_top_right_link">
|
|
1966
|
+
<material value="Ias/KitchenLightGray"/>
|
|
1967
|
+
</gazebo>
|
|
1968
|
+
<joint name="drawer_island_col3_top_back_fixed_joint" type="fixed">
|
|
1969
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1970
|
+
<parent link="drawer_island_col3_top_link"/>
|
|
1971
|
+
<child link="drawer_island_col3_top_back_link"/>
|
|
1972
|
+
</joint>
|
|
1973
|
+
<link name="drawer_island_col3_top_back_link">
|
|
1974
|
+
<inertial>
|
|
1975
|
+
<mass value="1.0"/>
|
|
1976
|
+
<inertia ixx="0.0215083333333" ixy="0" ixz="0" iyy="0.0208666666667" iyz="0" izz="0.000708333333333"/>
|
|
1977
|
+
</inertial>
|
|
1978
|
+
<visual>
|
|
1979
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
1980
|
+
<geometry>
|
|
1981
|
+
<box size="0.02 0.5 0.09"/>
|
|
1982
|
+
</geometry>
|
|
1983
|
+
<material name="KitchenDarkGray"/>
|
|
1984
|
+
</visual>
|
|
1985
|
+
<collision>
|
|
1986
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
1987
|
+
<geometry>
|
|
1988
|
+
<box size="0.02 0.5 0.09"/>
|
|
1989
|
+
</geometry>
|
|
1990
|
+
</collision>
|
|
1991
|
+
</link>
|
|
1992
|
+
<gazebo reference="drawer_island_col3_top_back_link">
|
|
1993
|
+
<material value="Ias/KitchenLightGray"/>
|
|
1994
|
+
</gazebo>
|
|
1995
|
+
<joint name="drawer_island_col3_top_bottom_fixed_joint" type="fixed">
|
|
1996
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
1997
|
+
<parent link="drawer_island_col3_top_link"/>
|
|
1998
|
+
<child link="drawer_island_col3_top_bottom_link"/>
|
|
1999
|
+
</joint>
|
|
2000
|
+
<link name="drawer_island_col3_top_bottom_link">
|
|
2001
|
+
<inertial>
|
|
2002
|
+
<mass value="1.0"/>
|
|
2003
|
+
<inertia ixx="0.0208666666667" ixy="0" ixz="0" iyy="0.0451333333333" iyz="0" izz="0.0243333333333"/>
|
|
2004
|
+
</inertial>
|
|
2005
|
+
<visual>
|
|
2006
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.035"/>
|
|
2007
|
+
<geometry>
|
|
2008
|
+
<box size="0.54 0.5 0.02"/>
|
|
2009
|
+
</geometry>
|
|
2010
|
+
<material name="KitchenDarkGray"/>
|
|
2011
|
+
</visual>
|
|
2012
|
+
<collision>
|
|
2013
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.035"/>
|
|
2014
|
+
<geometry>
|
|
2015
|
+
<box size="0.54 0.5 0.02"/>
|
|
2016
|
+
</geometry>
|
|
2017
|
+
</collision>
|
|
2018
|
+
</link>
|
|
2019
|
+
<gazebo reference="drawer_island_col3_top_bottom_link">
|
|
2020
|
+
<material value="Ias/KitchenLightGray"/>
|
|
2021
|
+
</gazebo>
|
|
2022
|
+
<joint name="drawer_island_col3_top_handle_drawer_island_col3_top_joint" type="fixed">
|
|
2023
|
+
<origin rpy="0 0 0" xyz="0.0625 0.0 0.0175"/>
|
|
2024
|
+
<parent link="drawer_island_col3_top_link"/>
|
|
2025
|
+
<child link="handle_drawer_island_col3_top_link"/>
|
|
2026
|
+
</joint>
|
|
2027
|
+
<link name="handle_drawer_island_col3_top_link">
|
|
2028
|
+
<inertial>
|
|
2029
|
+
<mass value="0.1"/>
|
|
2030
|
+
<inertia ixx="0.00212604166667" ixy="0" ixz="0" iyy="0.00212604166667" iyz="0" izz="1.66666666667e-06"/>
|
|
2031
|
+
</inertial>
|
|
2032
|
+
<visual>
|
|
2033
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2034
|
+
<geometry>
|
|
2035
|
+
<box size="0.01 0.505 0.01"/>
|
|
2036
|
+
</geometry>
|
|
2037
|
+
<material name="KitchenDarkGray"/>
|
|
2038
|
+
</visual>
|
|
2039
|
+
<collision>
|
|
2040
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2041
|
+
<geometry>
|
|
2042
|
+
<box size="0.015 0.51 0.015"/>
|
|
2043
|
+
</geometry>
|
|
2044
|
+
</collision>
|
|
2045
|
+
</link>
|
|
2046
|
+
<gazebo reference="handle_drawer_island_col3_top_link">
|
|
2047
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
2048
|
+
</gazebo>
|
|
2049
|
+
<joint name="island_block_skirting_island_joint" type="fixed">
|
|
2050
|
+
<origin rpy="0 0 0" xyz="0.275 1.13 0.05"/>
|
|
2051
|
+
<parent link="island_block_link"/>
|
|
2052
|
+
<child link="skirting_island_link"/>
|
|
2053
|
+
</joint>
|
|
2054
|
+
<link name="skirting_island_link">
|
|
2055
|
+
<inertial>
|
|
2056
|
+
<mass value="10"/>
|
|
2057
|
+
<inertia ixx="4.04166666667" ixy="0" ixz="0" iyy="4.25008333333" iyz="0" izz="0.225083333333"/>
|
|
2058
|
+
</inertial>
|
|
2059
|
+
<visual>
|
|
2060
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2061
|
+
<geometry>
|
|
2062
|
+
<box size="0.51 2.2 0.1"/>
|
|
2063
|
+
</geometry>
|
|
2064
|
+
<material name="KitchenDarkGray"/>
|
|
2065
|
+
</visual>
|
|
2066
|
+
<collision>
|
|
2067
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2068
|
+
<geometry>
|
|
2069
|
+
<box size="0.51 2.2 0.1"/>
|
|
2070
|
+
</geometry>
|
|
2071
|
+
</collision>
|
|
2072
|
+
</link>
|
|
2073
|
+
<gazebo reference="skirting_island_link">
|
|
2074
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
2075
|
+
</gazebo>
|
|
2076
|
+
<joint name="island_block_joint" type="fixed">
|
|
2077
|
+
<origin rpy="0 0 3.141" xyz="-2.1 -4.94 0"/>
|
|
2078
|
+
<parent link="kitchen_link"/>
|
|
2079
|
+
<child link="island_block_link"/>
|
|
2080
|
+
</joint>
|
|
2081
|
+
<link name="island_block_link">
|
|
2082
|
+
<inertial>
|
|
2083
|
+
<mass value="0"/>
|
|
2084
|
+
<inertia ixx="0.0" ixy="0" ixz="0" iyy="0.0" iyz="0" izz="0.0"/>
|
|
2085
|
+
</inertial>
|
|
2086
|
+
<visual>
|
|
2087
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2088
|
+
<geometry>
|
|
2089
|
+
<box size=".1 .1 .1"/>
|
|
2090
|
+
</geometry>
|
|
2091
|
+
</visual>
|
|
2092
|
+
</link>
|
|
2093
|
+
<joint name="oven_block_counter_top_oven_joint" type="fixed">
|
|
2094
|
+
<origin rpy="0 0 0" xyz="0.29 0.6 1.495"/>
|
|
2095
|
+
<parent link="oven_block_link"/>
|
|
2096
|
+
<child link="counter_top_oven_link"/>
|
|
2097
|
+
</joint>
|
|
2098
|
+
<link name="counter_top_oven_link">
|
|
2099
|
+
<inertial>
|
|
2100
|
+
<mass value="2.0"/>
|
|
2101
|
+
<inertia ixx="0.24015" ixy="0" ixz="0" iyy="0.296066666667" iyz="0" izz="0.0562166666667"/>
|
|
2102
|
+
</inertial>
|
|
2103
|
+
<visual>
|
|
2104
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2105
|
+
<geometry>
|
|
2106
|
+
<box size="0.58 1.2 0.03"/>
|
|
2107
|
+
</geometry>
|
|
2108
|
+
<material name="KitchenDarkGray"/>
|
|
2109
|
+
</visual>
|
|
2110
|
+
<collision>
|
|
2111
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2112
|
+
<geometry>
|
|
2113
|
+
<box size="0.58 1.2 0.03"/>
|
|
2114
|
+
</geometry>
|
|
2115
|
+
</collision>
|
|
2116
|
+
</link>
|
|
2117
|
+
<gazebo reference="counter_top_oven_link">
|
|
2118
|
+
<kp>100000</kp>
|
|
2119
|
+
<kd>1000000</kd>
|
|
2120
|
+
<mu1>50000</mu1>
|
|
2121
|
+
<mu2>50000</mu2>
|
|
2122
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
2123
|
+
</gazebo>
|
|
2124
|
+
<joint name="oven_block_drawer_oven_left_fixed_joint" type="fixed">
|
|
2125
|
+
<origin rpy="0 0 0" xyz="0.29 0.15 0.815"/>
|
|
2126
|
+
<parent link="oven_block_link"/>
|
|
2127
|
+
<child link="drawer_oven_left_fixed_link"/>
|
|
2128
|
+
</joint>
|
|
2129
|
+
<link name="drawer_oven_left_fixed_link">
|
|
2130
|
+
<inertial>
|
|
2131
|
+
<mass value="0.1"/>
|
|
2132
|
+
<inertia ixx="4e-08" ixy="0" ixz="0" iyy="4e-08" iyz="0" izz="4e-08"/>
|
|
2133
|
+
</inertial>
|
|
2134
|
+
</link>
|
|
2135
|
+
<joint name="oven_block_drawer_oven_left_joint" type="fixed">
|
|
2136
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2137
|
+
<parent link="drawer_oven_left_fixed_link"/>
|
|
2138
|
+
<child link="drawer_oven_left_link"/>
|
|
2139
|
+
<axis xyz="0.999 0 0.044"/>
|
|
2140
|
+
<!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
|
|
2141
|
+
<limit effort="300" lower="0" upper="0.48" velocity="10"/>
|
|
2142
|
+
</joint>
|
|
2143
|
+
<link name="drawer_oven_left_link">
|
|
2144
|
+
<inertial>
|
|
2145
|
+
<mass value="1.0"/>
|
|
2146
|
+
<inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
|
|
2147
|
+
</inertial>
|
|
2148
|
+
<visual>
|
|
2149
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2150
|
+
<geometry>
|
|
2151
|
+
<box size="0.575 0.295 1.325"/>
|
|
2152
|
+
</geometry>
|
|
2153
|
+
<material name="KitchenLightGray"/>
|
|
2154
|
+
</visual>
|
|
2155
|
+
<collision>
|
|
2156
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2157
|
+
<geometry>
|
|
2158
|
+
<box size="0.58 0.3 1.33"/>
|
|
2159
|
+
</geometry>
|
|
2160
|
+
</collision>
|
|
2161
|
+
</link>
|
|
2162
|
+
<gazebo reference="drawer_oven_left_link">
|
|
2163
|
+
<material value="Ias/KitchenLightGray"/>
|
|
2164
|
+
</gazebo>
|
|
2165
|
+
<joint name="drawer_oven_left_handle_drawer_oven_left_joint" type="fixed">
|
|
2166
|
+
<origin rpy="0 0 0" xyz="0.3525 0.0 0.0"/>
|
|
2167
|
+
<parent link="drawer_oven_left_link"/>
|
|
2168
|
+
<child link="handle_drawer_oven_left_link"/>
|
|
2169
|
+
</joint>
|
|
2170
|
+
<link name="handle_drawer_oven_left_link">
|
|
2171
|
+
<inertial>
|
|
2172
|
+
<mass value="0.1"/>
|
|
2173
|
+
<inertia ixx="0.0127110416667" ixy="0" ixz="0" iyy="1.66666666667e-06" iyz="0" izz="0.0127110416667"/>
|
|
2174
|
+
</inertial>
|
|
2175
|
+
<visual>
|
|
2176
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2177
|
+
<geometry>
|
|
2178
|
+
<box size="0.01 0.01 1.235"/>
|
|
2179
|
+
</geometry>
|
|
2180
|
+
<material name="KitchenDarkGray"/>
|
|
2181
|
+
</visual>
|
|
2182
|
+
<collision>
|
|
2183
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2184
|
+
<geometry>
|
|
2185
|
+
<box size="0.015 0.015 1.24"/>
|
|
2186
|
+
</geometry>
|
|
2187
|
+
</collision>
|
|
2188
|
+
</link>
|
|
2189
|
+
<gazebo reference="handle_drawer_oven_left_link">
|
|
2190
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
2191
|
+
</gazebo>
|
|
2192
|
+
<joint name="oven_block_drawer_oven_bottom_fixed_joint" type="fixed">
|
|
2193
|
+
<origin rpy="0 0 0" xyz="0.57 0.6 0.44"/>
|
|
2194
|
+
<parent link="oven_block_link"/>
|
|
2195
|
+
<child link="drawer_oven_bottom_fixed_link"/>
|
|
2196
|
+
</joint>
|
|
2197
|
+
<link name="drawer_oven_bottom_fixed_link">
|
|
2198
|
+
<inertial>
|
|
2199
|
+
<mass value="1"/>
|
|
2200
|
+
<inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
|
|
2201
|
+
</inertial>
|
|
2202
|
+
</link>
|
|
2203
|
+
<joint name="oven_block_drawer_oven_bottom_joint" type="fixed">
|
|
2204
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2205
|
+
<parent link="drawer_oven_bottom_fixed_link"/>
|
|
2206
|
+
<child link="drawer_oven_bottom_link"/>
|
|
2207
|
+
<axis xyz="0.999 0 0.044"/>
|
|
2208
|
+
<!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
|
|
2209
|
+
<limit effort="300" lower="0" upper="0.48" velocity="10"/>
|
|
2210
|
+
</joint>
|
|
2211
|
+
<gazebo reference="oven_block_drawer_oven_bottom_joint">
|
|
2212
|
+
<erp>0.8</erp>
|
|
2213
|
+
<cfm>0.0000001</cfm>
|
|
2214
|
+
<stopKp>1000000.0</stopKp>
|
|
2215
|
+
<stopKd>1.0</stopKd>
|
|
2216
|
+
</gazebo>
|
|
2217
|
+
<link name="drawer_oven_bottom_link">
|
|
2218
|
+
<inertial>
|
|
2219
|
+
<mass value="1.0"/>
|
|
2220
|
+
<inertia ixx="0.0580333333333" ixy="0" ixz="0" iyy="0.0300333333333" iyz="0" izz="0.0280666666667"/>
|
|
2221
|
+
</inertial>
|
|
2222
|
+
<visual>
|
|
2223
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2224
|
+
<geometry>
|
|
2225
|
+
<box size="0.02 0.595 0.575"/>
|
|
2226
|
+
</geometry>
|
|
2227
|
+
<material name="KitchenLightGray"/>
|
|
2228
|
+
</visual>
|
|
2229
|
+
<collision>
|
|
2230
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2231
|
+
<geometry>
|
|
2232
|
+
<box size="0.02 0.6 0.58"/>
|
|
2233
|
+
</geometry>
|
|
2234
|
+
</collision>
|
|
2235
|
+
</link>
|
|
2236
|
+
<gazebo reference="drawer_oven_bottom_link">
|
|
2237
|
+
<material value="Ias/KitchenLightGray"/>
|
|
2238
|
+
</gazebo>
|
|
2239
|
+
<joint name="drawer_oven_bottom_left_fixed_joint" type="fixed">
|
|
2240
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2241
|
+
<parent link="drawer_oven_bottom_link"/>
|
|
2242
|
+
<child link="drawer_oven_bottom_left_link"/>
|
|
2243
|
+
</joint>
|
|
2244
|
+
<link name="drawer_oven_bottom_left_link">
|
|
2245
|
+
<inertial>
|
|
2246
|
+
<mass value="1.0"/>
|
|
2247
|
+
<inertia ixx="0.0234416666667" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0477083333333"/>
|
|
2248
|
+
</inertial>
|
|
2249
|
+
<visual>
|
|
2250
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
|
|
2251
|
+
<geometry>
|
|
2252
|
+
<box size="0.54 0.02 0.53"/>
|
|
2253
|
+
</geometry>
|
|
2254
|
+
<material name="KitchenDarkGray"/>
|
|
2255
|
+
</visual>
|
|
2256
|
+
<collision>
|
|
2257
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
|
|
2258
|
+
<geometry>
|
|
2259
|
+
<box size="0.54 0.02 0.53"/>
|
|
2260
|
+
</geometry>
|
|
2261
|
+
</collision>
|
|
2262
|
+
</link>
|
|
2263
|
+
<gazebo reference="drawer_oven_bottom_left_link">
|
|
2264
|
+
<material value="Ias/KitchenLightGray"/>
|
|
2265
|
+
</gazebo>
|
|
2266
|
+
<joint name="drawer_oven_bottom_right_fixed_joint" type="fixed">
|
|
2267
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2268
|
+
<parent link="drawer_oven_bottom_link"/>
|
|
2269
|
+
<child link="drawer_oven_bottom_right_link"/>
|
|
2270
|
+
</joint>
|
|
2271
|
+
<link name="drawer_oven_bottom_right_link">
|
|
2272
|
+
<inertial>
|
|
2273
|
+
<mass value="1.0"/>
|
|
2274
|
+
<inertia ixx="0.0234416666667" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0477083333333"/>
|
|
2275
|
+
</inertial>
|
|
2276
|
+
<visual>
|
|
2277
|
+
<origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
|
|
2278
|
+
<geometry>
|
|
2279
|
+
<box size="0.54 0.02 0.53"/>
|
|
2280
|
+
</geometry>
|
|
2281
|
+
<material name="KitchenDarkGray"/>
|
|
2282
|
+
</visual>
|
|
2283
|
+
<collision>
|
|
2284
|
+
<origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
|
|
2285
|
+
<geometry>
|
|
2286
|
+
<box size="0.54 0.02 0.53"/>
|
|
2287
|
+
</geometry>
|
|
2288
|
+
</collision>
|
|
2289
|
+
</link>
|
|
2290
|
+
<gazebo reference="drawer_oven_bottom_right_link">
|
|
2291
|
+
<material value="Ias/KitchenLightGray"/>
|
|
2292
|
+
</gazebo>
|
|
2293
|
+
<joint name="drawer_oven_bottom_back_fixed_joint" type="fixed">
|
|
2294
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2295
|
+
<parent link="drawer_oven_bottom_link"/>
|
|
2296
|
+
<child link="drawer_oven_bottom_back_link"/>
|
|
2297
|
+
</joint>
|
|
2298
|
+
<link name="drawer_oven_bottom_back_link">
|
|
2299
|
+
<inertial>
|
|
2300
|
+
<mass value="1.0"/>
|
|
2301
|
+
<inertia ixx="0.0442416666667" ixy="0" ixz="0" iyy="0.0208666666667" iyz="0" izz="0.0234416666667"/>
|
|
2302
|
+
</inertial>
|
|
2303
|
+
<visual>
|
|
2304
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
2305
|
+
<geometry>
|
|
2306
|
+
<box size="0.02 0.5 0.53"/>
|
|
2307
|
+
</geometry>
|
|
2308
|
+
<material name="KitchenDarkGray"/>
|
|
2309
|
+
</visual>
|
|
2310
|
+
<collision>
|
|
2311
