File size: 3,406 Bytes
cb3790c | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 | <?xml version="1.0" ?>
<robot name="partnet_622026621d781235889463094c9fcbb0">
<link name="base"/>
<link name="link_0">
<visual name="rotation_lid_1">
<origin xyz="0.12742280927128435 -0.20805700000000024 0.4668189999999999"/>
<geometry>
<mesh filename="textured_objs/original_2.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.12742280927128435 -0.20805700000000024 0.4668189999999999"/>
<geometry>
<mesh filename="textured_objs/original_2.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_0" type="revolute">
<origin xyz="-0.12742280927128435 0.20805700000000024 -0.4668189999999999"/>
<axis xyz="-0.7071078613399783 0 0"/>
<child link="link_0"/>
<parent link="link_4"/>
<limit lower="-2.356194490192345" upper="2.356194490192345"/>
</joint>
<link name="link_1">
<visual name="rotation_lid_2">
<origin xyz="0.43919700000000006 -0.20805699999999944 -0.009942627137709104"/>
<geometry>
<mesh filename="textured_objs/original_5.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.43919700000000006 -0.20805699999999944 -0.009942627137709104"/>
<geometry>
<mesh filename="textured_objs/original_5.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_1" type="revolute">
<origin xyz="-0.43919700000000006 0.20805699999999944 0.009942627137709104"/>
<axis xyz="0 0 0.707107861339978"/>
<child link="link_1"/>
<parent link="link_4"/>
<limit lower="-2.356194490192345" upper="2.356194490192345"/>
</joint>
<link name="link_2">
<visual name="rotation_lid_3">
<origin xyz="0.07712470905914726 -0.20805700000000002 -0.458974"/>
<geometry>
<mesh filename="textured_objs/original_4.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.07712470905914726 -0.20805700000000002 -0.458974"/>
<geometry>
<mesh filename="textured_objs/original_4.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_2" type="revolute">
<origin xyz="-0.07712470905914726 0.20805700000000002 0.458974"/>
<axis xyz="0.7071067811865475 0 0"/>
<child link="link_2"/>
<parent link="link_4"/>
<limit lower="-2.375044046113884" upper="2.356194490192345"/>
</joint>
<link name="link_3">
<visual name="rotation_lid_4">
<origin xyz="-0.48659600000000003 -0.20805699999999983 -0.11642219153206129"/>
<geometry>
<mesh filename="textured_objs/original_3.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.48659600000000003 -0.20805699999999983 -0.11642219153206129"/>
<geometry>
<mesh filename="textured_objs/original_3.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_3" type="revolute">
<origin xyz="0.48659600000000003 0.20805699999999983 0.11642219153206129"/>
<axis xyz="0 0 -0.7071067811865476"/>
<child link="link_3"/>
<parent link="link_4"/>
<limit lower="-2.3436281195779856" upper="2.3247785636564466"/>
</joint>
<link name="link_4">
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_1.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_1.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_4" type="fixed">
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
<child link="link_4"/>
<parent link="base"/>
</joint>
</robot>
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