forked from xtdrone/XTDrone
42 lines
1.2 KiB
XML
42 lines
1.2 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="wam-v-cpu_cases">
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<xacro:macro name="cpu_cases" params="position:='0 0 0' orientation:='0 0 0'">
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<link name="cpu_cases_link">
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<visual name="cpu_cases_visual">
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<origin xyz="0.073 0 -1.53" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://vrx_gazebo/models/cpu_cases/mesh/cpu_cases.dae"/>
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</geometry>
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</visual>
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<collision name="cpu_case_1_collision">
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<origin xyz="0.185 0 0" rpy="0 0 0"/>
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<geometry>
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<box size="0.595 0.83 0.47"/>
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</geometry>
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</collision>
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<collision name="cpu_case_2_collision">
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<origin xyz="-0.3 0 -0.092" rpy="0 0 0"/>
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<geometry>
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<box size="0.375 0.64 0.28"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="20"/>
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<inertia
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ixx="1.51633333333333"
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iyy="1.93633333333333"
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izz="2.71633333333333"
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ixy="0"
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ixz="0"
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iyz="0"/>
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</inertial>
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</link>
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<joint name ="chasis_cpu_cases_joint" type="fixed">
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<origin xyz="${position}" rpy="${orientation}"/>
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<parent link="base_link"/>
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<child link="cpu_cases_link"/>
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</joint>
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</xacro:macro>
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</robot>
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