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
2312
|
+
<geometry>
|
|
2313
|
+
<box size="0.02 0.5 0.53"/>
|
|
2314
|
+
</geometry>
|
|
2315
|
+
</collision>
|
|
2316
|
+
</link>
|
|
2317
|
+
<gazebo reference="drawer_oven_bottom_back_link">
|
|
2318
|
+
<material value="Ias/KitchenLightGray"/>
|
|
2319
|
+
</gazebo>
|
|
2320
|
+
<joint name="drawer_oven_bottom_bottom_fixed_joint" type="fixed">
|
|
2321
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2322
|
+
<parent link="drawer_oven_bottom_link"/>
|
|
2323
|
+
<child link="drawer_oven_bottom_bottom_link"/>
|
|
2324
|
+
</joint>
|
|
2325
|
+
<link name="drawer_oven_bottom_bottom_link">
|
|
2326
|
+
<inertial>
|
|
2327
|
+
<mass value="1.0"/>
|
|
2328
|
+
<inertia ixx="0.0208666666667" ixy="0" ixz="0" iyy="0.0451333333333" iyz="0" izz="0.0243333333333"/>
|
|
2329
|
+
</inertial>
|
|
2330
|
+
<visual>
|
|
2331
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.255"/>
|
|
2332
|
+
<geometry>
|
|
2333
|
+
<box size="0.54 0.5 0.02"/>
|
|
2334
|
+
</geometry>
|
|
2335
|
+
<material name="KitchenDarkGray"/>
|
|
2336
|
+
</visual>
|
|
2337
|
+
<collision>
|
|
2338
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.255"/>
|
|
2339
|
+
<geometry>
|
|
2340
|
+
<box size="0.54 0.5 0.02"/>
|
|
2341
|
+
</geometry>
|
|
2342
|
+
</collision>
|
|
2343
|
+
</link>
|
|
2344
|
+
<gazebo reference="drawer_oven_bottom_bottom_link">
|
|
2345
|
+
<material value="Ias/KitchenLightGray"/>
|
|
2346
|
+
</gazebo>
|
|
2347
|
+
<joint name="drawer_oven_bottom_handle_drawer_oven_bottom_joint" type="fixed">
|
|
2348
|
+
<origin rpy="0 0 0" xyz="0.0625 0.0 0.2375"/>
|
|
2349
|
+
<parent link="drawer_oven_bottom_link"/>
|
|
2350
|
+
<child link="handle_drawer_oven_bottom_link"/>
|
|
2351
|
+
</joint>
|
|
2352
|
+
<link name="handle_drawer_oven_bottom_link">
|
|
2353
|
+
<inertial>
|
|
2354
|
+
<mass value="0.1"/>
|
|
2355
|
+
<inertia ixx="0.00212604166667" ixy="0" ixz="0" iyy="0.00212604166667" iyz="0" izz="1.66666666667e-06"/>
|
|
2356
|
+
</inertial>
|
|
2357
|
+
<visual>
|
|
2358
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2359
|
+
<geometry>
|
|
2360
|
+
<box size="0.01 0.505 0.01"/>
|
|
2361
|
+
</geometry>
|
|
2362
|
+
<material name="KitchenDarkGray"/>
|
|
2363
|
+
</visual>
|
|
2364
|
+
<collision>
|
|
2365
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2366
|
+
<geometry>
|
|
2367
|
+
<box size="0.015 0.51 0.015"/>
|
|
2368
|
+
</geometry>
|
|
2369
|
+
</collision>
|
|
2370
|
+
</link>
|
|
2371
|
+
<gazebo reference="handle_drawer_oven_bottom_link">
|
|
2372
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
2373
|
+
</gazebo>
|
|
2374
|
+
<joint name="oven_block_drawer_oven_center_fixed_joint" type="fixed">
|
|
2375
|
+
<origin rpy="0 0 0" xyz="0.57 0.6 0.8"/>
|
|
2376
|
+
<parent link="oven_block_link"/>
|
|
2377
|
+
<child link="drawer_oven_center_fixed_link"/>
|
|
2378
|
+
</joint>
|
|
2379
|
+
<link name="drawer_oven_center_fixed_link">
|
|
2380
|
+
<inertial>
|
|
2381
|
+
<mass value="1"/>
|
|
2382
|
+
<inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
|
|
2383
|
+
</inertial>
|
|
2384
|
+
</link>
|
|
2385
|
+
<joint name="oven_block_drawer_oven_center_joint" type="fixed">
|
|
2386
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2387
|
+
<parent link="drawer_oven_center_fixed_link"/>
|
|
2388
|
+
<child link="drawer_oven_center_link"/>
|
|
2389
|
+
<axis xyz="0.999 0 0.044"/>
|
|
2390
|
+
<!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
|
|
2391
|
+
<limit effort="300" lower="0" upper="0.48" velocity="10"/>
|
|
2392
|
+
</joint>
|
|
2393
|
+
<gazebo reference="oven_block_drawer_oven_center_joint">
|
|
2394
|
+
<erp>0.8</erp>
|
|
2395
|
+
<cfm>0.0000001</cfm>
|
|
2396
|
+
<stopKp>1000000.0</stopKp>
|
|
2397
|
+
<stopKd>1.0</stopKd>
|
|
2398
|
+
</gazebo>
|
|
2399
|
+
<link name="drawer_oven_center_link">
|
|
2400
|
+
<inertial>
|
|
2401
|
+
<mass value="1.0"/>
|
|
2402
|
+
<inertia ixx="0.0316333333333" ixy="0" ixz="0" iyy="0.0300333333333" iyz="0" izz="0.00166666666667"/>
|
|
2403
|
+
</inertial>
|
|
2404
|
+
<visual>
|
|
2405
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2406
|
+
<geometry>
|
|
2407
|
+
<box size="0.02 0.595 0.135"/>
|
|
2408
|
+
</geometry>
|
|
2409
|
+
<material name="KitchenLightGray"/>
|
|
2410
|
+
</visual>
|
|
2411
|
+
<collision>
|
|
2412
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2413
|
+
<geometry>
|
|
2414
|
+
<box size="0.02 0.6 0.14"/>
|
|
2415
|
+
</geometry>
|
|
2416
|
+
</collision>
|
|
2417
|
+
</link>
|
|
2418
|
+
<gazebo reference="drawer_oven_center_link">
|
|
2419
|
+
<material value="Ias/KitchenLightGray"/>
|
|
2420
|
+
</gazebo>
|
|
2421
|
+
<joint name="drawer_oven_center_left_fixed_joint" type="fixed">
|
|
2422
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2423
|
+
<parent link="drawer_oven_center_link"/>
|
|
2424
|
+
<child link="drawer_oven_center_left_link"/>
|
|
2425
|
+
</joint>
|
|
2426
|
+
<link name="drawer_oven_center_left_link">
|
|
2427
|
+
<inertial>
|
|
2428
|
+
<mass value="1.0"/>
|
|
2429
|
+
<inertia ixx="0.000708333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.024975"/>
|
|
2430
|
+
</inertial>
|
|
2431
|
+
<visual>
|
|
2432
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
|
|
2433
|
+
<geometry>
|
|
2434
|
+
<box size="0.54 0.02 0.09"/>
|
|
2435
|
+
</geometry>
|
|
2436
|
+
<material name="KitchenDarkGray"/>
|
|
2437
|
+
</visual>
|
|
2438
|
+
<collision>
|
|
2439
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
|
|
2440
|
+
<geometry>
|
|
2441
|
+
<box size="0.54 0.02 0.09"/>
|
|
2442
|
+
</geometry>
|
|
2443
|
+
</collision>
|
|
2444
|
+
</link>
|
|
2445
|
+
<gazebo reference="drawer_oven_center_left_link">
|
|
2446
|
+
<material value="Ias/KitchenLightGray"/>
|
|
2447
|
+
</gazebo>
|
|
2448
|
+
<joint name="drawer_oven_center_right_fixed_joint" type="fixed">
|
|
2449
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2450
|
+
<parent link="drawer_oven_center_link"/>
|
|
2451
|
+
<child link="drawer_oven_center_right_link"/>
|
|
2452
|
+
</joint>
|
|
2453
|
+
<link name="drawer_oven_center_right_link">
|
|
2454
|
+
<inertial>
|
|
2455
|
+
<mass value="1.0"/>
|
|
2456
|
+
<inertia ixx="0.000708333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.024975"/>
|
|
2457
|
+
</inertial>
|
|
2458
|
+
<visual>
|
|
2459
|
+
<origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
|
|
2460
|
+
<geometry>
|
|
2461
|
+
<box size="0.54 0.02 0.09"/>
|
|
2462
|
+
</geometry>
|
|
2463
|
+
<material name="KitchenDarkGray"/>
|
|
2464
|
+
</visual>
|
|
2465
|
+
<collision>
|
|
2466
|
+
<origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
|
|
2467
|
+
<geometry>
|
|
2468
|
+
<box size="0.54 0.02 0.09"/>
|
|
2469
|
+
</geometry>
|
|
2470
|
+
</collision>
|
|
2471
|
+
</link>
|
|
2472
|
+
<gazebo reference="drawer_oven_center_right_link">
|
|
2473
|
+
<material value="Ias/KitchenLightGray"/>
|
|
2474
|
+
</gazebo>
|
|
2475
|
+
<joint name="drawer_oven_center_back_fixed_joint" type="fixed">
|
|
2476
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2477
|
+
<parent link="drawer_oven_center_link"/>
|
|
2478
|
+
<child link="drawer_oven_center_back_link"/>
|
|
2479
|
+
</joint>
|
|
2480
|
+
<link name="drawer_oven_center_back_link">
|
|
2481
|
+
<inertial>
|
|
2482
|
+
<mass value="1.0"/>
|
|
2483
|
+
<inertia ixx="0.0215083333333" ixy="0" ixz="0" iyy="0.0208666666667" iyz="0" izz="0.000708333333333"/>
|
|
2484
|
+
</inertial>
|
|
2485
|
+
<visual>
|
|
2486
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
2487
|
+
<geometry>
|
|
2488
|
+
<box size="0.02 0.5 0.09"/>
|
|
2489
|
+
</geometry>
|
|
2490
|
+
<material name="KitchenDarkGray"/>
|
|
2491
|
+
</visual>
|
|
2492
|
+
<collision>
|
|
2493
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
2494
|
+
<geometry>
|
|
2495
|
+
<box size="0.02 0.5 0.09"/>
|
|
2496
|
+
</geometry>
|
|
2497
|
+
</collision>
|
|
2498
|
+
</link>
|
|
2499
|
+
<gazebo reference="drawer_oven_center_back_link">
|
|
2500
|
+
<material value="Ias/KitchenLightGray"/>
|
|
2501
|
+
</gazebo>
|
|
2502
|
+
<joint name="drawer_oven_center_bottom_fixed_joint" type="fixed">
|
|
2503
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2504
|
+
<parent link="drawer_oven_center_link"/>
|
|
2505
|
+
<child link="drawer_oven_center_bottom_link"/>
|
|
2506
|
+
</joint>
|
|
2507
|
+
<link name="drawer_oven_center_bottom_link">
|
|
2508
|
+
<inertial>
|
|
2509
|
+
<mass value="1.0"/>
|
|
2510
|
+
<inertia ixx="0.0208666666667" ixy="0" ixz="0" iyy="0.0451333333333" iyz="0" izz="0.0243333333333"/>
|
|
2511
|
+
</inertial>
|
|
2512
|
+
<visual>
|
|
2513
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.035"/>
|
|
2514
|
+
<geometry>
|
|
2515
|
+
<box size="0.54 0.5 0.02"/>
|
|
2516
|
+
</geometry>
|
|
2517
|
+
<material name="KitchenDarkGray"/>
|
|
2518
|
+
</visual>
|
|
2519
|
+
<collision>
|
|
2520
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.035"/>
|
|
2521
|
+
<geometry>
|
|
2522
|
+
<box size="0.54 0.5 0.02"/>
|
|
2523
|
+
</geometry>
|
|
2524
|
+
</collision>
|
|
2525
|
+
</link>
|
|
2526
|
+
<gazebo reference="drawer_oven_center_bottom_link">
|
|
2527
|
+
<material value="Ias/KitchenLightGray"/>
|
|
2528
|
+
</gazebo>
|
|
2529
|
+
<joint name="drawer_oven_center_handle_drawer_oven_center_joint" type="fixed">
|
|
2530
|
+
<origin rpy="0 0 0" xyz="0.0625 0.0 0.0175"/>
|
|
2531
|
+
<parent link="drawer_oven_center_link"/>
|
|
2532
|
+
<child link="handle_drawer_oven_center_link"/>
|
|
2533
|
+
</joint>
|
|
2534
|
+
<link name="handle_drawer_oven_center_link">
|
|
2535
|
+
<inertial>
|
|
2536
|
+
<mass value="0.1"/>
|
|
2537
|
+
<inertia ixx="0.00212604166667" ixy="0" ixz="0" iyy="0.00212604166667" iyz="0" izz="1.66666666667e-06"/>
|
|
2538
|
+
</inertial>
|
|
2539
|
+
<visual>
|
|
2540
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2541
|
+
<geometry>
|
|
2542
|
+
<box size="0.01 0.505 0.01"/>
|
|
2543
|
+
</geometry>
|
|
2544
|
+
<material name="KitchenDarkGray"/>
|
|
2545
|
+
</visual>
|
|
2546
|
+
<collision>
|
|
2547
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2548
|
+
<geometry>
|
|
2549
|
+
<box size="0.015 0.51 0.015"/>
|
|
2550
|
+
</geometry>
|
|
2551
|
+
</collision>
|
|
2552
|
+
</link>
|
|
2553
|
+
<gazebo reference="handle_drawer_oven_center_link">
|
|
2554
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
2555
|
+
</gazebo>
|
|
2556
|
+
<joint name="oven_block_drawer_oven_oven_fixed_joint" type="fixed">
|
|
2557
|
+
<origin rpy="0 0 0" xyz="0.57 0.6 1.17"/>
|
|
2558
|
+
<parent link="oven_block_link"/>
|
|
2559
|
+
<child link="drawer_oven_oven_fixed_link"/>
|
|
2560
|
+
</joint>
|
|
2561
|
+
<link name="drawer_oven_oven_fixed_link">
|
|
2562
|
+
<inertial>
|
|
2563
|
+
<mass value="1"/>
|
|
2564
|
+
<inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
|
|
2565
|
+
</inertial>
|
|
2566
|
+
</link>
|
|
2567
|
+
<joint name="oven_block_drawer_oven_oven_joint" type="fixed">
|
|
2568
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2569
|
+
<parent link="drawer_oven_oven_fixed_link"/>
|
|
2570
|
+
<child link="drawer_oven_oven_link"/>
|
|
2571
|
+
<axis xyz="0.999 0 0.044"/>
|
|
2572
|
+
<!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
|
|
2573
|
+
<limit effort="300" lower="0" upper="0.48" velocity="10"/>
|
|
2574
|
+
</joint>
|
|
2575
|
+
<gazebo reference="oven_block_drawer_oven_oven_joint">
|
|
2576
|
+
<erp>0.8</erp>
|
|
2577
|
+
<cfm>0.0000001</cfm>
|
|
2578
|
+
<stopKp>1000000.0</stopKp>
|
|
2579
|
+
<stopKd>1.0</stopKd>
|
|
2580
|
+
</gazebo>
|
|
2581
|
+
<link name="drawer_oven_oven_link">
|
|
2582
|
+
<inertial>
|
|
2583
|
+
<mass value="1.0"/>
|
|
2584
|
+
<inertia ixx="0.0620333333333" ixy="0" ixz="0" iyy="0.0300333333333" iyz="0" izz="0.0320666666667"/>
|
|
2585
|
+
</inertial>
|
|
2586
|
+
<visual>
|
|
2587
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2588
|
+
<geometry>
|
|
2589
|
+
<box size="0.02 0.595 0.615"/>
|
|
2590
|
+
</geometry>
|
|
2591
|
+
<material name="KitchenLightGray"/>
|
|
2592
|
+
</visual>
|
|
2593
|
+
<collision>
|
|
2594
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2595
|
+
<geometry>
|
|
2596
|
+
<box size="0.02 0.6 0.62"/>
|
|
2597
|
+
</geometry>
|
|
2598
|
+
</collision>
|
|
2599
|
+
</link>
|
|
2600
|
+
<gazebo reference="drawer_oven_oven_link">
|
|
2601
|
+
<material value="Ias/KitchenLightGray"/>
|
|
2602
|
+
</gazebo>
|
|
2603
|
+
<joint name="drawer_oven_oven_left_fixed_joint" type="fixed">
|
|
2604
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2605
|
+
<parent link="drawer_oven_oven_link"/>
|
|
2606
|
+
<child link="drawer_oven_oven_left_link"/>
|
|
2607
|
+
</joint>
|
|
2608
|
+
<link name="drawer_oven_oven_left_link">
|
|
2609
|
+
<inertial>
|
|
2610
|
+
<mass value="1.0"/>
|
|
2611
|
+
<inertia ixx="0.0271083333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.051375"/>
|
|
2612
|
+
</inertial>
|
|
2613
|
+
<visual>
|
|
2614
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
|
|
2615
|
+
<geometry>
|
|
2616
|
+
<box size="0.54 0.02 0.57"/>
|
|
2617
|
+
</geometry>
|
|
2618
|
+
<material name="KitchenDarkGray"/>
|
|
2619
|
+
</visual>
|
|
2620
|
+
<collision>
|
|
2621
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
|
|
2622
|
+
<geometry>
|
|
2623
|
+
<box size="0.54 0.02 0.57"/>
|
|
2624
|
+
</geometry>
|
|
2625
|
+
</collision>
|
|
2626
|
+
</link>
|
|
2627
|
+
<gazebo reference="drawer_oven_oven_left_link">
|
|
2628
|
+
<material value="Ias/KitchenLightGray"/>
|
|
2629
|
+
</gazebo>
|
|
2630
|
+
<joint name="drawer_oven_oven_right_fixed_joint" type="fixed">
|
|
2631
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2632
|
+
<parent link="drawer_oven_oven_link"/>
|
|
2633
|
+
<child link="drawer_oven_oven_right_link"/>
|
|
2634
|
+
</joint>
|
|
2635
|
+
<link name="drawer_oven_oven_right_link">
|
|
2636
|
+
<inertial>
|
|
2637
|
+
<mass value="1.0"/>
|
|
2638
|
+
<inertia ixx="0.0271083333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.051375"/>
|
|
2639
|
+
</inertial>
|
|
2640
|
+
<visual>
|
|
2641
|
+
<origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
|
|
2642
|
+
<geometry>
|
|
2643
|
+
<box size="0.54 0.02 0.57"/>
|
|
2644
|
+
</geometry>
|
|
2645
|
+
<material name="KitchenDarkGray"/>
|
|
2646
|
+
</visual>
|
|
2647
|
+
<collision>
|
|
2648
|
+
<origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
|
|
2649
|
+
<geometry>
|
|
2650
|
+
<box size="0.54 0.02 0.57"/>
|
|
2651
|
+
</geometry>
|
|
2652
|
+
</collision>
|
|
2653
|
+
</link>
|
|
2654
|
+
<gazebo reference="drawer_oven_oven_right_link">
|
|
2655
|
+
