box_rom.srdf 619 Bytes
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<?xml version="1.0"?>
<robot name="box">
  <handle name="handle">
    <position> 0 0 0 1 0 0 0 </position>
    <link name="base_link"/>
  </handle>
  <handle name="handle2">
    <position> 0 0 0
      0 0 0.7071067811865476 0.7071067811865476 </position>
    <link name="base_link"/>
  </handle>
  <contact name="box_surface">
    <link name="base_link"/>
    <point>-0.025 -0.025 -0.025   -0.025 0.025 -0.025   -0.025 -0.025 0.025   -0.025 0.025 0.025
           +0.025 -0.025 -0.025   +0.025 0.025 -0.025   +0.025 -0.025 0.025   +0.025 0.025 0.025 </point>
    <triangle> 0 2 1 4 5 6</triangle>
  </contact>
</robot>