File size: 3,687 Bytes
8b4f493 | 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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 | <?xml version="1.0" ?>
<robot name="partnet_07dd2e93_9195_4a01_b13b_2a964ff164c4_1">
<link name="base"/>
<link name="link_0">
<visual name="rotation_lid_1">
<origin xyz="-0.12207366180004886 -0.19517067974166719 0.3771559999999998"/>
<geometry>
<mesh filename="textured_objs/original_5.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.12207366180004886 -0.19517067974166719 0.3771559999999998"/>
<geometry>
<mesh filename="textured_objs/original_5.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_0" type="revolute">
<origin xyz="0.12207366180004886 0.19517067974166719 -0.3771559999999998"/>
<axis xyz="-0.7454750658846611 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="0.5753910000000002 -0.19932899999999998 -0.05890411962910913"/>
<geometry>
<mesh filename="textured_objs/original_7.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.5753910000000002 -0.19932899999999998 -0.05890411962910913"/>
<geometry>
<mesh filename="textured_objs/original_7.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_1" type="revolute">
<origin xyz="-0.5753910000000002 0.19932899999999998 0.05890411962910913"/>
<axis xyz="0 0 0.9999999999999999"/>
<child link="link_1"/>
<parent link="link_4"/>
<limit lower="-3.141592653589793" upper="1.5707963267948966"/>
</joint>
<link name="link_2">
<visual name="rotation_lid_3">
<origin xyz="0.2721859931767474 -0.19512944498462215 -0.373907"/>
<geometry>
<mesh filename="textured_objs/original_4.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.2721859931767474 -0.19512944498462215 -0.373907"/>
<geometry>
<mesh filename="textured_objs/original_4.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_2" type="revolute">
<origin xyz="-0.2721859931767474 0.19512944498462215 0.373907"/>
<axis xyz="0.745475065884661 0 0"/>
<child link="link_2"/>
<parent link="link_4"/>
<limit lower="-2.3750440461138838" upper="2.293362637120549"/>
</joint>
<link name="link_3">
<visual name="rotation_lid_4">
<origin xyz="-0.5512030000000001 -0.19932900000000014 0.007999790402891449"/>
<geometry>
<mesh filename="textured_objs/original_6.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.5512030000000001 -0.19932900000000014 0.007999790402891449"/>
<geometry>
<mesh filename="textured_objs/original_6.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_3" type="revolute">
<origin xyz="0.5512030000000001 0.19932900000000014 -0.007999790402891449"/>
<axis xyz="0 0 -0.7454750658846612"/>
<child link="link_3"/>
<parent link="link_4"/>
<limit lower="-2.387610416728243" upper="2.2996458224277285"/>
</joint>
<link name="link_4">
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_3.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_2.obj"/>
</geometry>
</visual>
<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>
</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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