| <?xml version="1.0" ?> |
| <robot name="robot"> |
| <link name="base_link"/> |
| <link name="helper_link_0"/> |
| <link name="link_1"> |
| <visual> |
| <geometry> |
| <mesh filename="parts/part_1.obj" scale="0.440380 0.440380 0.440380"/> |
| </geometry> |
| </visual> |
| <collision> |
| <geometry> |
| <mesh filename="parts/part_1.obj" scale="0.440380 0.440380 0.440380"/> |
| </geometry> |
| </collision> |
| </link> |
| <link name="link_2"> |
| <visual> |
| <geometry> |
| <mesh filename="parts/part_2.obj" scale="0.440380 0.440380 0.440380"/> |
| </geometry> |
| </visual> |
| <collision> |
| <geometry> |
| <mesh filename="parts/part_2.obj" scale="0.440380 0.440380 0.440380"/> |
| </geometry> |
| </collision> |
| </link> |
| <link name="link_6"> |
| <visual> |
| <geometry> |
| <mesh filename="parts/part_6.obj" scale="0.440380 0.440380 0.440380"/> |
| </geometry> |
| </visual> |
| <collision> |
| <geometry> |
| <mesh filename="parts/part_6.obj" scale="0.440380 0.440380 0.440380"/> |
| </geometry> |
| </collision> |
| </link> |
| <link name="link_9"> |
| <visual> |
| <geometry> |
| <mesh filename="parts/part_9.obj" scale="0.440380 0.440380 0.440380"/> |
| </geometry> |
| </visual> |
| <collision> |
| <geometry> |
| <mesh filename="parts/part_9.obj" scale="0.440380 0.440380 0.440380"/> |
| </geometry> |
| </collision> |
| </link> |
| <link name="link_10"> |
| <visual> |
| <geometry> |
| <mesh filename="parts/part_10.obj" scale="0.440380 0.440380 0.440380"/> |
| </geometry> |
| </visual> |
| <collision> |
| <geometry> |
| <mesh filename="parts/part_10.obj" scale="0.440380 0.440380 0.440380"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_0" type="continuous"> |
| <parent link="base_link"/> |
| <child link="helper_link_0"/> |
| <origin xyz="0.000088 0.216082 -0.000005" rpy="0 0 0"/> |
| <axis xyz="0.0 1.0 0.0"/> |
| </joint> |
| <joint name="joint_1" type="fixed"> |
| <parent link="helper_link_0"/> |
| <child link="link_9"/> |
| <origin xyz="-0.000088 -0.216082 0.000005" rpy="0 0 0"/> |
| </joint> |
| <joint name="joint_2" type="fixed"> |
| <parent link="base_link"/> |
| <child link="link_1"/> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| </joint> |
| <joint name="joint_3" type="fixed"> |
| <parent link="base_link"/> |
| <child link="link_2"/> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| </joint> |
| <joint name="joint_4" type="fixed"> |
| <parent link="base_link"/> |
| <child link="link_6"/> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| </joint> |
| <joint name="joint_5" type="fixed"> |
| <parent link="base_link"/> |
| <child link="link_10"/> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| </joint> |
| </robot> |