<material value="Ias/KitchenLightGray"/>
|
|
2656
|
+
</gazebo>
|
|
2657
|
+
<joint name="drawer_oven_oven_back_fixed_joint" type="fixed">
|
|
2658
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2659
|
+
<parent link="drawer_oven_oven_link"/>
|
|
2660
|
+
<child link="drawer_oven_oven_back_link"/>
|
|
2661
|
+
</joint>
|
|
2662
|
+
<link name="drawer_oven_oven_back_link">
|
|
2663
|
+
<inertial>
|
|
2664
|
+
<mass value="1.0"/>
|
|
2665
|
+
<inertia ixx="0.0479083333333" ixy="0" ixz="0" iyy="0.0208666666667" iyz="0" izz="0.0271083333333"/>
|
|
2666
|
+
</inertial>
|
|
2667
|
+
<visual>
|
|
2668
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
2669
|
+
<geometry>
|
|
2670
|
+
<box size="0.02 0.5 0.57"/>
|
|
2671
|
+
</geometry>
|
|
2672
|
+
<material name="KitchenDarkGray"/>
|
|
2673
|
+
</visual>
|
|
2674
|
+
<collision>
|
|
2675
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
2676
|
+
<geometry>
|
|
2677
|
+
<box size="0.02 0.5 0.57"/>
|
|
2678
|
+
</geometry>
|
|
2679
|
+
</collision>
|
|
2680
|
+
</link>
|
|
2681
|
+
<gazebo reference="drawer_oven_oven_back_link">
|
|
2682
|
+
<material value="Ias/KitchenLightGray"/>
|
|
2683
|
+
</gazebo>
|
|
2684
|
+
<joint name="drawer_oven_oven_bottom_fixed_joint" type="fixed">
|
|
2685
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2686
|
+
<parent link="drawer_oven_oven_link"/>
|
|
2687
|
+
<child link="drawer_oven_oven_bottom_link"/>
|
|
2688
|
+
</joint>
|
|
2689
|
+
<link name="drawer_oven_oven_bottom_link">
|
|
2690
|
+
<inertial>
|
|
2691
|
+
<mass value="1.0"/>
|
|
2692
|
+
<inertia ixx="0.0208666666667" ixy="0" ixz="0" iyy="0.0451333333333" iyz="0" izz="0.0243333333333"/>
|
|
2693
|
+
</inertial>
|
|
2694
|
+
<visual>
|
|
2695
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.275"/>
|
|
2696
|
+
<geometry>
|
|
2697
|
+
<box size="0.54 0.5 0.02"/>
|
|
2698
|
+
</geometry>
|
|
2699
|
+
<material name="KitchenDarkGray"/>
|
|
2700
|
+
</visual>
|
|
2701
|
+
<collision>
|
|
2702
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.275"/>
|
|
2703
|
+
<geometry>
|
|
2704
|
+
<box size="0.54 0.5 0.02"/>
|
|
2705
|
+
</geometry>
|
|
2706
|
+
</collision>
|
|
2707
|
+
</link>
|
|
2708
|
+
<gazebo reference="drawer_oven_oven_bottom_link">
|
|
2709
|
+
<material value="Ias/KitchenLightGray"/>
|
|
2710
|
+
</gazebo>
|
|
2711
|
+
<joint name="drawer_oven_oven_handle_drawer_oven_oven_joint" type="fixed">
|
|
2712
|
+
<origin rpy="0 0 0" xyz="0.0625 0.0 0.2575"/>
|
|
2713
|
+
<parent link="drawer_oven_oven_link"/>
|
|
2714
|
+
<child link="handle_drawer_oven_oven_link"/>
|
|
2715
|
+
</joint>
|
|
2716
|
+
<link name="handle_drawer_oven_oven_link">
|
|
2717
|
+
<inertial>
|
|
2718
|
+
<mass value="0.1"/>
|
|
2719
|
+
<inertia ixx="0.00212604166667" ixy="0" ixz="0" iyy="0.00212604166667" iyz="0" izz="1.66666666667e-06"/>
|
|
2720
|
+
</inertial>
|
|
2721
|
+
<visual>
|
|
2722
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2723
|
+
<geometry>
|
|
2724
|
+
<box size="0.01 0.505 0.01"/>
|
|
2725
|
+
</geometry>
|
|
2726
|
+
<material name="KitchenDarkGray"/>
|
|
2727
|
+
</visual>
|
|
2728
|
+
<collision>
|
|
2729
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2730
|
+
<geometry>
|
|
2731
|
+
<box size="0.015 0.51 0.015"/>
|
|
2732
|
+
</geometry>
|
|
2733
|
+
</collision>
|
|
2734
|
+
</link>
|
|
2735
|
+
<gazebo reference="handle_drawer_oven_oven_link">
|
|
2736
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
2737
|
+
</gazebo>
|
|
2738
|
+
<joint name="oven_block_drawer_oven_right_fixed_joint" type="fixed">
|
|
2739
|
+
<origin rpy="0 0 0" xyz="0.29 1.05 0.815"/>
|
|
2740
|
+
<parent link="oven_block_link"/>
|
|
2741
|
+
<child link="drawer_oven_right_fixed_link"/>
|
|
2742
|
+
</joint>
|
|
2743
|
+
<link name="drawer_oven_right_fixed_link">
|
|
2744
|
+
<inertial>
|
|
2745
|
+
<mass value="0.1"/>
|
|
2746
|
+
<inertia ixx="4e-08" ixy="0" ixz="0" iyy="4e-08" iyz="0" izz="4e-08"/>
|
|
2747
|
+
</inertial>
|
|
2748
|
+
</link>
|
|
2749
|
+
<joint name="oven_block_drawer_oven_right_joint" type="fixed">
|
|
2750
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2751
|
+
<parent link="drawer_oven_right_fixed_link"/>
|
|
2752
|
+
<child link="drawer_oven_right_link"/>
|
|
2753
|
+
<axis xyz="0.999 0 0.044"/>
|
|
2754
|
+
<!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
|
|
2755
|
+
<limit effort="300" lower="0" upper="0.48" velocity="10"/>
|
|
2756
|
+
</joint>
|
|
2757
|
+
<link name="drawer_oven_right_link">
|
|
2758
|
+
<inertial>
|
|
2759
|
+
<mass value="1.0"/>
|
|
2760
|
+
<inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
|
|
2761
|
+
</inertial>
|
|
2762
|
+
<visual>
|
|
2763
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2764
|
+
<geometry>
|
|
2765
|
+
<box size="0.575 0.295 1.325"/>
|
|
2766
|
+
</geometry>
|
|
2767
|
+
<material name="KitchenLightGray"/>
|
|
2768
|
+
</visual>
|
|
2769
|
+
<collision>
|
|
2770
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2771
|
+
<geometry>
|
|
2772
|
+
<box size="0.58 0.3 1.33"/>
|
|
2773
|
+
</geometry>
|
|
2774
|
+
</collision>
|
|
2775
|
+
</link>
|
|
2776
|
+
<gazebo reference="drawer_oven_right_link">
|
|
2777
|
+
<material value="Ias/KitchenLightGray"/>
|
|
2778
|
+
</gazebo>
|
|
2779
|
+
<joint name="drawer_oven_right_handle_drawer_oven_right_joint" type="fixed">
|
|
2780
|
+
<origin rpy="0 0 0" xyz="0.3525 0.0 0.0"/>
|
|
2781
|
+
<parent link="drawer_oven_right_link"/>
|
|
2782
|
+
<child link="handle_drawer_oven_right_link"/>
|
|
2783
|
+
</joint>
|
|
2784
|
+
<link name="handle_drawer_oven_right_link">
|
|
2785
|
+
<inertial>
|
|
2786
|
+
<mass value="0.1"/>
|
|
2787
|
+
<inertia ixx="0.0127110416667" ixy="0" ixz="0" iyy="1.66666666667e-06" iyz="0" izz="0.0127110416667"/>
|
|
2788
|
+
</inertial>
|
|
2789
|
+
<visual>
|
|
2790
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2791
|
+
<geometry>
|
|
2792
|
+
<box size="0.01 0.01 1.235"/>
|
|
2793
|
+
</geometry>
|
|
2794
|
+
<material name="KitchenDarkGray"/>
|
|
2795
|
+
</visual>
|
|
2796
|
+
<collision>
|
|
2797
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2798
|
+
<geometry>
|
|
2799
|
+
<box size="0.015 0.015 1.24"/>
|
|
2800
|
+
</geometry>
|
|
2801
|
+
</collision>
|
|
2802
|
+
</link>
|
|
2803
|
+
<gazebo reference="handle_drawer_oven_right_link">
|
|
2804
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
2805
|
+
</gazebo>
|
|
2806
|
+
<joint name="oven_block_skirting_oven_joint" type="fixed">
|
|
2807
|
+
<origin rpy="0 0 0" xyz="0.255 0.6 0.075"/>
|
|
2808
|
+
<parent link="oven_block_link"/>
|
|
2809
|
+
<child link="skirting_oven_link"/>
|
|
2810
|
+
</joint>
|
|
2811
|
+
<link name="skirting_oven_link">
|
|
2812
|
+
<inertial>
|
|
2813
|
+
<mass value="10"/>
|
|
2814
|
+
<inertia ixx="1.21875" ixy="0" ixz="0" iyy="1.41675" iyz="0" izz="0.2355"/>
|
|
2815
|
+
</inertial>
|
|
2816
|
+
<visual>
|
|
2817
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2818
|
+
<geometry>
|
|
2819
|
+
<box size="0.51 1.2 0.15"/>
|
|
2820
|
+
</geometry>
|
|
2821
|
+
<material name="KitchenDarkGray"/>
|
|
2822
|
+
</visual>
|
|
2823
|
+
<collision>
|
|
2824
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2825
|
+
<geometry>
|
|
2826
|
+
<box size="0.51 1.2 0.15"/>
|
|
2827
|
+
</geometry>
|
|
2828
|
+
</collision>
|
|
2829
|
+
</link>
|
|
2830
|
+
<gazebo reference="skirting_oven_link">
|
|
2831
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
2832
|
+
</gazebo>
|
|
2833
|
+
<joint name="oven_block_joint" type="fixed">
|
|
2834
|
+
<origin rpy="0 0 0" xyz="-5.27 -6.85 0"/>
|
|
2835
|
+
<parent link="kitchen_link"/>
|
|
2836
|
+
<child link="oven_block_link"/>
|
|
2837
|
+
</joint>
|
|
2838
|
+
<link name="oven_block_link">
|
|
2839
|
+
<inertial>
|
|
2840
|
+
<mass value="0"/>
|
|
2841
|
+
<inertia ixx="0.0" ixy="0" ixz="0" iyy="0.0" iyz="0" izz="0.0"/>
|
|
2842
|
+
</inertial>
|
|
2843
|
+
<visual>
|
|
2844
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2845
|
+
<geometry>
|
|
2846
|
+
<box size=".1 .1 .1"/>
|
|
2847
|
+
</geometry>
|
|
2848
|
+
</visual>
|
|
2849
|
+
</link>
|
|
2850
|
+
<!-- -->
|
|
2851
|
+
<!-- Sink Area -->
|
|
2852
|
+
<!-- -->
|
|
2853
|
+
<joint name="sink_block_sink_joint" type="fixed">
|
|
2854
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2855
|
+
<parent link="sink_block_link"/>
|
|
2856
|
+
<child link="sink_link"/>
|
|
2857
|
+
</joint>
|
|
2858
|
+
<link name="sink_link">
|
|
2859
|
+
<inertial>
|
|
2860
|
+
<mass value="1.0"/>
|
|
2861
|
+
<inertia ixx="0.0616354166667" ixy="0" ixz="0" iyy="0.0824666666667" iyz="0" izz="0.0208354166667"/>
|
|
2862
|
+
</inertial>
|
|
2863
|
+
<visual>
|
|
2864
|
+
<origin rpy="0 0 0" xyz=".295 1.485 .8525"/>
|
|
2865
|
+
<geometry>
|
|
2866
|
+
<box size=".50 .86 0.005"/>
|
|
2867
|
+
</geometry>
|
|
2868
|
+
<material name="KitchenSink"/>
|
|
2869
|
+
</visual>
|
|
2870
|
+
<collision>
|
|
2871
|
+
<origin rpy="0 0 0" xyz=".295 1.485 .8525"/>
|
|
2872
|
+
<geometry>
|
|
2873
|
+
<box size=".50 .86 0.005"/>
|
|
2874
|
+
</geometry>
|
|
2875
|
+
</collision>
|
|
2876
|
+
</link>
|
|
2877
|
+
<gazebo reference="sink_link">
|
|
2878
|
+
<material value="Ias/KitchenSink"/>
|
|
2879
|
+
</gazebo>
|
|
2880
|
+
<joint name="sink_block_counter_side_sink_left_joint" type="fixed">
|
|
2881
|
+
<origin rpy="0 0 0" xyz="0.29 0.015 0.41"/>
|
|
2882
|
+
<parent link="sink_block_link"/>
|
|
2883
|
+
<child link="counter_side_sink_left_link"/>
|
|
2884
|
+
</joint>
|
|
2885
|
+
<link name="counter_side_sink_left_link">
|
|
2886
|
+
<inertial>
|
|
2887
|
+
<mass value="2.0"/>
|
|
2888
|
+
<inertia ixx="0.112216666667" ixy="0" ixz="0" iyy="0.0562166666667" iyz="0" izz="0.168133333333"/>
|
|
2889
|
+
</inertial>
|
|
2890
|
+
<visual>
|
|
2891
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2892
|
+
<geometry>
|
|
2893
|
+
<box size="0.58 0.03 0.82"/>
|
|
2894
|
+
</geometry>
|
|
2895
|
+
<material name="KitchenDarkGray"/>
|
|
2896
|
+
</visual>
|
|
2897
|
+
<collision>
|
|
2898
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2899
|
+
<geometry>
|
|
2900
|
+
<box size="0.58 0.03 0.82"/>
|
|
2901
|
+
</geometry>
|
|
2902
|
+
</collision>
|
|
2903
|
+
</link>
|
|
2904
|
+
<gazebo reference="counter_side_sink_left_link">
|
|
2905
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
2906
|
+
</gazebo>
|
|
2907
|
+
<joint name="sink_block_counter_side_sink_right_joint" type="fixed">
|
|
2908
|
+
<origin rpy="0 0 0" xyz="0.29 2.045 0.41"/>
|
|
2909
|
+
<parent link="sink_block_link"/>
|
|
2910
|
+
<child link="counter_side_sink_right_link"/>
|
|
2911
|
+
</joint>
|
|
2912
|
+
<link name="counter_side_sink_right_link">
|
|
2913
|
+
<inertial>
|
|
2914
|
+
<mass value="2.0"/>
|
|
2915
|
+
<inertia ixx="0.112216666667" ixy="0" ixz="0" iyy="0.0562166666667" iyz="0" izz="0.168133333333"/>
|
|
2916
|
+
</inertial>
|
|
2917
|
+
<visual>
|
|
2918
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2919
|
+
<geometry>
|
|
2920
|
+
<box size="0.58 0.03 0.82"/>
|
|
2921
|
+
</geometry>
|
|
2922
|
+
<material name="KitchenDarkGray"/>
|
|
2923
|
+
</visual>
|
|
2924
|
+
<collision>
|
|
2925
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2926
|
+
<geometry>
|
|
2927
|
+
<box size="0.58 0.03 0.82"/>
|
|
2928
|
+
</geometry>
|
|
2929
|
+
</collision>
|
|
2930
|
+
</link>
|
|
2931
|
+
<gazebo reference="counter_side_sink_right_link">
|
|
2932
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
2933
|
+
</gazebo>
|
|
2934
|
+
<joint name="sink_block_counter_top_sink_joint" type="fixed">
|
|
2935
|
+
<origin rpy="0 0 0" xyz="0.29 1.03 0.835"/>
|
|
2936
|
+
<parent link="sink_block_link"/>
|
|
2937
|
+
<child link="counter_top_sink_link"/>
|
|
2938
|
+
</joint>
|
|
2939
|
+
<link name="counter_top_sink_link">
|
|
2940
|
+
<inertial>
|
|
2941
|
+
<mass value="2.0"/>
|
|
2942
|
+
<inertia ixx="0.707416666667" ixy="0" ixz="0" iyy="0.763333333333" iyz="0" izz="0.0562166666667"/>
|
|
2943
|
+
</inertial>
|
|
2944
|
+
<visual>
|
|
2945
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2946
|
+
<geometry>
|
|
2947
|
+
<box size="0.58 2.06 0.03"/>
|
|
2948
|
+
</geometry>
|
|
2949
|
+
<material name="KitchenDarkGray"/>
|
|
2950
|
+
</visual>
|
|
2951
|
+
<collision>
|
|
2952
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2953
|
+
<geometry>
|
|
2954
|
+
<box size="0.58 2.06 0.03"/>
|
|
2955
|
+
</geometry>
|
|
2956
|
+
</collision>
|
|
2957
|
+
</link>
|
|
2958
|
+
<gazebo reference="counter_top_sink_link">
|
|
2959
|
+
<kp>100000</kp>
|
|
2960
|
+
<kd>1000000</kd>
|
|
2961
|
+
<mu1>50000</mu1>
|
|
2962
|
+
<mu2>50000</mu2>
|
|
2963
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
2964
|
+
</gazebo>
|
|
2965
|
+
<joint name="sink_block_white_counter_top_sink_joint" type="fixed">
|
|
2966
|
+
<origin rpy="0 0 0" xyz="0.29 1.03 0.851"/>
|
|
2967
|
+
<parent link="sink_block_link"/>
|
|
2968
|
+
<child link="white_counter_top_sink_link"/>
|
|
2969
|
+
</joint>
|
|
2970
|
+
<link name="white_counter_top_sink_link">
|
|
2971
|
+
<inertial>
|
|
2972
|
+
<mass value="2.0"/>
|
|
2973
|
+
<inertia ixx="0.707267333333" ixy="0" ixz="0" iyy="0.763333333333" iyz="0" izz="0.0560673333333"/>
|
|
2974
|
+
</inertial>
|
|
2975
|
+
<visual>
|
|
2976
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2977
|
+
<geometry>
|
|
2978
|
+
<box size="0.58 2.06 0.002"/>
|
|
2979
|
+
</geometry>
|
|
2980
|
+
<material name="KitchenWhite"/>
|
|
2981
|
+
</visual>
|
|
2982
|
+
<collision>
|
|
2983
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
2984
|
+
<geometry>
|
|
2985
|
+
<box size="0.58 2.06 0.002"/>
|
|
2986
|
+
</geometry>
|
|
2987
|
+
</collision>
|
|
2988
|
+
</link>
|
|
2989
|
+
<gazebo reference="white_counter_top_sink_link">
|
|
2990
|
+
<kp>100000</kp>
|
|
2991
|
+
<kd>1000000</kd>
|
|
2992
|
+
<mu1>50000</mu1>
|
|
2993
|
+
<mu2>50000</mu2>
|
|
2994
|
+
<material value="Ias/KitchenWhite"/>
|
|
2995
|
+
</gazebo>
|
|
2996
|
+
<joint name="sink_block_drawer_sink_col1_bottom_fixed_joint" type="fixed">
|
|
2997
|
+
<origin rpy="0 0 0" xyz="0.57 0.43 0.245"/>
|
|
2998
|
+
<parent link="sink_block_link"/>
|
|
2999
|
+
<child link="drawer_sink_col1_bottom_fixed_link"/>
|
|
3000
|
+
</joint>
|
|
3001
|
+
<link name="drawer_sink_col1_bottom_fixed_link">
|
|
3002
|
+
<inertial>
|
|
3003
|
+
<mass value="1"/>
|
|
3004
|
+
<inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
|
|
3005
|
+
</inertial>
|
|
3006
|
+
</link>
|
|
3007
|
+
<joint name="sink_block_drawer_sink_col1_bottom_joint" type="fixed">
|
|
3008
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3009
|
+
