openrave_models/environment.xml at master · stephane-caron/openrave_models · GitHub

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<environment>
    <robot>
        <kinbody>
            <body name="TRANS_X_LINK">
                <!-- This link is fixed at the world origin. -->
                <mass type="mimicgeom">
                    <total>0</total>
                </mass>
            </body>
        </kinbody>
        <kinbody>
            <body name="TRANS_Y_LINK">
                <mass type="mimicgeom">
                    <total>0</total>
                </mass>
            </body>
        </kinbody>
        <kinbody>
            <body name="TRANS_Z_LINK">
                <mass type="mimicgeom">
                    <total>0</total>
                </mass>
            </body>
        </kinbody>
        <kinbody>
            <body name="ROT_R_LINK">
                <mass type="mimicgeom">
                    <total>0</total>
                </mass>
            </body>
        </kinbody>
        <kinbody>
            <body name="ROT_P_LINK">
                <mass type="mimicgeom">
                    <total>0</total>
                </mass>
            </body>
        </kinbody>
        <kinbody>
            <body name="ROT_Y_LINK">
                <mass type="mimicgeom">
                    <total>0</total>
                </mass>
            </body>
        </kinbody>
        <robot file="model_file.dae" name="model_name">  <!-- update this -->
            <kinbody>
                <joint name="TRANS_X" type="slider">
                    <body>TRANS_X_LINK</body>
                    <body>TRANS_Y_LINK</body>
                    <axis>1 0 0</axis>
                </joint>
                <joint name="TRANS_Y" type="slider">
                    <body>TRANS_Y_LINK</body>
                    <body>TRANS_Z_LINK</body>
                    <axis>0 1 0</axis>
                </joint>
                <joint name="TRANS_Z" type="slider">
                    <body>TRANS_Z_LINK</body>
                    <body>ROT_R_LINK</body>
                    <axis>0 0 1</axis>
                </joint>
                <joint name="ROT_R" type="hinge" circular="true">
                    <body>ROT_R_LINK</body>
                    <body>ROT_P_LINK</body>
                    <axis>1 0 0</axis>
                </joint>
                <joint name="ROT_P" type="hinge" circular="true">
                    <body>ROT_P_LINK</body>
                    <body>ROT_Y_LINK</body>
                    <axis>0 1 0</axis>
                </joint>
                <joint name="ROT_Y" type="hinge" circular="true">
                    <body>ROT_Y_LINK</body>
                    <body><!-- name of the root link of your model --></body>
                    <axis>0 0 1</axis>
                </joint>
            </kinbody>
        </robot>
    </robot>
    <!--
    <kinbody name="floor">
        <body type="static">
            <translation>0 0 -0.854</translation>
            <geom type="box">
                <extents>1 1 0.005</extents>
                <translation>0 0 0</translation>
                <diffuseColor>.4 .4 .4</diffuseColor>
                <ambientColor>.2 .2 .2</ambientColor>
                <transparency>0.3</transparency>
            </geom>
        </body>
    </kinbody>
    -->
</environment>