examples/rlmdl/box-6d-300505.sixDof.xml

<?xml version="1.0" encoding="UTF-8"?>
<rlmdl xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="rlmdl.xsd">
	<model>
		<manufacturer></manufacturer>
		<name>6D Box (3.0m x 0.5m x 0.5m)</name>
		<world id="world">
			<rotation>
				<x>0</x>
				<y>0</y>
				<z>0</z>
			</rotation>
			<translation>
				<x>0</x>
				<y>0</y>
				<z>0</z>
			</translation>
			<g>
				<x>0</x>
				<y>0</y>
				<z>9.86055</z>
			</g>
		</world>
		<sixDof id="joint0">
			<frame>
				<a idref="world"/>
				<b idref="body1"/>
			</frame>
			<max>30</max>
			<max>30</max>
			<max>2</max>
			<min>0</min>
			<min>0</min>
			<min>0</min>
		</sixDof>
		<body id="body1"/>
		<fixed id="tool">
			<frame>
				<a idref="body1"/>
				<b idref="tcp"/>
			</frame>
			<rotation>
				<x>0</x>
				<y>0</y>
				<z>0</z>
			</rotation>
			<translation>
				<x>1.5</x>
				<y>0</y>
				<z>0</z>
			</translation>
		</fixed>
		<frame id="tcp"/>
	</model>
</rlmdl>