<parent link="drawer_sink_col1_bottom_fixed_link"/>
|
|
3010
|
+
<child link="drawer_sink_col1_bottom_link"/>
|
|
3011
|
+
<axis xyz="0.999 0 0.044"/>
|
|
3012
|
+
<!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
|
|
3013
|
+
<limit effort="300" lower="0" upper="0.48" velocity="10"/>
|
|
3014
|
+
</joint>
|
|
3015
|
+
<gazebo reference="sink_block_drawer_sink_col1_bottom_joint">
|
|
3016
|
+
<erp>0.8</erp>
|
|
3017
|
+
<cfm>0.0000001</cfm>
|
|
3018
|
+
<stopKp>1000000.0</stopKp>
|
|
3019
|
+
<stopKd>1.0</stopKd>
|
|
3020
|
+
</gazebo>
|
|
3021
|
+
<link name="drawer_sink_col1_bottom_link">
|
|
3022
|
+
<inertial>
|
|
3023
|
+
<mass value="1.0"/>
|
|
3024
|
+
<inertia ixx="0.0603416666667" ixy="0" ixz="0" iyy="0.0533666666667" iyz="0" izz="0.00704166666667"/>
|
|
3025
|
+
</inertial>
|
|
3026
|
+
<visual>
|
|
3027
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3028
|
+
<geometry>
|
|
3029
|
+
<box size="0.02 0.795 0.285"/>
|
|
3030
|
+
</geometry>
|
|
3031
|
+
<material name="KitchenLightGray"/>
|
|
3032
|
+
</visual>
|
|
3033
|
+
<collision>
|
|
3034
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3035
|
+
<geometry>
|
|
3036
|
+
<box size="0.02 0.8 0.29"/>
|
|
3037
|
+
</geometry>
|
|
3038
|
+
</collision>
|
|
3039
|
+
</link>
|
|
3040
|
+
<gazebo reference="drawer_sink_col1_bottom_link">
|
|
3041
|
+
<material value="Ias/KitchenLightGray"/>
|
|
3042
|
+
</gazebo>
|
|
3043
|
+
<joint name="drawer_sink_col1_bottom_left_fixed_joint" type="fixed">
|
|
3044
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3045
|
+
<parent link="drawer_sink_col1_bottom_link"/>
|
|
3046
|
+
<child link="drawer_sink_col1_bottom_left_link"/>
|
|
3047
|
+
</joint>
|
|
3048
|
+
<link name="drawer_sink_col1_bottom_left_link">
|
|
3049
|
+
<inertial>
|
|
3050
|
+
<mass value="1.0"/>
|
|
3051
|
+
<inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
|
|
3052
|
+
</inertial>
|
|
3053
|
+
<visual>
|
|
3054
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.34 0"/>
|
|
3055
|
+
<geometry>
|
|
3056
|
+
<box size="0.54 0.02 0.24"/>
|
|
3057
|
+
</geometry>
|
|
3058
|
+
<material name="KitchenDarkGray"/>
|
|
3059
|
+
</visual>
|
|
3060
|
+
<collision>
|
|
3061
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.34 0"/>
|
|
3062
|
+
<geometry>
|
|
3063
|
+
<box size="0.54 0.02 0.24"/>
|
|
3064
|
+
</geometry>
|
|
3065
|
+
</collision>
|
|
3066
|
+
</link>
|
|
3067
|
+
<gazebo reference="drawer_sink_col1_bottom_left_link">
|
|
3068
|
+
<material value="Ias/KitchenLightGray"/>
|
|
3069
|
+
</gazebo>
|
|
3070
|
+
<joint name="drawer_sink_col1_bottom_right_fixed_joint" type="fixed">
|
|
3071
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3072
|
+
<parent link="drawer_sink_col1_bottom_link"/>
|
|
3073
|
+
<child link="drawer_sink_col1_bottom_right_link"/>
|
|
3074
|
+
</joint>
|
|
3075
|
+
<link name="drawer_sink_col1_bottom_right_link">
|
|
3076
|
+
<inertial>
|
|
3077
|
+
<mass value="1.0"/>
|
|
3078
|
+
<inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
|
|
3079
|
+
</inertial>
|
|
3080
|
+
<visual>
|
|
3081
|
+
<origin rpy="0 0 0" xyz="-0.27 0.34 0"/>
|
|
3082
|
+
<geometry>
|
|
3083
|
+
<box size="0.54 0.02 0.24"/>
|
|
3084
|
+
</geometry>
|
|
3085
|
+
<material name="KitchenDarkGray"/>
|
|
3086
|
+
</visual>
|
|
3087
|
+
<collision>
|
|
3088
|
+
<origin rpy="0 0 0" xyz="-0.27 0.34 0"/>
|
|
3089
|
+
<geometry>
|
|
3090
|
+
<box size="0.54 0.02 0.24"/>
|
|
3091
|
+
</geometry>
|
|
3092
|
+
</collision>
|
|
3093
|
+
</link>
|
|
3094
|
+
<gazebo reference="drawer_sink_col1_bottom_right_link">
|
|
3095
|
+
<material value="Ias/KitchenLightGray"/>
|
|
3096
|
+
</gazebo>
|
|
3097
|
+
<joint name="drawer_sink_col1_bottom_back_fixed_joint" type="fixed">
|
|
3098
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3099
|
+
<parent link="drawer_sink_col1_bottom_link"/>
|
|
3100
|
+
<child link="drawer_sink_col1_bottom_back_link"/>
|
|
3101
|
+
</joint>
|
|
3102
|
+
<link name="drawer_sink_col1_bottom_back_link">
|
|
3103
|
+
<inertial>
|
|
3104
|
+
<mass value="1.0"/>
|
|
3105
|
+
<inertia ixx="0.0456333333333" ixy="0" ixz="0" iyy="0.0408666666667" iyz="0" izz="0.00483333333333"/>
|
|
3106
|
+
</inertial>
|
|
3107
|
+
<visual>
|
|
3108
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
3109
|
+
<geometry>
|
|
3110
|
+
<box size="0.02 0.7 0.24"/>
|
|
3111
|
+
</geometry>
|
|
3112
|
+
<material name="KitchenDarkGray"/>
|
|
3113
|
+
</visual>
|
|
3114
|
+
<collision>
|
|
3115
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
3116
|
+
<geometry>
|
|
3117
|
+
<box size="0.02 0.7 0.24"/>
|
|
3118
|
+
</geometry>
|
|
3119
|
+
</collision>
|
|
3120
|
+
</link>
|
|
3121
|
+
<gazebo reference="drawer_sink_col1_bottom_back_link">
|
|
3122
|
+
<material value="Ias/KitchenLightGray"/>
|
|
3123
|
+
</gazebo>
|
|
3124
|
+
<joint name="drawer_sink_col1_bottom_bottom_fixed_joint" type="fixed">
|
|
3125
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3126
|
+
<parent link="drawer_sink_col1_bottom_link"/>
|
|
3127
|
+
<child link="drawer_sink_col1_bottom_bottom_link"/>
|
|
3128
|
+
</joint>
|
|
3129
|
+
<link name="drawer_sink_col1_bottom_bottom_link">
|
|
3130
|
+
<inertial>
|
|
3131
|
+
<mass value="1.0"/>
|
|
3132
|
+
<inertia ixx="0.0408666666667" ixy="0" ixz="0" iyy="0.0651333333333" iyz="0" izz="0.0243333333333"/>
|
|
3133
|
+
</inertial>
|
|
3134
|
+
<visual>
|
|
3135
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
|
|
3136
|
+
<geometry>
|
|
3137
|
+
<box size="0.54 0.7 0.02"/>
|
|
3138
|
+
</geometry>
|
|
3139
|
+
<material name="KitchenDarkGray"/>
|
|
3140
|
+
</visual>
|
|
3141
|
+
<collision>
|
|
3142
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
|
|
3143
|
+
<geometry>
|
|
3144
|
+
<box size="0.54 0.7 0.02"/>
|
|
3145
|
+
</geometry>
|
|
3146
|
+
</collision>
|
|
3147
|
+
</link>
|
|
3148
|
+
<gazebo reference="drawer_sink_col1_bottom_bottom_link">
|
|
3149
|
+
<material value="Ias/KitchenLightGray"/>
|
|
3150
|
+
</gazebo>
|
|
3151
|
+
<joint name="drawer_sink_col1_bottom_handle_drawer_sink_col1_bottom_joint" type="fixed">
|
|
3152
|
+
<origin rpy="0 0 0" xyz="0.0625 0.0 0.0925"/>
|
|
3153
|
+
<parent link="drawer_sink_col1_bottom_link"/>
|
|
3154
|
+
<child link="handle_drawer_sink_col1_bottom_link"/>
|
|
3155
|
+
</joint>
|
|
3156
|
+
<link name="handle_drawer_sink_col1_bottom_link">
|
|
3157
|
+
<inertial>
|
|
3158
|
+
<mass value="0.1"/>
|
|
3159
|
+
<inertia ixx="0.00414270833333" ixy="0" ixz="0" iyy="0.00414270833333" iyz="0" izz="1.66666666667e-06"/>
|
|
3160
|
+
</inertial>
|
|
3161
|
+
<visual>
|
|
3162
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3163
|
+
<geometry>
|
|
3164
|
+
<box size="0.01 0.705 0.01"/>
|
|
3165
|
+
</geometry>
|
|
3166
|
+
<material name="KitchenDarkGray"/>
|
|
3167
|
+
</visual>
|
|
3168
|
+
<collision>
|
|
3169
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3170
|
+
<geometry>
|
|
3171
|
+
<box size="0.015 0.71 0.015"/>
|
|
3172
|
+
</geometry>
|
|
3173
|
+
</collision>
|
|
3174
|
+
</link>
|
|
3175
|
+
<gazebo reference="handle_drawer_sink_col1_bottom_link">
|
|
3176
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
3177
|
+
</gazebo>
|
|
3178
|
+
<joint name="sink_block_drawer_sink_col1_center_fixed_joint" type="fixed">
|
|
3179
|
+
<origin rpy="0 0 0" xyz="0.57 0.43 0.535"/>
|
|
3180
|
+
<parent link="sink_block_link"/>
|
|
3181
|
+
<child link="drawer_sink_col1_center_fixed_link"/>
|
|
3182
|
+
</joint>
|
|
3183
|
+
<link name="drawer_sink_col1_center_fixed_link">
|
|
3184
|
+
<inertial>
|
|
3185
|
+
<mass value="1"/>
|
|
3186
|
+
<inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
|
|
3187
|
+
</inertial>
|
|
3188
|
+
</link>
|
|
3189
|
+
<joint name="sink_block_drawer_sink_col1_center_joint" type="fixed">
|
|
3190
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3191
|
+
<parent link="drawer_sink_col1_center_fixed_link"/>
|
|
3192
|
+
<child link="drawer_sink_col1_center_link"/>
|
|
3193
|
+
<axis xyz="0.999 0 0.044"/>
|
|
3194
|
+
<!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
|
|
3195
|
+
<limit effort="300" lower="0" upper="0.48" velocity="10"/>
|
|
3196
|
+
</joint>
|
|
3197
|
+
<gazebo reference="sink_block_drawer_sink_col1_center_joint">
|
|
3198
|
+
<erp>0.8</erp>
|
|
3199
|
+
<cfm>0.0000001</cfm>
|
|
3200
|
+
<stopKp>1000000.0</stopKp>
|
|
3201
|
+
<stopKd>1.0</stopKd>
|
|
3202
|
+
</gazebo>
|
|
3203
|
+
<link name="drawer_sink_col1_center_link">
|
|
3204
|
+
<inertial>
|
|
3205
|
+
<mass value="1.0"/>
|
|
3206
|
+
<inertia ixx="0.0603416666667" ixy="0" ixz="0" iyy="0.0533666666667" iyz="0" izz="0.00704166666667"/>
|
|
3207
|
+
</inertial>
|
|
3208
|
+
<visual>
|
|
3209
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3210
|
+
<geometry>
|
|
3211
|
+
<box size="0.02 0.795 0.285"/>
|
|
3212
|
+
</geometry>
|
|
3213
|
+
<material name="KitchenLightGray"/>
|
|
3214
|
+
</visual>
|
|
3215
|
+
<collision>
|
|
3216
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3217
|
+
<geometry>
|
|
3218
|
+
<box size="0.02 0.8 0.29"/>
|
|
3219
|
+
</geometry>
|
|
3220
|
+
</collision>
|
|
3221
|
+
</link>
|
|
3222
|
+
<gazebo reference="drawer_sink_col1_center_link">
|
|
3223
|
+
<material value="Ias/KitchenLightGray"/>
|
|
3224
|
+
</gazebo>
|
|
3225
|
+
<joint name="drawer_sink_col1_center_left_fixed_joint" type="fixed">
|
|
3226
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3227
|
+
<parent link="drawer_sink_col1_center_link"/>
|
|
3228
|
+
<child link="drawer_sink_col1_center_left_link"/>
|
|
3229
|
+
</joint>
|
|
3230
|
+
<link name="drawer_sink_col1_center_left_link">
|
|
3231
|
+
<inertial>
|
|
3232
|
+
<mass value="1.0"/>
|
|
3233
|
+
<inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
|
|
3234
|
+
</inertial>
|
|
3235
|
+
<visual>
|
|
3236
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.34 0"/>
|
|
3237
|
+
<geometry>
|
|
3238
|
+
<box size="0.54 0.02 0.24"/>
|
|
3239
|
+
</geometry>
|
|
3240
|
+
<material name="KitchenDarkGray"/>
|
|
3241
|
+
</visual>
|
|
3242
|
+
<collision>
|
|
3243
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.34 0"/>
|
|
3244
|
+
<geometry>
|
|
3245
|
+
<box size="0.54 0.02 0.24"/>
|
|
3246
|
+
</geometry>
|
|
3247
|
+
</collision>
|
|
3248
|
+
</link>
|
|
3249
|
+
<gazebo reference="drawer_sink_col1_center_left_link">
|
|
3250
|
+
<material value="Ias/KitchenLightGray"/>
|
|
3251
|
+
</gazebo>
|
|
3252
|
+
<joint name="drawer_sink_col1_center_right_fixed_joint" type="fixed">
|
|
3253
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3254
|
+
<parent link="drawer_sink_col1_center_link"/>
|
|
3255
|
+
<child link="drawer_sink_col1_center_right_link"/>
|
|
3256
|
+
</joint>
|
|
3257
|
+
<link name="drawer_sink_col1_center_right_link">
|
|
3258
|
+
<inertial>
|
|
3259
|
+
<mass value="1.0"/>
|
|
3260
|
+
<inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
|
|
3261
|
+
</inertial>
|
|
3262
|
+
<visual>
|
|
3263
|
+
<origin rpy="0 0 0" xyz="-0.27 0.34 0"/>
|
|
3264
|
+
<geometry>
|
|
3265
|
+
<box size="0.54 0.02 0.24"/>
|
|
3266
|
+
</geometry>
|
|
3267
|
+
<material name="KitchenDarkGray"/>
|
|
3268
|
+
</visual>
|
|
3269
|
+
<collision>
|
|
3270
|
+
<origin rpy="0 0 0" xyz="-0.27 0.34 0"/>
|
|
3271
|
+
<geometry>
|
|
3272
|
+
<box size="0.54 0.02 0.24"/>
|
|
3273
|
+
</geometry>
|
|
3274
|
+
</collision>
|
|
3275
|
+
</link>
|
|
3276
|
+
<gazebo reference="drawer_sink_col1_center_right_link">
|
|
3277
|
+
<material value="Ias/KitchenLightGray"/>
|
|
3278
|
+
</gazebo>
|
|
3279
|
+
<joint name="drawer_sink_col1_center_back_fixed_joint" type="fixed">
|
|
3280
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3281
|
+
<parent link="drawer_sink_col1_center_link"/>
|
|
3282
|
+
<child link="drawer_sink_col1_center_back_link"/>
|
|
3283
|
+
</joint>
|
|
3284
|
+
<link name="drawer_sink_col1_center_back_link">
|
|
3285
|
+
<inertial>
|
|
3286
|
+
<mass value="1.0"/>
|
|
3287
|
+
<inertia ixx="0.0456333333333" ixy="0" ixz="0" iyy="0.0408666666667" iyz="0" izz="0.00483333333333"/>
|
|
3288
|
+
</inertial>
|
|
3289
|
+
<visual>
|
|
3290
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
3291
|
+
<geometry>
|
|
3292
|
+
<box size="0.02 0.7 0.24"/>
|
|
3293
|
+
</geometry>
|
|
3294
|
+
<material name="KitchenDarkGray"/>
|
|
3295
|
+
</visual>
|
|
3296
|
+
<collision>
|
|
3297
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
3298
|
+
<geometry>
|
|
3299
|
+
<box size="0.02 0.7 0.24"/>
|
|
3300
|
+
</geometry>
|
|
3301
|
+
</collision>
|
|
3302
|
+
</link>
|
|
3303
|
+
<gazebo reference="drawer_sink_col1_center_back_link">
|
|
3304
|
+
<material value="Ias/KitchenLightGray"/>
|
|
3305
|
+
</gazebo>
|
|
3306
|
+
<joint name="drawer_sink_col1_center_bottom_fixed_joint" type="fixed">
|
|
3307
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3308
|
+
<parent link="drawer_sink_col1_center_link"/>
|
|
3309
|
+
<child link="drawer_sink_col1_center_bottom_link"/>
|
|
3310
|
+
</joint>
|
|
3311
|
+
<link name="drawer_sink_col1_center_bottom_link">
|
|
3312
|
+
<inertial>
|
|
3313
|
+
<mass value="1.0"/>
|
|
3314
|
+
<inertia ixx="0.0408666666667" ixy="0" ixz="0" iyy="0.0651333333333" iyz="0" izz="0.0243333333333"/>
|
|
3315
|
+
</inertial>
|
|
3316
|
+
<visual>
|
|
3317
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
|
|
3318
|
+
<geometry>
|
|
3319
|
+
<box size="0.54 0.7 0.02"/>
|
|
3320
|
+
</geometry>
|
|
3321
|
+
<material name="KitchenDarkGray"/>
|
|
3322
|
+
</visual>
|
|
3323
|
+
<collision>
|
|
3324
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
|
|
3325
|
+
<geometry>
|
|
3326
|
+
<box size="0.54 0.7 0.02"/>
|
|
3327
|
+
</geometry>
|
|
3328
|
+
</collision>
|
|
3329
|
+
</link>
|
|
3330
|
+
<gazebo reference="drawer_sink_col1_center_bottom_link">
|
|
3331
|
+
<material value="Ias/KitchenLightGray"/>
|
|
3332
|
+
</gazebo>
|
|
3333
|
+
<joint name="drawer_sink_col1_center_handle_drawer_sink_col1_center_joint" type="fixed">
|
|
3334
|
+
<origin rpy="0 0 0" xyz="0.0625 0.0 0.0925"/>
|
|
3335
|
+
<parent link="drawer_sink_col1_center_link"/>
|
|
3336
|
+
<child link="handle_drawer_sink_col1_center_link"/>
|
|
3337
|
+
</joint>
|
|
3338
|
+
<link name="handle_drawer_sink_col1_center_link">
|
|
3339
|
+
<inertial>
|
|
3340
|
+
<mass value="0.1"/>
|
|
3341
|
+
<inertia ixx="0.00414270833333" ixy="0" ixz="0" iyy="0.00414270833333" iyz="0" izz="1.66666666667e-06"/>
|
|
3342
|
+
</inertial>
|
|
3343
|
+
<visual>
|
|
3344
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3345
|
+
<geometry>
|
|
3346
|
+
<box size="0.01 0.705 0.01"/>
|
|
3347
|
+
</geometry>
|
|
3348
|
+
<material name="KitchenDarkGray"/>
|
|
3349
|
+
</visual>
