File size: 3,397 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_6c0d654636fc54545c0af2849a181c0">
<link name="base"/>
<link name="link_0">
<visual name="rotation_lid_1">
<origin xyz="-0.14752513690857993 -0.15900499999999979 0.412153"/>
<geometry>
<mesh filename="textured_objs/original_2.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.14752513690857993 -0.15900499999999979 0.412153"/>
<geometry>
<mesh filename="textured_objs/original_2.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_0" type="revolute">
<origin xyz="0.14752513690857993 0.15900499999999979 -0.412153"/>
<axis xyz="-0.8741577615656795 0 0"/>
<child link="link_0"/>
<parent link="link_4"/>
<limit lower="-2.613805087786708" upper="2.0294688542190062"/>
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<link name="link_1">
<visual name="rotation_lid_2">
<origin xyz="0.4044690000000002 -0.15900499999999973 0.01817454130744789"/>
<geometry>
<mesh filename="textured_objs/original_6.obj"/>
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</visual>
<collision>
<origin xyz="0.4044690000000002 -0.15900499999999973 0.01817454130744789"/>
<geometry>
<mesh filename="textured_objs/original_6.obj"/>
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</link>
<joint name="joint_1" type="revolute">
<origin xyz="-0.4044690000000002 0.15900499999999973 -0.01817454130744789"/>
<axis xyz="0 0 0.8741572761215376"/>
<child link="link_1"/>
<parent link="link_4"/>
<limit lower="-2.638937829015427" upper="2.0294688542190062"/>
</joint>
<link name="link_2">
<visual name="rotation_lid_3">
<origin xyz="0.09790094904684699 -0.15900499999999917 -0.4372489999999991"/>
<geometry>
<mesh filename="textured_objs/original_3.obj"/>
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<collision>
<origin xyz="0.09790094904684699 -0.15900499999999917 -0.4372489999999991"/>
<geometry>
<mesh filename="textured_objs/original_3.obj"/>
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</link>
<joint name="joint_2" type="revolute">
<origin xyz="-0.09790094904684699 0.15900499999999917 0.4372489999999991"/>
<axis xyz="0.8741577615656795 0 0"/>
<child link="link_2"/>
<parent link="link_4"/>
<limit lower="-2.638937829015427" upper="2.0671679660620836"/>
</joint>
<link name="link_3">
<visual name="rotation_lid_4">
<origin xyz="-0.4449340000000004 -0.15900500000000037 -0.1354452204501322"/>
<geometry>
<mesh filename="textured_objs/original_5.obj"/>
</geometry>
</visual>
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<origin xyz="-0.4449340000000004 -0.15900500000000037 -0.1354452204501322"/>
<geometry>
<mesh filename="textured_objs/original_5.obj"/>
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</link>
<joint name="joint_3" type="revolute">
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<axis xyz="0 0 -0.8741577615656797"/>
<child link="link_3"/>
<parent link="link_4"/>
<limit lower="-2.6200882730938875" upper="2.0483184101405447"/>
</joint>
<link name="link_4">
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_7.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_7.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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