File size: 2,811 Bytes
86624bf | 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 | <?xml version="1.0" ?>
<robot name="partnet_c7a2224b009756cc226245d28c34a910">
<link name="base"/>
<link name="link_0">
<visual name="rotation_lid_1">
<origin xyz="-0.7214450000000001 -0.30802655745340035 0.22906735067242812"/>
<geometry>
<mesh filename="textured_objs/original_5.obj"/>
</geometry>
</visual>
<visual name="rotation_lid_1">
<origin xyz="-0.7214450000000001 -0.30802655745340035 0.22906735067242812"/>
<geometry>
<mesh filename="textured_objs/original_6.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.7214450000000001 -0.30802655745340035 0.22906735067242812"/>
<geometry>
<mesh filename="textured_objs/original_5.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.7214450000000001 -0.30802655745340035 0.22906735067242812"/>
<geometry>
<mesh filename="textured_objs/original_6.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_0" type="revolute">
<origin xyz="0.7214450000000001 0.30802655745340035 -0.22906735067242812"/>
<axis xyz="-1 0 0"/>
<child link="link_0"/>
<parent link="link_1"/>
<limit lower="-0.6911503837897545" upper="1.5833626974092563"/>
</joint>
<link name="link_1">
<visual name="base_body_2">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_4.obj"/>
</geometry>
</visual>
<visual name="base_body_2">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_3.obj"/>
</geometry>
</visual>
<visual name="base_body_2">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_2.obj"/>
</geometry>
</visual>
<visual name="base_body_2">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_8.obj"/>
</geometry>
</visual>
<visual name="base_body_2">
<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_4.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_3.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_2.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_8.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_7.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_1" type="fixed">
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
<child link="link_1"/>
<parent link="base"/>
</joint>
</robot>
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