|
|
3350
|
+
<collision>
|
|
3351
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3352
|
+
<geometry>
|
|
3353
|
+
<box size="0.015 0.71 0.015"/>
|
|
3354
|
+
</geometry>
|
|
3355
|
+
</collision>
|
|
3356
|
+
</link>
|
|
3357
|
+
<gazebo reference="handle_drawer_sink_col1_center_link">
|
|
3358
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
3359
|
+
</gazebo>
|
|
3360
|
+
<joint name="sink_block_drawer_sink_col1_top_fixed_joint" type="fixed">
|
|
3361
|
+
<origin rpy="0 0 0" xyz="0.57 0.43 0.75"/>
|
|
3362
|
+
<parent link="sink_block_link"/>
|
|
3363
|
+
<child link="drawer_sink_col1_top_fixed_link"/>
|
|
3364
|
+
</joint>
|
|
3365
|
+
<link name="drawer_sink_col1_top_fixed_link">
|
|
3366
|
+
<inertial>
|
|
3367
|
+
<mass value="1"/>
|
|
3368
|
+
<inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
|
|
3369
|
+
</inertial>
|
|
3370
|
+
</link>
|
|
3371
|
+
<joint name="sink_block_drawer_sink_col1_top_joint" type="fixed">
|
|
3372
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3373
|
+
<parent link="drawer_sink_col1_top_fixed_link"/>
|
|
3374
|
+
<child link="drawer_sink_col1_top_link"/>
|
|
3375
|
+
<axis xyz="0.999 0 0.044"/>
|
|
3376
|
+
<!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
|
|
3377
|
+
<limit effort="300" lower="0" upper="0.48" velocity="10"/>
|
|
3378
|
+
</joint>
|
|
3379
|
+
<gazebo reference="sink_block_drawer_sink_col1_top_joint">
|
|
3380
|
+
<erp>0.8</erp>
|
|
3381
|
+
<cfm>0.0000001</cfm>
|
|
3382
|
+
<stopKp>1000000.0</stopKp>
|
|
3383
|
+
<stopKd>1.0</stopKd>
|
|
3384
|
+
</gazebo>
|
|
3385
|
+
<link name="drawer_sink_col1_top_link">
|
|
3386
|
+
<inertial>
|
|
3387
|
+
<mass value="1.0"/>
|
|
3388
|
+
<inertia ixx="0.0549666666667" ixy="0" ixz="0" iyy="0.0533666666667" iyz="0" izz="0.00166666666667"/>
|
|
3389
|
+
</inertial>
|
|
3390
|
+
<visual>
|
|
3391
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3392
|
+
<geometry>
|
|
3393
|
+
<box size="0.02 0.795 0.135"/>
|
|
3394
|
+
</geometry>
|
|
3395
|
+
<material name="KitchenLightGray"/>
|
|
3396
|
+
</visual>
|
|
3397
|
+
<collision>
|
|
3398
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3399
|
+
<geometry>
|
|
3400
|
+
<box size="0.02 0.8 0.14"/>
|
|
3401
|
+
</geometry>
|
|
3402
|
+
</collision>
|
|
3403
|
+
</link>
|
|
3404
|
+
<gazebo reference="drawer_sink_col1_top_link">
|
|
3405
|
+
<material value="Ias/KitchenLightGray"/>
|
|
3406
|
+
</gazebo>
|
|
3407
|
+
<joint name="drawer_sink_col1_top_left_fixed_joint" type="fixed">
|
|
3408
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3409
|
+
<parent link="drawer_sink_col1_top_link"/>
|
|
3410
|
+
<child link="drawer_sink_col1_top_left_link"/>
|
|
3411
|
+
</joint>
|
|
3412
|
+
<link name="drawer_sink_col1_top_left_link">
|
|
3413
|
+
<inertial>
|
|
3414
|
+
<mass value="1.0"/>
|
|
3415
|
+
<inertia ixx="0.000708333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.024975"/>
|
|
3416
|
+
</inertial>
|
|
3417
|
+
<visual>
|
|
3418
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.34 0"/>
|
|
3419
|
+
<geometry>
|
|
3420
|
+
<box size="0.54 0.02 0.09"/>
|
|
3421
|
+
</geometry>
|
|
3422
|
+
<material name="KitchenDarkGray"/>
|
|
3423
|
+
</visual>
|
|
3424
|
+
<collision>
|
|
3425
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.34 0"/>
|
|
3426
|
+
<geometry>
|
|
3427
|
+
<box size="0.54 0.02 0.09"/>
|
|
3428
|
+
</geometry>
|
|
3429
|
+
</collision>
|
|
3430
|
+
</link>
|
|
3431
|
+
<gazebo reference="drawer_sink_col1_top_left_link">
|
|
3432
|
+
<material value="Ias/KitchenLightGray"/>
|
|
3433
|
+
</gazebo>
|
|
3434
|
+
<joint name="drawer_sink_col1_top_right_fixed_joint" type="fixed">
|
|
3435
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3436
|
+
<parent link="drawer_sink_col1_top_link"/>
|
|
3437
|
+
<child link="drawer_sink_col1_top_right_link"/>
|
|
3438
|
+
</joint>
|
|
3439
|
+
<link name="drawer_sink_col1_top_right_link">
|
|
3440
|
+
<inertial>
|
|
3441
|
+
<mass value="1.0"/>
|
|
3442
|
+
<inertia ixx="0.000708333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.024975"/>
|
|
3443
|
+
</inertial>
|
|
3444
|
+
<visual>
|
|
3445
|
+
<origin rpy="0 0 0" xyz="-0.27 0.34 0"/>
|
|
3446
|
+
<geometry>
|
|
3447
|
+
<box size="0.54 0.02 0.09"/>
|
|
3448
|
+
</geometry>
|
|
3449
|
+
<material name="KitchenDarkGray"/>
|
|
3450
|
+
</visual>
|
|
3451
|
+
<collision>
|
|
3452
|
+
<origin rpy="0 0 0" xyz="-0.27 0.34 0"/>
|
|
3453
|
+
<geometry>
|
|
3454
|
+
<box size="0.54 0.02 0.09"/>
|
|
3455
|
+
</geometry>
|
|
3456
|
+
</collision>
|
|
3457
|
+
</link>
|
|
3458
|
+
<gazebo reference="drawer_sink_col1_top_right_link">
|
|
3459
|
+
<material value="Ias/KitchenLightGray"/>
|
|
3460
|
+
</gazebo>
|
|
3461
|
+
<joint name="drawer_sink_col1_top_back_fixed_joint" type="fixed">
|
|
3462
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3463
|
+
<parent link="drawer_sink_col1_top_link"/>
|
|
3464
|
+
<child link="drawer_sink_col1_top_back_link"/>
|
|
3465
|
+
</joint>
|
|
3466
|
+
<link name="drawer_sink_col1_top_back_link">
|
|
3467
|
+
<inertial>
|
|
3468
|
+
<mass value="1.0"/>
|
|
3469
|
+
<inertia ixx="0.0415083333333" ixy="0" ixz="0" iyy="0.0408666666667" iyz="0" izz="0.000708333333333"/>
|
|
3470
|
+
</inertial>
|
|
3471
|
+
<visual>
|
|
3472
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
3473
|
+
<geometry>
|
|
3474
|
+
<box size="0.02 0.7 0.09"/>
|
|
3475
|
+
</geometry>
|
|
3476
|
+
<material name="KitchenDarkGray"/>
|
|
3477
|
+
</visual>
|
|
3478
|
+
<collision>
|
|
3479
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
3480
|
+
<geometry>
|
|
3481
|
+
<box size="0.02 0.7 0.09"/>
|
|
3482
|
+
</geometry>
|
|
3483
|
+
</collision>
|
|
3484
|
+
</link>
|
|
3485
|
+
<gazebo reference="drawer_sink_col1_top_back_link">
|
|
3486
|
+
<material value="Ias/KitchenLightGray"/>
|
|
3487
|
+
</gazebo>
|
|
3488
|
+
<joint name="drawer_sink_col1_top_bottom_fixed_joint" type="fixed">
|
|
3489
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3490
|
+
<parent link="drawer_sink_col1_top_link"/>
|
|
3491
|
+
<child link="drawer_sink_col1_top_bottom_link"/>
|
|
3492
|
+
</joint>
|
|
3493
|
+
<link name="drawer_sink_col1_top_bottom_link">
|
|
3494
|
+
<inertial>
|
|
3495
|
+
<mass value="1.0"/>
|
|
3496
|
+
<inertia ixx="0.0408666666667" ixy="0" ixz="0" iyy="0.0651333333333" iyz="0" izz="0.0243333333333"/>
|
|
3497
|
+
</inertial>
|
|
3498
|
+
<visual>
|
|
3499
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.035"/>
|
|
3500
|
+
<geometry>
|
|
3501
|
+
<box size="0.54 0.7 0.02"/>
|
|
3502
|
+
</geometry>
|
|
3503
|
+
<material name="KitchenDarkGray"/>
|
|
3504
|
+
</visual>
|
|
3505
|
+
<collision>
|
|
3506
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.035"/>
|
|
3507
|
+
<geometry>
|
|
3508
|
+
<box size="0.54 0.7 0.02"/>
|
|
3509
|
+
</geometry>
|
|
3510
|
+
</collision>
|
|
3511
|
+
</link>
|
|
3512
|
+
<gazebo reference="drawer_sink_col1_top_bottom_link">
|
|
3513
|
+
<material value="Ias/KitchenLightGray"/>
|
|
3514
|
+
</gazebo>
|
|
3515
|
+
<joint name="drawer_sink_col1_top_handle_drawer_sink_col1_top_joint" type="fixed">
|
|
3516
|
+
<origin rpy="0 0 0" xyz="0.0625 0.0 0.0175"/>
|
|
3517
|
+
<parent link="drawer_sink_col1_top_link"/>
|
|
3518
|
+
<child link="handle_drawer_sink_col1_top_link"/>
|
|
3519
|
+
</joint>
|
|
3520
|
+
<link name="handle_drawer_sink_col1_top_link">
|
|
3521
|
+
<inertial>
|
|
3522
|
+
<mass value="0.1"/>
|
|
3523
|
+
<inertia ixx="0.00414270833333" ixy="0" ixz="0" iyy="0.00414270833333" iyz="0" izz="1.66666666667e-06"/>
|
|
3524
|
+
</inertial>
|
|
3525
|
+
<visual>
|
|
3526
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3527
|
+
<geometry>
|
|
3528
|
+
<box size="0.01 0.705 0.01"/>
|
|
3529
|
+
</geometry>
|
|
3530
|
+
<material name="KitchenDarkGray"/>
|
|
3531
|
+
</visual>
|
|
3532
|
+
<collision>
|
|
3533
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3534
|
+
<geometry>
|
|
3535
|
+
<box size="0.015 0.71 0.015"/>
|
|
3536
|
+
</geometry>
|
|
3537
|
+
</collision>
|
|
3538
|
+
</link>
|
|
3539
|
+
<gazebo reference="handle_drawer_sink_col1_top_link">
|
|
3540
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
3541
|
+
</gazebo>
|
|
3542
|
+
<joint name="sink_block_drawer_sink_col2_fixed_joint" type="fixed">
|
|
3543
|
+
<origin rpy="0 0 0" xyz="0.57 1.13 0.46"/>
|
|
3544
|
+
<parent link="sink_block_link"/>
|
|
3545
|
+
<child link="drawer_sink_col2_fixed_link"/>
|
|
3546
|
+
</joint>
|
|
3547
|
+
<link name="drawer_sink_col2_fixed_link">
|
|
3548
|
+
<inertial>
|
|
3549
|
+
<mass value="1"/>
|
|
3550
|
+
<inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
|
|
3551
|
+
</inertial>
|
|
3552
|
+
</link>
|
|
3553
|
+
<joint name="sink_block_drawer_sink_col2_joint" type="fixed">
|
|
3554
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3555
|
+
<parent link="drawer_sink_col2_fixed_link"/>
|
|
3556
|
+
<child link="drawer_sink_col2_link"/>
|
|
3557
|
+
<axis xyz="0.999 0 0.044"/>
|
|
3558
|
+
<!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
|
|
3559
|
+
<limit effort="300" lower="0" upper="0.48" velocity="10"/>
|
|
3560
|
+
</joint>
|
|
3561
|
+
<gazebo reference="sink_block_drawer_sink_col2_joint">
|
|
3562
|
+
<erp>0.8</erp>
|
|
3563
|
+
<cfm>0.0000001</cfm>
|
|
3564
|
+
<stopKp>1000000.0</stopKp>
|
|
3565
|
+
<stopKd>1.0</stopKd>
|
|
3566
|
+
</gazebo>
|
|
3567
|
+
<link name="drawer_sink_col2_link">
|
|
3568
|
+
<inertial>
|
|
3569
|
+
<mass value="1.0"/>
|
|
3570
|
+
<inertia ixx="0.0732" ixy="0" ixz="0" iyy="0.0300333333333" iyz="0" izz="0.0432333333333"/>
|
|
3571
|
+
</inertial>
|
|
3572
|
+
<visual>
|
|
3573
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3574
|
+
<geometry>
|
|
3575
|
+
<box size="0.02 0.595 0.715"/>
|
|
3576
|
+
</geometry>
|
|
3577
|
+
<material name="KitchenLightGray"/>
|
|
3578
|
+
</visual>
|
|
3579
|
+
<collision>
|
|
3580
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3581
|
+
<geometry>
|
|
3582
|
+
<box size="0.02 0.6 0.72"/>
|
|
3583
|
+
</geometry>
|
|
3584
|
+
</collision>
|
|
3585
|
+
</link>
|
|
3586
|
+
<gazebo reference="drawer_sink_col2_link">
|
|
3587
|
+
<material value="Ias/KitchenLightGray"/>
|
|
3588
|
+
</gazebo>
|
|
3589
|
+
<joint name="drawer_sink_col2_left_fixed_joint" type="fixed">
|
|
3590
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3591
|
+
<parent link="drawer_sink_col2_link"/>
|
|
3592
|
+
<child link="drawer_sink_col2_left_link"/>
|
|
3593
|
+
</joint>
|
|
3594
|
+
<link name="drawer_sink_col2_left_link">
|
|
3595
|
+
<inertial>
|
|
3596
|
+
<mass value="1.0"/>
|
|
3597
|
+
<inertia ixx="0.0374416666667" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0617083333333"/>
|
|
3598
|
+
</inertial>
|
|
3599
|
+
<visual>
|
|
3600
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
|
|
3601
|
+
<geometry>
|
|
3602
|
+
<box size="0.54 0.02 0.67"/>
|
|
3603
|
+
</geometry>
|
|
3604
|
+
<material name="KitchenDarkGray"/>
|
|
3605
|
+
</visual>
|
|
3606
|
+
<collision>
|
|
3607
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
|
|
3608
|
+
<geometry>
|
|
3609
|
+
<box size="0.54 0.02 0.67"/>
|
|
3610
|
+
</geometry>
|
|
3611
|
+
</collision>
|
|
3612
|
+
</link>
|
|
3613
|
+
<gazebo reference="drawer_sink_col2_left_link">
|
|
3614
|
+
<material value="Ias/KitchenLightGray"/>
|
|
3615
|
+
</gazebo>
|
|
3616
|
+
<joint name="drawer_sink_col2_right_fixed_joint" type="fixed">
|
|
3617
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3618
|
+
<parent link="drawer_sink_col2_link"/>
|
|
3619
|
+
<child link="drawer_sink_col2_right_link"/>
|
|
3620
|
+
</joint>
|
|
3621
|
+
<link name="drawer_sink_col2_right_link">
|
|
3622
|
+
<inertial>
|
|
3623
|
+
<mass value="1.0"/>
|
|
3624
|
+
<inertia ixx="0.0374416666667" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0617083333333"/>
|
|
3625
|
+
</inertial>
|
|
3626
|
+
<visual>
|
|
3627
|
+
<origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
|
|
3628
|
+
<geometry>
|
|
3629
|
+
<box size="0.54 0.02 0.67"/>
|
|
3630
|
+
</geometry>
|
|
3631
|
+
<material name="KitchenDarkGray"/>
|
|
3632
|
+
</visual>
|
|
3633
|
+
<collision>
|
|
3634
|
+
<origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
|
|
3635
|
+
<geometry>
|
|
3636
|
+
<box size="0.54 0.02 0.67"/>
|
|
3637
|
+
</geometry>
|
|
3638
|
+
</collision>
|
|
3639
|
+
</link>
|
|
3640
|
+
<gazebo reference="drawer_sink_col2_right_link">
|
|
3641
|
+
<material value="Ias/KitchenLightGray"/>
|
|
3642
|
+
</gazebo>
|
|
3643
|
+
<joint name="drawer_sink_col2_back_fixed_joint" type="fixed">
|
|
3644
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3645
|
+
<parent link="drawer_sink_col2_link"/>
|
|
3646
|
+
<child link="drawer_sink_col2_back_link"/>
|
|
3647
|
+
</joint>
|
|
3648
|
+
<link name="drawer_sink_col2_back_link">
|
|
3649
|
+
<inertial>
|
|
3650
|
+
<mass value="1.0"/>
|
|
3651
|
+
<inertia ixx="0.0582416666667" ixy="0" ixz="0" iyy="0.0208666666667" iyz="0" izz="0.0374416666667"/>
|
|
3652
|
+
</inertial>
|
|
3653
|
+
<visual>
|
|
3654
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
3655
|
+
<geometry>
|
|
3656
|
+
<box size="0.02 0.5 0.67"/>
|
|
3657
|
+
</geometry>
|
|
3658
|
+
<material name="KitchenDarkGray"/>
|
|
3659
|
+
</visual>
|
|
3660
|
+
<collision>
|
|
3661
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
3662
|
+
<geometry>
|
|
3663
|
+
<box size="0.02 0.5 0.67"/>
|
|
3664
|
+
</geometry>
|
|
3665
|
+
</collision>
|
|
3666
|
+
</link>
|
|
3667
|
+
<gazebo reference="drawer_sink_col2_back_link">
|
|
3668
|
+
<material value="Ias/KitchenLightGray"/>
|
|
3669
|
+
</gazebo>
|
|
3670
|
+
<joint name="drawer_sink_col2_bottom_fixed_joint" type="fixed">
|
|
3671
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3672
|
+
<parent link="drawer_sink_col2_link"/>
|
|
3673
|
+
<child link="drawer_sink_col2_bottom_link"/>
|
|
3674
|
+
</joint>
|
|
3675
|
+
<link name="drawer_sink_col2_bottom_link">
|
|
3676
|
+
<inertial>
|
|
3677
|
+
<mass value="1.0"/>
|
|
3678
|
+
<inertia ixx="0.0208666666667" ixy="0" ixz="0" iyy="0.0451333333333" iyz="0" izz="0.0243333333333"/>
|
|
3679
|
+
</inertial>
|
|
3680
|
+
<visual>
|
|
3681
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.325"/>
|
|
3682
|
+
<geometry>
|
|
3683
|
+
<box size="0.54 0.5 0.02"/>
|
|
3684
|
+
</geometry>
|
|
3685
|
+
<material name="KitchenDarkGray"/>
|
|
3686
|
+
</visual>
|
|
3687
|
+
<collision>
|
|
3688
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.325"/>
|
|
3689
|
+
<geometry>
|
|
3690
|
+
<box size="0.54 0.5 0.02"/>
|
|
3691
|
+
</geometry>
|
|
3692
|
+
</collision>
|
|
3693
|
+
</link>
|
|
3694
