2025-12-10 15:50:20 -06:00
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<?xml version="1.0"?>
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<robot name="lev_pod">
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<link name="base_link">
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<inertial>
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<mass value="5.8"/>
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<inertia ixx="0.0192942414" ixy="0.0" ixz="0.0" iyy="0.130582305" iyz="0.0" izz="0.13760599326"/>
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</inertial>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 -0.009525"/>
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<geometry> <box size="0.6096 0.0862 0.01905"/> </geometry>
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</collision>
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2025-12-12 08:56:30 -06:00
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Bolts
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2025-12-10 15:50:20 -06:00
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<collision>
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<origin rpy="0 0 0" xyz="0.285 0.03 0.09585"/>
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<geometry><box size="0.01 0.01 0.01"/></geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="0.285 -0.03 0.09585"/>
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<geometry><box size="0.01 0.01 0.01"/></geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="-0.285 0.03 0.09585"/>
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<geometry><box size="0.01 0.01 0.01"/></geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="-0.285 -0.03 0.09585"/>
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<geometry><box size="0.01 0.01 0.01"/></geometry>
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</collision>
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2025-12-12 08:56:30 -06:00
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<!-- BottomStops
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<collision>
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<origin rpy="0 0 0" xyz="0.285 0.03 0.14500"/>
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<geometry><box size="0.01 0.01 0.01"/></geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="0.285 -0.03 0.14500"/>
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<geometry><box size="0.01 0.01 0.01"/></geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="-0.285 0.03 0.14500"/>
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<geometry><box size="0.01 0.01 0.01"/></geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="-0.285 -0.03 0.14500"/>
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<geometry><box size="0.01 0.01 0.01"/></geometry>
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</collision> -->
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2025-12-10 15:50:20 -06:00
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<!-- Yoke Tops -->
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<collision>
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<origin rpy="0 0 0" xyz="0.1259 0.0508 0.08585"/>
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<geometry><box size="0.0254 0.0254 0.01"/></geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="0.1259 -0.0508 0.08585"/>
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<geometry><box size="0.0254 0.0254 0.01"/></geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="-0.1259 0.0508 0.08585"/>
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<geometry><box size="0.0254 0.0254 0.01"/></geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="-0.1259 -0.0508 0.08585"/>
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<geometry><box size="0.0254 0.0254 0.01"/></geometry>
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</collision>
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<!-- Sensor Tops -->
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<collision>
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<origin rpy="0 0 0" xyz="0 0.0508 0.08585"/>
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<geometry><cylinder length="0.01" radius="0.015"/></geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="0 -0.0508 0.08585"/>
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<geometry><cylinder length="0.01" radius="0.015"/></geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="0.2366 0 0.08585"/>
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<geometry><cylinder length="0.01" radius="0.015"/></geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="-0.2366 0 0.08585"/>
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<geometry><cylinder length="0.01" radius="0.015"/></geometry>
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</collision>
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</link>
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</robot>
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