| <?xml version="1.0" ?> |
| <robot name="partnet_9973f62eeb03fa9b6e259a0b666e79d"> |
| <link name="base"/> |
| <link name="link_0"> |
| <visual name="hand_10"> |
| <origin xyz="-0.010286499165966134 0.104787047999782 -0.22824300000000042"/> |
| <geometry> |
| <mesh filename="textured_objs/original_18.obj"/> |
| </geometry> |
| </visual> |
| <visual name="hand_10"> |
| <origin xyz="-0.010286499165966134 0.104787047999782 -0.22824300000000042"/> |
| <geometry> |
| <mesh filename="textured_objs/original_16.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.010286499165966134 0.104787047999782 -0.22824300000000042"/> |
| <geometry> |
| <mesh filename="textured_objs/original_18.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="-0.010286499165966134 0.104787047999782 -0.22824300000000042"/> |
| <geometry> |
| <mesh filename="textured_objs/original_16.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_0" type="continuous"> |
| <origin xyz="0.010286499165966134 -0.104787047999782 0.22824300000000042"/> |
| <axis xyz="0.0 0.0 -1.0"/> |
| <child link="link_0"/> |
| <parent link="link_4"/> |
| </joint> |
| <link name="link_1"> |
| <visual name="hand_11"> |
| <origin xyz="-0.010286499165966134 0.104787047999782 -0.22824300000000042"/> |
| <geometry> |
| <mesh filename="textured_objs/original_15.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.010286499165966134 0.104787047999782 -0.22824300000000042"/> |
| <geometry> |
| <mesh filename="textured_objs/original_15.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_1" type="continuous"> |
| <origin xyz="0.010286499165966134 -0.104787047999782 0.22824300000000042"/> |
| <axis xyz="0.0 0.0 -1.0"/> |
| <child link="link_1"/> |
| <parent link="link_4"/> |
| </joint> |
| <link name="link_2"> |
| <visual name="alarm_ring_7"> |
| <origin xyz="0.3396173001408746 -0.4837947823089974 0.024112204538868087"/> |
| <geometry> |
| <mesh filename="textured_objs/original_3.obj"/> |
| </geometry> |
| </visual> |
| <visual name="alarm_ring_7"> |
| <origin xyz="0.3396173001408746 -0.4837947823089974 0.024112204538868087"/> |
| <geometry> |
| <mesh filename="textured_objs/original_5.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0.3396173001408746 -0.4837947823089974 0.024112204538868087"/> |
| <geometry> |
| <mesh filename="textured_objs/original_3.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0.3396173001408746 -0.4837947823089974 0.024112204538868087"/> |
| <geometry> |
| <mesh filename="textured_objs/original_5.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_2" type="prismatic"> |
| <origin xyz="-0.3396173001408746 0.4837947823089974 -0.024112204538868087"/> |
| <axis xyz="0.5581097535325106 -0.8297671378235465 0.0"/> |
| <child link="link_2"/> |
| <parent link="link_4"/> |
| <limit lower="0" upper="0.15600000000000014"/> |
| </joint> |
| <link name="link_3"> |
| <visual name="alarm_ring_8"> |
| <origin xyz="-0.02577577895554603 0.013679794834849284 -0.009449055457376196"/> |
| <geometry> |
| <mesh filename="textured_objs/original_4.obj"/> |
| </geometry> |
| </visual> |
| <visual name="alarm_ring_8"> |
| <origin xyz="-0.02577577895554603 0.013679794834849284 -0.009449055457376196"/> |
| <geometry> |
| <mesh filename="textured_objs/original_6.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.02577577895554603 0.013679794834849284 -0.009449055457376196"/> |
| <geometry> |
| <mesh filename="textured_objs/original_4.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="-0.02577577895554603 0.013679794834849284 -0.009449055457376196"/> |
| <geometry> |
| <mesh filename="textured_objs/original_6.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_3" type="prismatic"> |
| <origin xyz="0.02577577895554603 -0.013679794834849284 0.009449055457376196"/> |
| <axis xyz="-0.473352771883138 -0.8807242949395172 0.01618238714901139"/> |
| <child link="link_3"/> |
| <parent link="link_4"/> |
| <limit lower="0" upper="0.1399999999999999"/> |
| </joint> |
| <link name="link_4"> |
| <visual name="frame_9"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_12.obj"/> |
| </geometry> |
| </visual> |
| <visual name="surface_12"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_8.obj"/> |
| </geometry> |
| </visual> |
| <visual name="foot_15"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_11.obj"/> |
| </geometry> |
| </visual> |
| <visual name="foot_16"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_10.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_12.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_11.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_10.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> |
|
|