|
+
<gazebo reference="drawer_sink_col2_bottom_link">
|
|
3695
|
+
<material value="Ias/KitchenLightGray"/>
|
|
3696
|
+
</gazebo>
|
|
3697
|
+
<joint name="drawer_sink_col2_handle_drawer_sink_col2_joint" type="fixed">
|
|
3698
|
+
<origin rpy="0 0 0" xyz="0.0625 0.0 0.3075"/>
|
|
3699
|
+
<parent link="drawer_sink_col2_link"/>
|
|
3700
|
+
<child link="handle_drawer_sink_col2_link"/>
|
|
3701
|
+
</joint>
|
|
3702
|
+
<link name="handle_drawer_sink_col2_link">
|
|
3703
|
+
<inertial>
|
|
3704
|
+
<mass value="0.1"/>
|
|
3705
|
+
<inertia ixx="0.00212604166667" ixy="0" ixz="0" iyy="0.00212604166667" iyz="0" izz="1.66666666667e-06"/>
|
|
3706
|
+
</inertial>
|
|
3707
|
+
<visual>
|
|
3708
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3709
|
+
<geometry>
|
|
3710
|
+
<box size="0.01 0.505 0.01"/>
|
|
3711
|
+
</geometry>
|
|
3712
|
+
<material name="KitchenDarkGray"/>
|
|
3713
|
+
</visual>
|
|
3714
|
+
<collision>
|
|
3715
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3716
|
+
<geometry>
|
|
3717
|
+
<box size="0.015 0.51 0.015"/>
|
|
3718
|
+
</geometry>
|
|
3719
|
+
</collision>
|
|
3720
|
+
</link>
|
|
3721
|
+
<gazebo reference="handle_drawer_sink_col2_link">
|
|
3722
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
3723
|
+
</gazebo>
|
|
3724
|
+
<joint name="sink_block_drawer_sink_col3_bottom_fixed_joint" type="fixed">
|
|
3725
|
+
<origin rpy="0 0 0" xyz="0.57 1.73 0.39"/>
|
|
3726
|
+
<parent link="sink_block_link"/>
|
|
3727
|
+
<child link="drawer_sink_col3_bottom_fixed_link"/>
|
|
3728
|
+
</joint>
|
|
3729
|
+
<link name="drawer_sink_col3_bottom_fixed_link">
|
|
3730
|
+
<inertial>
|
|
3731
|
+
<mass value="1"/>
|
|
3732
|
+
<inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
|
|
3733
|
+
</inertial>
|
|
3734
|
+
</link>
|
|
3735
|
+
<joint name="sink_block_drawer_sink_col3_bottom_joint" type="fixed">
|
|
3736
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3737
|
+
<parent link="drawer_sink_col3_bottom_fixed_link"/>
|
|
3738
|
+
<child link="drawer_sink_col3_bottom_link"/>
|
|
3739
|
+
<axis xyz="0.999 0 0.044"/>
|
|
3740
|
+
<!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
|
|
3741
|
+
<limit effort="300" lower="0" upper="0.48" velocity="10"/>
|
|
3742
|
+
</joint>
|
|
3743
|
+
<gazebo reference="sink_block_drawer_sink_col3_bottom_joint">
|
|
3744
|
+
<erp>0.8</erp>
|
|
3745
|
+
<cfm>0.0000001</cfm>
|
|
3746
|
+
<stopKp>1000000.0</stopKp>
|
|
3747
|
+
<stopKd>1.0</stopKd>
|
|
3748
|
+
</gazebo>
|
|
3749
|
+
<link name="drawer_sink_col3_bottom_link">
|
|
3750
|
+
<inertial>
|
|
3751
|
+
<mass value="1.0"/>
|
|
3752
|
+
<inertia ixx="0.0580333333333" ixy="0" ixz="0" iyy="0.0300333333333" iyz="0" izz="0.0280666666667"/>
|
|
3753
|
+
</inertial>
|
|
3754
|
+
<visual>
|
|
3755
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3756
|
+
<geometry>
|
|
3757
|
+
<box size="0.02 0.595 0.575"/>
|
|
3758
|
+
</geometry>
|
|
3759
|
+
<material name="KitchenLightGray"/>
|
|
3760
|
+
</visual>
|
|
3761
|
+
<collision>
|
|
3762
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3763
|
+
<geometry>
|
|
3764
|
+
<box size="0.02 0.6 0.58"/>
|
|
3765
|
+
</geometry>
|
|
3766
|
+
</collision>
|
|
3767
|
+
</link>
|
|
3768
|
+
<gazebo reference="drawer_sink_col3_bottom_link">
|
|
3769
|
+
<material value="Ias/KitchenLightGray"/>
|
|
3770
|
+
</gazebo>
|
|
3771
|
+
<joint name="drawer_sink_col3_bottom_left_fixed_joint" type="fixed">
|
|
3772
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3773
|
+
<parent link="drawer_sink_col3_bottom_link"/>
|
|
3774
|
+
<child link="drawer_sink_col3_bottom_left_link"/>
|
|
3775
|
+
</joint>
|
|
3776
|
+
<link name="drawer_sink_col3_bottom_left_link">
|
|
3777
|
+
<inertial>
|
|
3778
|
+
<mass value="1.0"/>
|
|
3779
|
+
<inertia ixx="0.0234416666667" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0477083333333"/>
|
|
3780
|
+
</inertial>
|
|
3781
|
+
<visual>
|
|
3782
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
|
|
3783
|
+
<geometry>
|
|
3784
|
+
<box size="0.54 0.02 0.53"/>
|
|
3785
|
+
</geometry>
|
|
3786
|
+
<material name="KitchenDarkGray"/>
|
|
3787
|
+
</visual>
|
|
3788
|
+
<collision>
|
|
3789
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
|
|
3790
|
+
<geometry>
|
|
3791
|
+
<box size="0.54 0.02 0.53"/>
|
|
3792
|
+
</geometry>
|
|
3793
|
+
</collision>
|
|
3794
|
+
</link>
|
|
3795
|
+
<gazebo reference="drawer_sink_col3_bottom_left_link">
|
|
3796
|
+
<material value="Ias/KitchenLightGray"/>
|
|
3797
|
+
</gazebo>
|
|
3798
|
+
<joint name="drawer_sink_col3_bottom_right_fixed_joint" type="fixed">
|
|
3799
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3800
|
+
<parent link="drawer_sink_col3_bottom_link"/>
|
|
3801
|
+
<child link="drawer_sink_col3_bottom_right_link"/>
|
|
3802
|
+
</joint>
|
|
3803
|
+
<link name="drawer_sink_col3_bottom_right_link">
|
|
3804
|
+
<inertial>
|
|
3805
|
+
<mass value="1.0"/>
|
|
3806
|
+
<inertia ixx="0.0234416666667" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0477083333333"/>
|
|
3807
|
+
</inertial>
|
|
3808
|
+
<visual>
|
|
3809
|
+
<origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
|
|
3810
|
+
<geometry>
|
|
3811
|
+
<box size="0.54 0.02 0.53"/>
|
|
3812
|
+
</geometry>
|
|
3813
|
+
<material name="KitchenDarkGray"/>
|
|
3814
|
+
</visual>
|
|
3815
|
+
<collision>
|
|
3816
|
+
<origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
|
|
3817
|
+
<geometry>
|
|
3818
|
+
<box size="0.54 0.02 0.53"/>
|
|
3819
|
+
</geometry>
|
|
3820
|
+
</collision>
|
|
3821
|
+
</link>
|
|
3822
|
+
<gazebo reference="drawer_sink_col3_bottom_right_link">
|
|
3823
|
+
<material value="Ias/KitchenLightGray"/>
|
|
3824
|
+
</gazebo>
|
|
3825
|
+
<joint name="drawer_sink_col3_bottom_back_fixed_joint" type="fixed">
|
|
3826
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3827
|
+
<parent link="drawer_sink_col3_bottom_link"/>
|
|
3828
|
+
<child link="drawer_sink_col3_bottom_back_link"/>
|
|
3829
|
+
</joint>
|
|
3830
|
+
<link name="drawer_sink_col3_bottom_back_link">
|
|
3831
|
+
<inertial>
|
|
3832
|
+
<mass value="1.0"/>
|
|
3833
|
+
<inertia ixx="0.0442416666667" ixy="0" ixz="0" iyy="0.0208666666667" iyz="0" izz="0.0234416666667"/>
|
|
3834
|
+
</inertial>
|
|
3835
|
+
<visual>
|
|
3836
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
3837
|
+
<geometry>
|
|
3838
|
+
<box size="0.02 0.5 0.53"/>
|
|
3839
|
+
</geometry>
|
|
3840
|
+
<material name="KitchenDarkGray"/>
|
|
3841
|
+
</visual>
|
|
3842
|
+
<collision>
|
|
3843
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
3844
|
+
<geometry>
|
|
3845
|
+
<box size="0.02 0.5 0.53"/>
|
|
3846
|
+
</geometry>
|
|
3847
|
+
</collision>
|
|
3848
|
+
</link>
|
|
3849
|
+
<gazebo reference="drawer_sink_col3_bottom_back_link">
|
|
3850
|
+
<material value="Ias/KitchenLightGray"/>
|
|
3851
|
+
</gazebo>
|
|
3852
|
+
<joint name="drawer_sink_col3_bottom_bottom_fixed_joint" type="fixed">
|
|
3853
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3854
|
+
<parent link="drawer_sink_col3_bottom_link"/>
|
|
3855
|
+
<child link="drawer_sink_col3_bottom_bottom_link"/>
|
|
3856
|
+
</joint>
|
|
3857
|
+
<link name="drawer_sink_col3_bottom_bottom_link">
|
|
3858
|
+
<inertial>
|
|
3859
|
+
<mass value="1.0"/>
|
|
3860
|
+
<inertia ixx="0.0208666666667" ixy="0" ixz="0" iyy="0.0451333333333" iyz="0" izz="0.0243333333333"/>
|
|
3861
|
+
</inertial>
|
|
3862
|
+
<visual>
|
|
3863
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.255"/>
|
|
3864
|
+
<geometry>
|
|
3865
|
+
<box size="0.54 0.5 0.02"/>
|
|
3866
|
+
</geometry>
|
|
3867
|
+
<material name="KitchenDarkGray"/>
|
|
3868
|
+
</visual>
|
|
3869
|
+
<collision>
|
|
3870
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.255"/>
|
|
3871
|
+
<geometry>
|
|
3872
|
+
<box size="0.54 0.5 0.02"/>
|
|
3873
|
+
</geometry>
|
|
3874
|
+
</collision>
|
|
3875
|
+
</link>
|
|
3876
|
+
<gazebo reference="drawer_sink_col3_bottom_bottom_link">
|
|
3877
|
+
<material value="Ias/KitchenLightGray"/>
|
|
3878
|
+
</gazebo>
|
|
3879
|
+
<joint name="drawer_sink_col3_bottom_handle_drawer_sink_col3_bottom_joint" type="fixed">
|
|
3880
|
+
<origin rpy="0 0 0" xyz="0.0625 0.0 0.2375"/>
|
|
3881
|
+
<parent link="drawer_sink_col3_bottom_link"/>
|
|
3882
|
+
<child link="handle_drawer_sink_col3_bottom_link"/>
|
|
3883
|
+
</joint>
|
|
3884
|
+
<link name="handle_drawer_sink_col3_bottom_link">
|
|
3885
|
+
<inertial>
|
|
3886
|
+
<mass value="0.1"/>
|
|
3887
|
+
<inertia ixx="0.00212604166667" ixy="0" ixz="0" iyy="0.00212604166667" iyz="0" izz="1.66666666667e-06"/>
|
|
3888
|
+
</inertial>
|
|
3889
|
+
<visual>
|
|
3890
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3891
|
+
<geometry>
|
|
3892
|
+
<box size="0.01 0.505 0.01"/>
|
|
3893
|
+
</geometry>
|
|
3894
|
+
<material name="KitchenDarkGray"/>
|
|
3895
|
+
</visual>
|
|
3896
|
+
<collision>
|
|
3897
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3898
|
+
<geometry>
|
|
3899
|
+
<box size="0.015 0.51 0.015"/>
|
|
3900
|
+
</geometry>
|
|
3901
|
+
</collision>
|
|
3902
|
+
</link>
|
|
3903
|
+
<gazebo reference="handle_drawer_sink_col3_bottom_link">
|
|
3904
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
3905
|
+
</gazebo>
|
|
3906
|
+
<joint name="sink_block_drawer_sink_col3_top_fixed_joint" type="fixed">
|
|
3907
|
+
<origin rpy="0 0 0" xyz="0.57 1.73 0.75"/>
|
|
3908
|
+
<parent link="sink_block_link"/>
|
|
3909
|
+
<child link="drawer_sink_col3_top_fixed_link"/>
|
|
3910
|
+
</joint>
|
|
3911
|
+
<link name="drawer_sink_col3_top_fixed_link">
|
|
3912
|
+
<inertial>
|
|
3913
|
+
<mass value="1"/>
|
|
3914
|
+
<inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
|
|
3915
|
+
</inertial>
|
|
3916
|
+
</link>
|
|
3917
|
+
<joint name="sink_block_drawer_sink_col3_top_joint" type="fixed">
|
|
3918
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3919
|
+
<parent link="drawer_sink_col3_top_fixed_link"/>
|
|
3920
|
+
<child link="drawer_sink_col3_top_link"/>
|
|
3921
|
+
<axis xyz="0.999 0 0.044"/>
|
|
3922
|
+
<!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
|
|
3923
|
+
<limit effort="300" lower="0" upper="0.48" velocity="10"/>
|
|
3924
|
+
</joint>
|
|
3925
|
+
<gazebo reference="sink_block_drawer_sink_col3_top_joint">
|
|
3926
|
+
<erp>0.8</erp>
|
|
3927
|
+
<cfm>0.0000001</cfm>
|
|
3928
|
+
<stopKp>1000000.0</stopKp>
|
|
3929
|
+
<stopKd>1.0</stopKd>
|
|
3930
|
+
</gazebo>
|
|
3931
|
+
<link name="drawer_sink_col3_top_link">
|
|
3932
|
+
<inertial>
|
|
3933
|
+
<mass value="1.0"/>
|
|
3934
|
+
<inertia ixx="0.0316333333333" ixy="0" ixz="0" iyy="0.0300333333333" iyz="0" izz="0.00166666666667"/>
|
|
3935
|
+
</inertial>
|
|
3936
|
+
<visual>
|
|
3937
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3938
|
+
<geometry>
|
|
3939
|
+
<box size="0.02 0.595 0.135"/>
|
|
3940
|
+
</geometry>
|
|
3941
|
+
<material name="KitchenLightGray"/>
|
|
3942
|
+
</visual>
|
|
3943
|
+
<collision>
|
|
3944
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3945
|
+
<geometry>
|
|
3946
|
+
<box size="0.02 0.6 0.14"/>
|
|
3947
|
+
</geometry>
|
|
3948
|
+
</collision>
|
|
3949
|
+
</link>
|
|
3950
|
+
<gazebo reference="drawer_sink_col3_top_link">
|
|
3951
|
+
<material value="Ias/KitchenLightGray"/>
|
|
3952
|
+
</gazebo>
|
|
3953
|
+
<joint name="drawer_sink_col3_top_left_fixed_joint" type="fixed">
|
|
3954
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3955
|
+
<parent link="drawer_sink_col3_top_link"/>
|
|
3956
|
+
<child link="drawer_sink_col3_top_left_link"/>
|
|
3957
|
+
</joint>
|
|
3958
|
+
<link name="drawer_sink_col3_top_left_link">
|
|
3959
|
+
<inertial>
|
|
3960
|
+
<mass value="1.0"/>
|
|
3961
|
+
<inertia ixx="0.000708333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.024975"/>
|
|
3962
|
+
</inertial>
|
|
3963
|
+
<visual>
|
|
3964
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
|
|
3965
|
+
<geometry>
|
|
3966
|
+
<box size="0.54 0.02 0.09"/>
|
|
3967
|
+
</geometry>
|
|
3968
|
+
<material name="KitchenDarkGray"/>
|
|
3969
|
+
</visual>
|
|
3970
|
+
<collision>
|
|
3971
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
|
|
3972
|
+
<geometry>
|
|
3973
|
+
<box size="0.54 0.02 0.09"/>
|
|
3974
|
+
</geometry>
|
|
3975
|
+
</collision>
|
|
3976
|
+
</link>
|
|
3977
|
+
<gazebo reference="drawer_sink_col3_top_left_link">
|
|
3978
|
+
<material value="Ias/KitchenLightGray"/>
|
|
3979
|
+
</gazebo>
|
|
3980
|
+
<joint name="drawer_sink_col3_top_right_fixed_joint" type="fixed">
|
|
3981
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
3982
|
+
<parent link="drawer_sink_col3_top_link"/>
|
|
3983
|
+
<child link="drawer_sink_col3_top_right_link"/>
|
|
3984
|
+
</joint>
|
|
3985
|
+
<link name="drawer_sink_col3_top_right_link">
|
|
3986
|
+
<inertial>
|
|
3987
|
+
<mass value="1.0"/>
|
|
3988
|
+
<inertia ixx="0.000708333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.024975"/>
|
|
3989
|
+
</inertial>
|
|
3990
|
+
<visual>
|
|
3991
|
+
<origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
|
|
3992
|
+
<geometry>
|
|
3993
|
+
<box size="0.54 0.02 0.09"/>
|
|
3994
|
+
</geometry>
|
|
3995
|
+
<material name="KitchenDarkGray"/>
|
|
3996
|
+
</visual>
|
|
3997
|
+
<collision>
|
|
3998
|
+
<origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
|
|
3999
|
+
<geometry>
|
|
4000
|
+
<box size="0.54 0.02 0.09"/>
|
|
4001
|
+
</geometry>
|
|
4002
|
+
</collision>
|
|
4003
|
+
</link>
|
|
4004
|
+
<gazebo reference="drawer_sink_col3_top_right_link">
|
|
4005
|
+
<material value="Ias/KitchenLightGray"/>
|
|
4006
|
+
</gazebo>
|
|
4007
|
+
<joint name="drawer_sink_col3_top_back_fixed_joint" type="fixed">
|
|
4008
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4009
|
+
<parent link="drawer_sink_col3_top_link"/>
|
|
4010
|
+
<child link="drawer_sink_col3_top_back_link"/>
|
|
4011
|
+
</joint>
|
|
4012
|
+
<link name="drawer_sink_col3_top_back_link">
|
|
4013
|
+
<inertial>
|
|
4014
|
+
<mass value="1.0"/>
|
|
4015
|
+
<inertia ixx="0.0215083333333" ixy="0" ixz="0" iyy="0.0208666666667" iyz="0" izz="0.000708333333333"/>
|
|
4016
|
+
</inertial>
|
|
4017
|
+
<visual>
|
|
4018
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
4019
|
+
<geometry>
|
|
4020
|
+
<box size="0.02 0.5 0.09"/>
|
|
4021
|
+
</geometry>
|
|
4022
|
+
<material name="KitchenDarkGray"/>
|
|
4023
|
+
</visual>
|
|
4024
|
+
<collision>
|
|
4025
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
4026
|
+
<geometry>
|
|
4027
|
+
<box size="0.02 0.5 0.09"/>
|
|
4028
|
+
</geometry>
|
|
4029
|
+
</collision>
|
|
4030
|
+
</link>
|
|
4031
|
+
<gazebo reference="drawer_sink_col3_top_back_link">
|
|
4032
|
+
<material value="Ias/KitchenLightGray"/>
|
|
4033
|
+
</gazebo>
|
|
4034
|
+
<joint name="drawer_sink_col3_top_bottom_fixed_joint" type="fixed">
|
|
4035
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4036
|
+
<parent link="drawer_sink_col3_top_link"/>
|
|
4037
|
+
<child link="drawer_sink_col3_top_bottom_link"/>
|
|
4038
|
+
</joint>
|
|
4039
|
+
<link name="drawer_sink_col3_top_bottom_link">
|
|
4040
|
+
<inertial>
|
|
4041
|
+
<mass value="1.0"/>
|
|
4042
|
+
<inertia ixx="0.0208666666667" ixy="0" ixz="0" iyy="0.0451333333333" iyz="0" izz="0.0243333333333"/>
|
|
4043
|
+
</inertial>
|
|
4044
|
+
<visual>
|
|
4045
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.035"/>
|
|
4046
|
+
<geometry>
|
|
4047
|
+
<box size="0.54 0.5 0.02"/>
|
|
4048
|
+
</geometry>
|
|
4049
|
+
<material name="KitchenDarkGray"/>
|
|
4050
|
+
</visual>
|
|
4051
|
+
<collision>
|
|
4052
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.035"/>
|
|
4053
|
+
<geometry>
|
|
4054
|
+
<box size="0.54 0.5 0.02"/>
|
|
4055
|
+
</geometry>
|
|
4056
|
+
</collision>
|
|
4057
|
+
</link>
|
|
4058
|
+
<gazebo reference="drawer_sink_col3_top_bottom_link">
|
|
4059
|
+
<material value="Ias/KitchenLightGray"/>
|
|
4060
|
+
</gazebo>
|
|
4061
|
+
<joint name="drawer_sink_col3_top_handle_drawer_sink_col3_top_joint" type="fixed">
|
|
4062
|
+
<origin rpy="0 0 0" xyz="0.0625 0.0 0.0175"/>
|
|
4063
|
+
<parent link="drawer_sink_col3_top_link"/>
|
|
4064
|
+
<child link="handle_drawer_sink_col3_top_link"/>
|
|
4065
|
+
</joint>
|
|
4066
|
+
<link name="handle_drawer_sink_col3_top_link">
|
|
4067
|
+
<inertial>
|
|
4068
|
+
<mass value="0.1"/>
|
|
4069
|
+
<inertia ixx="0.00212604166667" ixy="0" ixz="0" iyy="0.00212604166667" iyz="0" izz="1.66666666667e-06"/>
|
|
4070
|
+
</inertial>
|
|
4071
|
+
<visual>
|
|
4072
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4073
|
+
<geometry>
|
|
4074
|
+
<box size="0.01 0.505 0.01"/>
|
|
4075
|
+
</geometry>
|
|
4076
|
+
<material name="KitchenDarkGray"/>
|
|
4077
|
+
</visual>
|
|
4078
|
+
<collision>
|
|
4079
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4080
|
+
<geometry>
|
|
4081
|
+
<box size="0.015 0.51 0.015"/>
|
|
4082
|
+
</geometry>
|
|
4083
|
+
</collision>
|
|
4084
|
+
</link>
|
|
4085
|
+
<gazebo reference="handle_drawer_sink_col3_top_link">
|
|
4086
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
4087
|
+
</gazebo>
|
|
4088
|
+
<joint name="sink_block_skirting_sink_joint" type="fixed">
|
|
4089
|
+
<origin rpy="0 0 0" xyz="0.255 1.03 0.05"/>
|
|
4090
|
+
<parent link="sink_block_link"/>
|
|
4091
|
+
<child link="skirting_sink_link"/>
|
|
4092
|
+
</joint>
|
|
4093
|
+
<link name="skirting_sink_link">
|
|
4094
|
+
<inertial>
|
|
4095
|
+
<mass value="10"/>
|
|
4096
|
+
<inertia ixx="3.34166666667" ixy="0" ixz="0" iyy="3.55008333333" iyz="0" izz="0.225083333333"/>
|
|
4097
|
+
</inertial>
|
|
4098
|
+
<visual>
|
|
4099
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4100
|
+
<geometry>
|
|
4101
|
+
<box size="0.51 2.0 0.1"/>
|
|
4102
|
+
</geometry>
|
|
4103
|
+
<material name="KitchenDarkGray"/>
|
|
4104
|
+
</visual>
|
|
4105
|
+
<collision>
|
|
4106
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4107
|
+
<geometry>
|
|
4108
|
+
<box size="0.51 2.0 0.1"/>
|
|
4109
|
+
</geometry>
|
|
4110
|
+
</collision>
|
|
4111
|
+
</link>
|
|
4112
|
+
<gazebo reference="skirting_sink_link">
|
|
4113
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
4114
|
+
</gazebo>
|
|
4115
|
+
<joint name="sink_block_joint" type="fixed">
|
|
4116
|
+
<origin rpy="0 0 0" xyz="-5.29 -5.65 0"/>
|
|
4117
|
+
<parent link="kitchen_link"/>
|
|
4118
|
+
<child link="sink_block_link"/>
|
|
4119
|
+
</joint>
|
|
4120
|
+
<link name="sink_block_link">
|
|
4121
|
+
<inertial>
|
|
4122
|
+
<mass value="0"/>
|
|
4123
|
+
<inertia ixx="0.0" ixy="0" ixz="0" iyy="0.0" iyz="0" izz="0.0"/>
|
|
4124
|
+
</inertial>
|
|
4125
|
+
<visual>
|
|
4126
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4127
|
+
<geometry>
|
|
4128
|
+
<box size=".1 .1 .1"/>
|
|
4129
|
+
</geometry>
|
|
4130
|
+
</visual>
|
|
4131
|
+
</link>
|
|
4132
|
+
<joint name="fridge_block_counter_top_fridge_joint" type="fixed">
|
|
4133
|
+
<origin rpy="0 0 0" xyz="0.29 0.3 1.495"/>
|
|
4134
|
+
<parent link="fridge_block_link"/>
|
|
4135
|
+
<child link="counter_top_fridge_link"/>
|
|
4136
|
+
</joint>
|
|
4137
|
+
<link name="counter_top_fridge_link">
|
|
4138
|
+
<inertial>
|
|
4139
|
+
<mass value="2.0"/>
|
|
4140
|
+
<inertia ixx="0.06015" ixy="0" ixz="0" iyy="0.116066666667" iyz="0" izz="0.0562166666667"/>
|
|
4141
|
+
</inertial>
|
|
4142
|
+
<visual>
|
|
4143
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4144
|
+
<geometry>
|
|
4145
|
+
<box size="0.58 0.6 0.03"/>
|
|
4146
|
+
</geometry>
|
|
4147
|
+
<material name="KitchenDarkGray"/>
|
|
4148
|
+
</visual>
|
|
4149
|
+
<collision>
|
|
4150
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4151
|
+
<geometry>
|
|
4152
|
+
<box size="0.58 0.6 0.03"/>
|
|
4153
|
+
</geometry>
|
|
4154
|
+
</collision>
|
|
4155
|
+
</link>
|
|
4156
|
+
<gazebo reference="counter_top_fridge_link">
|
|
4157
|
+
<kp>100000</kp>
|
|
4158
|
+
<kd>1000000</kd>
|
|
4159
|
+
<mu1>50000</mu1>
|
|
4160
|
+
<mu2>50000</mu2>
|
|
4161
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
4162
|
+
</gazebo>
|
|
4163
|
+
<joint name="fridge_block_counter_side_fridge_left_joint" type="fixed">
|
|
4164
|
+
<origin rpy="0 0 0" xyz="0.29 0.01 0.815"/>
|
|
4165
|
+
<parent link="fridge_block_link"/>
|
|
4166
|
+
<child link="counter_side_fridge_left_link"/>
|
|
4167
|
+
</joint>
|
|
4168
|
+
<link name="counter_side_fridge_left_link">
|
|
4169
|
+
<inertial>
|
|
4170
|
+
<mass value="2.0"/>
|
|
4171
|
+
<inertia ixx="0.294883333333" ixy="0" ixz="0" iyy="0.0561333333333" iyz="0" izz="0.350883333333"/>
|
|
4172
|
+
</inertial>
|
|
4173
|
+
<visual>
|
|
4174
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4175
|
+
<geometry>
|
|
4176
|
+
<box size="0.58 0.02 1.33"/>
|
|
4177
|
+
</geometry>
|
|
4178
|
+
<material name="KitchenDarkGray"/>
|
|
4179
|
+
</visual>
|
|
4180
|
+
<collision>
|
|
4181
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4182
|
+
<geometry>
|
|
4183
|
+
<box size="0.58 0.02 1.33"/>
|
|
4184
|
+
</geometry>
|
|
4185
|
+
</collision>
|
|
4186
|
+
</link>
|
|
4187
|
+
<gazebo reference="counter_side_fridge_left_link">
|
|
4188
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
4189
|
+
</gazebo>
|
|
4190
|
+
<joint name="fridge_block_counter_side_fridge_right_joint" type="fixed">
|
|
4191
|
+
<origin rpy="0 0 0" xyz="0.29 0.59 0.815"/>
|
|
4192
|
+
<parent link="fridge_block_link"/>
|
|
4193
|
+
<child link="counter_side_fridge_right_link"/>
|
|
4194
|
+
</joint>
|
|
4195
|
+
<link name="counter_side_fridge_right_link">
|
|
4196
|
+
<inertial>
|
|
4197
|
+
<mass value="2.0"/>
|
|
4198
|
+
<inertia ixx="0.294883333333" ixy="0" ixz="0" iyy="0.0561333333333" iyz="0" izz="0.350883333333"/>
|
|
4199
|
+
</inertial>
|
|
4200
|
+
<visual>
|
|
4201
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4202
|
+
<geometry>
|
|
4203
|
+
<box size="0.58 0.02 1.33"/>
|
|
4204
|
+
</geometry>
|
|
4205
|
+
<material name="KitchenDarkGray"/>
|
|
4206
|
+
</visual>
|
|
4207
|
+
<collision>
|
|
4208
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4209
|
+
<geometry>
|
|
4210
|
+
<box size="0.58 0.02 1.33"/>
|
|
4211
|
+
</geometry>
|
|
4212
|
+
</collision>
|
|
4213
|
+
</link>
|
|
4214
|
+
<gazebo reference="counter_side_fridge_right_link">
|
|
4215
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
4216
|
+
</gazebo>
|
|
4217
|
+
<joint name="fridge_block_counter_bottom_fridge_joint" type="fixed">
|
|
4218
|
+
<origin rpy="0 0 0" xyz="0.2875 0.3 0.515"/>
|
|
4219
|
+
<parent link="fridge_block_link"/>
|
|
4220
|
+
<child link="counter_bottom_fridge_link"/>
|
|
4221
|
+
</joint>
|
|
4222
|
+
<link name="counter_bottom_fridge_link">
|
|
4223
|
+
<inertial>
|
|
4224
|
+
<mass value="2.0"/>
|
|
4225
|
+
<inertia ixx="0.06015" ixy="0" ixz="0" iyy="0.115104166667" iyz="0" izz="0.0552541666667"/>
|
|
4226
|
+
</inertial>
|
|
4227
|
+
<visual>
|
|
4228
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4229
|
+
<geometry>
|
|
4230
|
+
<box size="0.575 0.6 0.03"/>
|
|
4231
|
+
</geometry>
|
|
4232
|
+
<material name="KitchenWhite"/>
|
|
4233
|
+
</visual>
|
|
4234
|
+
<collision>
|
|
4235
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4236
|
+
<geometry>
|
|
4237
|
+
<box size="0.575 0.6 0.03"/>
|
|
4238
|
+
</geometry>
|
|
4239
|
+
</collision>
|
|
4240
|
+
</link>
|
|
4241
|
+
<gazebo reference="counter_bottom_fridge_link">
|
|
4242
|
+
<kp>100000</kp>
|
|
4243
|
+
<kd>1000000</kd>
|
|
4244
|
+
<mu1>50000</mu1>
|
|
4245
|
+
<mu2>50000</mu2>
|
|
4246
|
+
<material value="Ias/KitchenWhite"/>
|
|
4247
|
+
</gazebo>
|
|
4248
|
+
<joint name="fridge_block_counter_middle_fridge_joint" type="fixed">
|
|
4249
|
+
<origin rpy="0 0 0" xyz="0.2875 0.3 0.845"/>
|
|
4250
|
+
<parent link="fridge_block_link"/>
|
|
4251
|
+
<child link="counter_middle_fridge_link"/>
|
|
4252
|
+
</joint>
|
|
4253
|
+
<link name="counter_middle_fridge_link">
|
|
4254
|
+
<inertial>
|
|
4255
|
+
<mass value="2.0"/>
|
|
4256
|
+
<inertia ixx="0.06015" ixy="0" ixz="0" iyy="0.115104166667" iyz="0" izz="0.0552541666667"/>
|
|
4257
|
+
</inertial>
|
|
4258
|
+
<visual>
|
|
4259
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4260
|
+
<geometry>
|
|
4261
|
+
<box size="0.575 0.6 0.03"/>
|
|
4262
|
+
</geometry>
|
|
4263
|
+
<material name="KitchenWhite"/>
|
|
4264
|
+
</visual>
|
|
4265
|
+
<collision>
|
|
4266
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4267
|
+
<geometry>
|
|
4268
|
+
<box size="0.575 0.6 0.03"/>
|
|
4269
|
+
</geometry>
|
|
4270
|
+
</collision>
|
|
4271
|
+
</link>
|
|
4272
|
+
<gazebo reference="counter_middle_fridge_link">
|
|
4273
|
+
<kp>100000</kp>
|
|
4274
|
+
<kd>1000000</kd>
|
|
4275
|
+
<mu1>50000</mu1>
|
|
4276
|
+
<mu2>50000</mu2>
|
|
4277
|
+
<material value="Ias/KitchenWhite"/>
|
|
4278
|
+
</gazebo>
|
|
4279
|
+
<joint name="fridge_block_drawer_fridge_bottom_fixed_joint" type="fixed">
|
|
4280
|
+
<origin rpy="0 0 0" xyz="0.57 0.3 0.3325"/>
|
|
4281
|
+
<parent link="fridge_block_link"/>
|
|
4282
|
+
<child link="drawer_fridge_bottom_fixed_link"/>
|
|
4283
|
+
</joint>
|
|
4284
|
+
<link name="drawer_fridge_bottom_fixed_link">
|
|
4285
|
+
<inertial>
|
|
4286
|
+
<mass value="1"/>
|
|
4287
|
+
<inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
|
|
4288
|
+
</inertial>
|
|
4289
|
+
</link>
|
|
4290
|
+
<joint name="fridge_block_drawer_fridge_bottom_joint" type="fixed">
|
|
4291
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4292
|
+
<parent link="drawer_fridge_bottom_fixed_link"/>
|
|
4293
|
+
<child link="drawer_fridge_bottom_link"/>
|
|
4294
|
+
<axis xyz="0.999 0 0.044"/>
|
|
4295
|
+
<!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
|
|
4296
|
+
<limit effort="300" lower="0" upper="0.48" velocity="10"/>
|
|
4297
|
+
</joint>
|
|
4298
|
+
<gazebo reference="fridge_block_drawer_fridge_bottom_joint">
|
|
4299
|
+
<erp>0.8</erp>
|
|
4300
|
+
<cfm>0.0000001</cfm>
|
|
4301
|
+
<stopKp>1000000.0</stopKp>
|
|
4302
|
+
<stopKd>1.0</stopKd>
|
|
4303
|
+
</gazebo>
|
|
4304
|
+
<link name="drawer_fridge_bottom_link">
|
|
4305
|
+
<inertial>
|
|
4306
|
+
<mass value="1.0"/>
|
|
4307
|
+
<inertia ixx="0.0377041666667" ixy="0" ixz="0" iyy="0.0266354166667" iyz="0" izz="0.0111354166667"/>
|
|
4308
|
+
</inertial>
|
|
4309
|
+
<visual>
|
|
4310
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4311
|
+
<geometry>
|
|
4312
|
+
<box size="0.02 0.56 0.36"/>
|
|
4313
|
+
</geometry>
|
|
4314
|
+
<material name="KitchenLightGray"/>
|
|
4315
|
+
</visual>
|
|
4316
|
+
<collision>
|
|
4317
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4318
|
+
<geometry>
|
|
4319
|
+
<box size="0.02 0.565 0.365"/>
|
|
4320
|
+
</geometry>
|
|
4321
|
+
</collision>
|
|
4322
|
+
</link>
|
|
4323
|
+
<gazebo reference="drawer_fridge_bottom_link">
|
|
4324
|
+
<material value="Ias/KitchenLightGray"/>
|
|
4325
|
+
</gazebo>
|
|
4326
|
+
<joint name="drawer_fridge_bottom_left_fixed_joint" type="fixed">
|
|
4327
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4328
|
+
<parent link="drawer_fridge_bottom_link"/>
|
|
4329
|
+
<child link="drawer_fridge_bottom_left_link"/>
|
|
4330
|
+
</joint>
|
|
4331
|
+
<link name="drawer_fridge_bottom_left_link">
|
|
4332
|
+
<inertial>
|
|
4333
|
+
<mass value="1.0"/>
|
|
4334
|
+
<inertia ixx="0.00830208333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.03256875"/>
|
|
4335
|
+
</inertial>
|
|
4336
|
+
<visual>
|
|
4337
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.2225 0"/>
|
|
4338
|
+
<geometry>
|
|
4339
|
+
<box size="0.54 0.02 0.315"/>
|
|
4340
|
+
</geometry>
|
|
4341
|
+
<material name="KitchenDarkGray"/>
|
|
4342
|
+
</visual>
|
|
4343
|
+
<collision>
|
|
4344
|
+
<origin rpy="0 0 0" xyz="-0.27 -0.2225 0"/>
|
|
4345
|
+
<geometry>
|
|
4346
|
+
<box size="0.54 0.02 0.315"/>
|
|
4347
|
+
</geometry>
|
|
4348
|
+
</collision>
|
|
4349
|
+
</link>
|
|
4350
|
+
<gazebo reference="drawer_fridge_bottom_left_link">
|
|
4351
|
+
<material value="Ias/KitchenLightGray"/>
|
|
4352
|
+
</gazebo>
|
|
4353
|
+
<joint name="drawer_fridge_bottom_right_fixed_joint" type="fixed">
|
|
4354
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4355
|
+
<parent link="drawer_fridge_bottom_link"/>
|
|
4356
|
+
<child link="drawer_fridge_bottom_right_link"/>
|
|
4357
|
+
</joint>
|
|
4358
|
+
<link name="drawer_fridge_bottom_right_link">
|
|
4359
|
+
<inertial>
|
|
4360
|
+
<mass value="1.0"/>
|
|
4361
|
+
<inertia ixx="0.00830208333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.03256875"/>
|
|
4362
|
+
</inertial>
|
|
4363
|
+
<visual>
|
|
4364
|
+
<origin rpy="0 0 0" xyz="-0.27 0.2225 0"/>
|
|
4365
|
+
<geometry>
|
|
4366
|
+
<box size="0.54 0.02 0.315"/>
|
|
4367
|
+
</geometry>
|
|
4368
|
+
<material name="KitchenDarkGray"/>
|
|
4369
|
+
</visual>
|
|
4370
|
+
<collision>
|
|
4371
|
+
<origin rpy="0 0 0" xyz="-0.27 0.2225 0"/>
|
|
4372
|
+
<geometry>
|
|
4373
|
+
<box size="0.54 0.02 0.315"/>
|
|
4374
|
+
</geometry>
|
|
4375
|
+
</collision>
|
|
4376
|
+
</link>
|
|
4377
|
+
<gazebo reference="drawer_fridge_bottom_right_link">
|
|
4378
|
+
<material value="Ias/KitchenLightGray"/>
|
|
4379
|
+
</gazebo>
|
|
4380
|
+
<joint name="drawer_fridge_bottom_back_fixed_joint" type="fixed">
|
|
4381
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4382
|
+
<parent link="drawer_fridge_bottom_link"/>
|
|
4383
|
+
<child link="drawer_fridge_bottom_back_link"/>
|
|
4384
|
+
</joint>
|
|
4385
|
+
<link name="drawer_fridge_bottom_back_link">
|
|
4386
|
+
<inertial>
|
|
4387
|
+
<mass value="1.0"/>
|
|
4388
|
+
<inertia ixx="0.0262875" ixy="0" ixz="0" iyy="0.0180520833333" iyz="0" izz="0.00830208333333"/>
|
|
4389
|
+
</inertial>
|
|
4390
|
+
<visual>
|
|
4391
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
4392
|
+
<geometry>
|
|
4393
|
+
<box size="0.02 0.465 0.315"/>
|
|
4394
|
+
</geometry>
|
|
4395
|
+
<material name="KitchenDarkGray"/>
|
|
4396
|
+
</visual>
|
|
4397
|
+
<collision>
|
|
4398
|
+
<origin rpy="0 0 0" xyz="-0.54 0 0"/>
|
|
4399
|
+
<geometry>
|
|
4400
|
+
<box size="0.02 0.465 0.315"/>
|
|
4401
|
+
</geometry>
|
|
4402
|
+
</collision>
|
|
4403
|
+
</link>
|
|
4404
|
+
<gazebo reference="drawer_fridge_bottom_back_link">
|
|
4405
|
+
<material value="Ias/KitchenLightGray"/>
|
|
4406
|
+
</gazebo>
|
|
4407
|
+
<joint name="drawer_fridge_bottom_bottom_fixed_joint" type="fixed">
|
|
4408
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4409
|
+
<parent link="drawer_fridge_bottom_link"/>
|
|
4410
|
+
<child link="drawer_fridge_bottom_bottom_link"/>
|
|
4411
|
+
</joint>
|
|
4412
|
+
<link name="drawer_fridge_bottom_bottom_link">
|
|
4413
|
+
<inertial>
|
|
4414
|
+
<mass value="1.0"/>
|
|
4415
|
+
<inertia ixx="0.0180520833333" ixy="0" ixz="0" iyy="0.04231875" iyz="0" izz="0.0243333333333"/>
|
|
4416
|
+
</inertial>
|
|
4417
|
+
<visual>
|
|
4418
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.1475"/>
|
|
4419
|
+
<geometry>
|
|
4420
|
+
<box size="0.54 0.465 0.02"/>
|
|
4421
|
+
</geometry>
|
|
4422
|
+
<material name="KitchenDarkGray"/>
|
|
4423
|
+
</visual>
|
|
4424
|
+
<collision>
|
|
4425
|
+
<origin rpy="0 0 0" xyz="-0.27 0 -0.1475"/>
|
|
4426
|
+
<geometry>
|
|
4427
|
+
<box size="0.54 0.465 0.02"/>
|
|
4428
|
+
</geometry>
|
|
4429
|
+
</collision>
|
|
4430
|
+
</link>
|
|
4431
|
+
<gazebo reference="drawer_fridge_bottom_bottom_link">
|
|
4432
|
+
<material value="Ias/KitchenLightGray"/>
|
|
4433
|
+
</gazebo>
|
|
4434
|
+
<joint name="drawer_fridge_bottom_handle_drawer_fridge_bottom_joint" type="fixed">
|
|
4435
|
+
<origin rpy="0 0 0" xyz="0.0625 0.0 0.13"/>
|
|
4436
|
+
<parent link="drawer_fridge_bottom_link"/>
|
|
4437
|
+
<child link="handle_drawer_fridge_bottom_link"/>
|
|
4438
|
+
</joint>
|
|
4439
|
+
<link name="handle_drawer_fridge_bottom_link">
|
|
4440
|
+
<inertial>
|
|
4441
|
+
<mass value="0.1"/>
|
|
4442
|
+
<inertia ixx="0.00184166666667" ixy="0" ixz="0" iyy="0.00184166666667" iyz="0" izz="1.66666666667e-06"/>
|
|
4443
|
+
</inertial>
|
|
4444
|
+
<visual>
|
|
4445
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4446
|
+
<geometry>
|
|
4447
|
+
<box size="0.01 0.47 0.01"/>
|
|
4448
|
+
</geometry>
|
|
4449
|
+
<material name="KitchenDarkGray"/>
|
|
4450
|
+
</visual>
|
|
4451
|
+
<collision>
|
|
4452
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4453
|
+
<geometry>
|
|
4454
|
+
<box size="0.015 0.475 0.015"/>
|
|
4455
|
+
</geometry>
|
|
4456
|
+
</collision>
|
|
4457
|
+
</link>
|
|
4458
|
+
<gazebo reference="handle_drawer_fridge_bottom_link">
|
|
4459
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
4460
|
+
</gazebo>
|
|
4461
|
+
<joint name="fridge_block_fridge_fixed_joint" type="fixed">
|
|
4462
|
+
<origin rpy="0 0 0" xyz="0.58 0.6 0.995"/>
|
|
4463
|
+
<parent link="fridge_block_link"/>
|
|
4464
|
+
<child link="fridge_fixed_link"/>
|
|
4465
|
+
</joint>
|
|
4466
|
+
<link name="fridge_fixed_link">
|
|
4467
|
+
<inertial>
|
|
4468
|
+
<mass value="0.1"/>
|
|
4469
|
+
<inertia ixx="4e-08" ixy="0" ixz="0" iyy="4e-08" iyz="0" izz="4e-08"/>
|
|
4470
|
+
</inertial>
|
|
4471
|
+
</link>
|
|
4472
|
+
<joint name="fridge_block_fridge_joint" type="fixed">
|
|
4473
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4474
|
+
<parent link="fridge_fixed_link"/>
|
|
4475
|
+
<child link="fridge_link"/>
|
|
4476
|
+
<axis xyz="0 0 1"/>
|
|
4477
|
+
<limit effort="300" lower="0" upper="1.3" velocity="10"/>
|
|
4478
|
+
</joint>
|
|
4479
|
+
<link name="fridge_link">
|
|
4480
|
+
<inertial>
|
|
4481
|
+
<mass value="1.0"/>
|
|
4482
|
+
<inertia ixx="0.107104166667" ixy="0" ixz="0" iyy="0.0295041666667" iyz="0" izz="0.0776041666667"/>
|
|
4483
|
+
</inertial>
|
|
4484
|
+
<visual>
|
|
4485
|
+
<origin rpy="0 0 0" xyz="-0.005 -0.3 0"/>
|
|
4486
|
+
<geometry>
|
|
4487
|
+
<box size="0.005 0.595 0.965"/>
|
|
4488
|
+
</geometry>
|
|
4489
|
+
<material name="KitchenLightGray"/>
|
|
4490
|
+
</visual>
|
|
4491
|
+
<collision>
|
|
4492
|
+
<origin rpy="0 0 0" xyz="-0.005 -0.3 0"/>
|
|
4493
|
+
<geometry>
|
|
4494
|
+
<box size="0.01 0.6 0.97"/>
|
|
4495
|
+
</geometry>
|
|
4496
|
+
</collision>
|
|
4497
|
+
</link>
|
|
4498
|
+
<gazebo reference="fridge_link">
|
|
4499
|
+
<material value="Ias/KitchenLightGray"/>
|
|
4500
|
+
</gazebo>
|
|
4501
|
+
<joint name="fridge_handle_fridge_joint" type="fixed">
|
|
4502
|
+
<origin rpy="0 0 0" xyz="0.0625 -0.57 0.0"/>
|
|
4503
|
+
<parent link="fridge_link"/>
|
|
4504
|
+
<child link="handle_fridge_link"/>
|
|
4505
|
+
</joint>
|
|
4506
|
+
<link name="handle_fridge_link">
|
|
4507
|
+
<inertial>
|
|
4508
|
+
<mass value="0.1"/>
|
|
4509
|
+
<inertia ixx="0.00638104166667" ixy="0" ixz="0" iyy="1.66666666667e-06" iyz="0" izz="0.00638104166667"/>
|
|
4510
|
+
</inertial>
|
|
4511
|
+
<visual>
|
|
4512
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4513
|
+
<geometry>
|
|
4514
|
+
<box size="0.01 0.01 0.875"/>
|
|
4515
|
+
</geometry>
|
|
4516
|
+
<material name="KitchenDarkGray"/>
|
|
4517
|
+
</visual>
|
|
4518
|
+
<collision>
|
|
4519
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4520
|
+
<geometry>
|
|
4521
|
+
<box size="0.015 0.015 0.88"/>
|
|
4522
|
+
</geometry>
|
|
4523
|
+
</collision>
|
|
4524
|
+
</link>
|
|
4525
|
+
<gazebo reference="handle_fridge_link">
|
|
4526
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
4527
|
+
</gazebo>
|
|
4528
|
+
<joint name="fridge_block_skirting_fridge_joint" type="fixed">
|
|
4529
|
+
<origin rpy="0 0 0" xyz="0.255 0.3 0.075"/>
|
|
4530
|
+
<parent link="fridge_block_link"/>
|
|
4531
|
+
<child link="skirting_fridge_link"/>
|
|
4532
|
+
</joint>
|
|
4533
|
+
<link name="skirting_fridge_link">
|
|
4534
|
+
<inertial>
|
|
4535
|
+
<mass value="10"/>
|
|
4536
|
+
<inertia ixx="0.31875" ixy="0" ixz="0" iyy="0.51675" iyz="0" izz="0.2355"/>
|
|
4537
|
+
</inertial>
|
|
4538
|
+
<visual>
|
|
4539
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4540
|
+
<geometry>
|
|
4541
|
+
<box size="0.51 0.6 0.15"/>
|
|
4542
|
+
</geometry>
|
|
4543
|
+
<material name="KitchenDarkGray"/>
|
|
4544
|
+
</visual>
|
|
4545
|
+
<collision>
|
|
4546
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4547
|
+
<geometry>
|
|
4548
|
+
<box size="0.51 0.6 0.15"/>
|
|
4549
|
+
</geometry>
|
|
4550
|
+
</collision>
|
|
4551
|
+
</link>
|
|
4552
|
+
<gazebo reference="skirting_fridge_link">
|
|
4553
|
+
<material value="Ias/KitchenDarkGray"/>
|
|
4554
|
+
</gazebo>
|
|
4555
|
+
<joint name="fridge_block_joint" type="fixed">
|
|
4556
|
+
<origin rpy="0 0 0" xyz="-5.29 -3.59 0"/>
|
|
4557
|
+
<parent link="kitchen_link"/>
|
|
4558
|
+
<child link="fridge_block_link"/>
|
|
4559
|
+
</joint>
|
|
4560
|
+
<link name="fridge_block_link">
|
|
4561
|
+
<inertial>
|
|
4562
|
+
<mass value="0"/>
|
|
4563
|
+
<inertia ixx="0.0" ixy="0" ixz="0" iyy="0.0" iyz="0" izz="0.0"/>
|
|
4564
|
+
</inertial>
|
|
4565
|
+
<visual>
|
|
4566
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4567
|
+
<geometry>
|
|
4568
|
+
<box size=".1 .1 .1"/>
|
|
4569
|
+
</geometry>
|
|
4570
|
+
</visual>
|
|
4571
|
+
</link>
|
|
4572
|
+
<joint name="pancake_table_table_pancake_table_table_top_joint" type="fixed">
|
|
4573
|
+
<origin rpy="0 0 0" xyz="0.8 0.3 0.7175"/>
|
|
4574
|
+
<parent link="pancake_table_table_link"/>
|
|
4575
|
+
<child link="pancake_table_table_top_link"/>
|
|
4576
|
+
</joint>
|
|
4577
|
+
<link name="pancake_table_table_top_link">
|
|
4578
|
+
<inertial>
|
|
4579
|
+
<mass value="2.0"/>
|
|
4580
|
+
<inertia ixx="0.0601041666667" ixy="0" ixz="0" iyy="0.486666666667" iyz="0" izz="0.426770833333"/>
|
|
4581
|
+
</inertial>
|
|
4582
|
+
<visual>
|
|
4583
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4584
|
+
<geometry>
|
|
4585
|
+
<box size="1.6 0.6 0.025"/>
|
|
4586
|
+
</geometry>
|
|
4587
|
+
<material name="KitchenWhite"/>
|
|
4588
|
+
</visual>
|
|
4589
|
+
<collision>
|
|
4590
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4591
|
+
<geometry>
|
|
4592
|
+
<box size="1.6 0.6 0.025"/>
|
|
4593
|
+
</geometry>
|
|
4594
|
+
</collision>
|
|
4595
|
+
</link>
|
|
4596
|
+
<gazebo reference="pancake_table_table_top_link">
|
|
4597
|
+
<kp>100000</kp>
|
|
4598
|
+
<kd>1000000</kd>
|
|
4599
|
+
<mu1>50000</mu1>
|
|
4600
|
+
<mu2>50000</mu2>
|
|
4601
|
+
<material value="Ias/KitchenWhite"/>
|
|
4602
|
+
</gazebo>
|
|
4603
|
+
<joint name="pancake_table_first_leg_joint" type="fixed">
|
|
4604
|
+
<origin rpy="0 0 0 " xyz="0.025 0.025 0.350"/>
|
|
4605
|
+
<parent link="pancake_table_table_link"/>
|
|
4606
|
+
<child link="pancake_table_first_leg_link"/>
|
|
4607
|
+
</joint>
|
|
4608
|
+
<link name="pancake_table_first_leg_link">
|
|
4609
|
+
<inertial>
|
|
4610
|
+
<mass value="1.0"/>
|
|
4611
|
+
<inertia ixx="0.0409895833333" ixy="0" ixz="0" iyy="0.0003125" iyz="0" izz="0.0409895833333"/>
|
|
4612
|
+
</inertial>
|
|
4613
|
+
<visual>
|
|
4614
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4615
|
+
<geometry>
|
|
4616
|
+
<cylinder length="0.700" radius="0.025"/>
|
|
4617
|
+
</geometry>
|
|
4618
|
+
</visual>
|
|
4619
|
+
<collision>
|
|
4620
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4621
|
+
<geometry>
|
|
4622
|
+
<cylinder length="0.700" radius="0.025"/>
|
|
4623
|
+
</geometry>
|
|
4624
|
+
</collision>
|
|
4625
|
+
</link>
|
|
4626
|
+
<gazebo reference="pancake_table_first_leg_link">
|
|
4627
|
+
<material value="Ias/KitchenLightGray"/>
|
|
4628
|
+
</gazebo>
|
|
4629
|
+
<joint name="pancake_table_second_leg_joint" type="fixed">
|
|
4630
|
+
<origin rpy="0 0 0" xyz="1.575 0.025 0.350"/>
|
|
4631
|
+
<parent link="pancake_table_table_link"/>
|
|
4632
|
+
<child link="pancake_table_second_leg_link"/>
|
|
4633
|
+
</joint>
|
|
4634
|
+
<link name="pancake_table_second_leg_link">
|
|
4635
|
+
<inertial>
|
|
4636
|
+
<mass value="1.0"/>
|
|
4637
|
+
<inertia ixx="0.0409895833333" ixy="0" ixz="0" iyy="0.0003125" iyz="0" izz="0.0409895833333"/>
|
|
4638
|
+
</inertial>
|
|
4639
|
+
<visual>
|
|
4640
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4641
|
+
<geometry>
|
|
4642
|
+
<cylinder length="0.700" radius="0.025"/>
|
|
4643
|
+
</geometry>
|
|
4644
|
+
</visual>
|
|
4645
|
+
<collision>
|
|
4646
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4647
|
+
<geometry>
|
|
4648
|
+
<cylinder length="0.700" radius="0.025"/>
|
|
4649
|
+
</geometry>
|
|
4650
|
+
</collision>
|
|
4651
|
+
</link>
|
|
4652
|
+
<gazebo reference="pancake_table_second_leg_link">
|
|
4653
|
+
<material value="Ias/KitchenLightGray"/>
|
|
4654
|
+
</gazebo>
|
|
4655
|
+
<joint name="pancake_table_third_leg_joint" type="fixed">
|
|
4656
|
+
<origin rpy="0 0 0" xyz="0.025 0.575 0.350"/>
|
|
4657
|
+
<parent link="pancake_table_table_link"/>
|
|
4658
|
+
<child link="pancake_table_third_leg_link"/>
|
|
4659
|
+
</joint>
|
|
4660
|
+
<link name="pancake_table_third_leg_link">
|
|
4661
|
+
<inertial>
|
|
4662
|
+
<mass value="1.0"/>
|
|
4663
|
+
<inertia ixx="0.0409895833333" ixy="0" ixz="0" iyy="0.0003125" iyz="0" izz="0.0409895833333"/>
|
|
4664
|
+
</inertial>
|
|
4665
|
+
<visual>
|
|
4666
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4667
|
+
<geometry>
|
|
4668
|
+
<cylinder length="0.700" radius="0.025"/>
|
|
4669
|
+
</geometry>
|
|
4670
|
+
</visual>
|
|
4671
|
+
<collision>
|
|
4672
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4673
|
+
<geometry>
|
|
4674
|
+
<cylinder length="0.700" radius="0.025"/>
|
|
4675
|
+
</geometry>
|
|
4676
|
+
</collision>
|
|
4677
|
+
</link>
|
|
4678
|
+
<gazebo reference="pancake_table_third_leg_link">
|
|
4679
|
+
<material value="Ias/KitchenLightGray"/>
|
|
4680
|
+
</gazebo>
|
|
4681
|
+
<joint name="pancake_table_fourth_leg_joint" type="fixed">
|
|
4682
|
+
<origin rpy="0 0 0" xyz="1.575 0.575 0.350"/>
|
|
4683
|
+
<parent link="pancake_table_table_link"/>
|
|
4684
|
+
<child link="pancake_table_fourth_leg_link"/>
|
|
4685
|
+
</joint>
|
|
4686
|
+
<link name="pancake_table_fourth_leg_link">
|
|
4687
|
+
<inertial>
|
|
4688
|
+
<mass value="1.0"/>
|
|
4689
|
+
<inertia ixx="0.0409895833333" ixy="0" ixz="0" iyy="0.0003125" iyz="0" izz="0.0409895833333"/>
|
|
4690
|
+
</inertial>
|
|
4691
|
+
<visual>
|
|
4692
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4693
|
+
<geometry>
|
|
4694
|
+
<cylinder length="0.700" radius="0.025"/>
|
|
4695
|
+
</geometry>
|
|
4696
|
+
</visual>
|
|
4697
|
+
<collision>
|
|
4698
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4699
|
+
<geometry>
|
|
4700
|
+
<cylinder length="0.700" radius="0.025"/>
|
|
4701
|
+
</geometry>
|
|
4702
|
+
</collision>
|
|
4703
|
+
</link>
|
|
4704
|
+
<gazebo reference="pancake_table_fourth_leg_link">
|
|
4705
|
+
<material value="Ias/KitchenLightGray"/>
|
|
4706
|
+
</gazebo>
|
|
4707
|
+
<joint name="pancake_table_table_joint" type="fixed">
|
|
4708
|
+
<origin rpy="0 0 1.57" xyz="-2.1 -4.77 0.0"/>
|
|
4709
|
+
<parent link="kitchen_link"/>
|
|
4710
|
+
<child link="pancake_table_table_link"/>
|
|
4711
|
+
</joint>
|
|
4712
|
+
<link name="pancake_table_table_link">
|
|
4713
|
+
<inertial>
|
|
4714
|
+
<mass value="0"/>
|
|
4715
|
+
<inertia ixx="0.0" ixy="0" ixz="0" iyy="0.0" iyz="0" izz="0.0"/>
|
|
4716
|
+
</inertial>
|
|
4717
|
+
<visual>
|
|
4718
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
4719
|
+
<geometry>
|
|
4720
|
+
<box size=".1 .1 .1"/>
|
|
4721
|
+
</geometry>
|
|
4722
|
+
</visual>
|
|
4723
|
+
</link>
|
|
4724
|
+
<!--<table name="eating_table" parent="kitchen" block_pos="-1.7 -2.1 0" block_rpy="0 0 1.57" material="KitchenWhite"/>-->
|
|
4725
|
+
<!-- <chair name="eating_1" parent="kitchen" xyz="-1.35 -1.2 0" rpy="0 0 1.57"/>
|
|
4726
|
+
<chair name="eating_2" parent="kitchen" xyz="-1.35 -1.8 0" rpy="0 0 1.57"/>
|
|
4727
|
+
<chair name="eating_3" parent="kitchen" xyz="-2.65 -0.75 0" rpy="0 0 -1.57"/>
|
|
4728
|
+
<chair name="eating_4" parent="kitchen" xyz="-2.65 -1.35 0" rpy="0 0 -1.57"/>-->
|
|
4729
|
+
</robot>
|