sdasfdsafg5asdf's picture
Add files using upload-large-folder tool
6572736 verified
Raw History Blame Contribute Delete
14.4 kB
<?xml version="1.0" ?>
<robot name="partnet_174832b73cd6d91c9856fa70a578baeb">
<link name="base"/>
<link name="link_0">
<visual name="glass_27">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_8.obj"/>
</geometry>
</visual>
<visual name="bar_23">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_0.obj"/>
</geometry>
</visual>
<visual name="bar_23">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_7.obj"/>
</geometry>
</visual>
<visual name="bar_24">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_3.obj"/>
</geometry>
</visual>
<visual name="bar_24">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_6.obj"/>
</geometry>
</visual>
<visual name="bar_25">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_2.obj"/>
</geometry>
</visual>
<visual name="bar_25">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_5.obj"/>
</geometry>
</visual>
<visual name="bar_26">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_1.obj"/>
</geometry>
</visual>
<visual name="bar_26">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_4.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_8.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_0.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_7.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_3.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_6.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_2.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_5.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_1.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_4.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_0" type="fixed">
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
<child link="link_0"/>
<parent link="base"/>
</joint>
<link name="link_1">
<visual name="caster_mounting_plate_15">
<origin xyz="-0.797385 0 -0.45439450000000003"/>
<geometry>
<mesh filename="textured_objs/original_19.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_15">
<origin xyz="-0.797385 0 -0.45439450000000003"/>
<geometry>
<mesh filename="textured_objs/original_14.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_15">
<origin xyz="-0.797385 0 -0.45439450000000003"/>
<geometry>
<mesh filename="textured_objs/original_15.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_15">
<origin xyz="-0.797385 0 -0.45439450000000003"/>
<geometry>
<mesh filename="textured_objs/original_17.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_15">
<origin xyz="-0.797385 0 -0.45439450000000003"/>
<geometry>
<mesh filename="textured_objs/original_18.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_15">
<origin xyz="-0.797385 0 -0.45439450000000003"/>
<geometry>
<mesh filename="textured_objs/original_20.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.797385 0 -0.45439450000000003"/>
<geometry>
<mesh filename="textured_objs/original_19.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.797385 0 -0.45439450000000003"/>
<geometry>
<mesh filename="textured_objs/original_14.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.797385 0 -0.45439450000000003"/>
<geometry>
<mesh filename="textured_objs/original_15.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.797385 0 -0.45439450000000003"/>
<geometry>
<mesh filename="textured_objs/original_17.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.797385 0 -0.45439450000000003"/>
<geometry>
<mesh filename="textured_objs/original_18.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.797385 0 -0.45439450000000003"/>
<geometry>
<mesh filename="textured_objs/original_20.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_1" type="continuous">
<origin xyz="0.797385 0 0.45439450000000003"/>
<axis xyz="0 1 0"/>
<child link="link_1"/>
<parent link="link_0"/>
</joint>
<link name="link_2">
<visual name="wheel_16">
<origin xyz="0 0.18953 -0.409591"/>
<geometry>
<mesh filename="textured_objs/original_16.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0.18953 -0.409591"/>
<geometry>
<mesh filename="textured_objs/original_16.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_2" type="continuous">
<origin xyz="-0.797385 -0.18953 -0.04480350000000005"/>
<axis xyz="1 0 0"/>
<child link="link_2"/>
<parent link="link_1"/>
</joint>
<link name="link_3">
<visual name="caster_mounting_plate_13">
<origin xyz="0.7378236123256089 0 -0.46174722434282295"/>
<geometry>
<mesh filename="textured_objs/original_27.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_13">
<origin xyz="0.7378236123256089 0 -0.46174722434282295"/>
<geometry>
<mesh filename="textured_objs/original_31.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_13">
<origin xyz="0.7378236123256089 0 -0.46174722434282295"/>
<geometry>
<mesh filename="textured_objs/original_26.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_13">
<origin xyz="0.7378236123256089 0 -0.46174722434282295"/>
<geometry>
<mesh filename="textured_objs/original_30.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_13">
<origin xyz="0.7378236123256089 0 -0.46174722434282295"/>
<geometry>
<mesh filename="textured_objs/original_29.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_13">
<origin xyz="0.7378236123256089 0 -0.46174722434282295"/>
<geometry>
<mesh filename="textured_objs/original_32.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.7378236123256089 0 -0.46174722434282295"/>
<geometry>
<mesh filename="textured_objs/original_27.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.7378236123256089 0 -0.46174722434282295"/>
<geometry>
<mesh filename="textured_objs/original_31.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.7378236123256089 0 -0.46174722434282295"/>
<geometry>
<mesh filename="textured_objs/original_26.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.7378236123256089 0 -0.46174722434282295"/>
<geometry>
<mesh filename="textured_objs/original_30.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.7378236123256089 0 -0.46174722434282295"/>
<geometry>
<mesh filename="textured_objs/original_29.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.7378236123256089 0 -0.46174722434282295"/>
<geometry>
<mesh filename="textured_objs/original_32.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_3" type="continuous">
<origin xyz="-0.7378236123256089 0 0.46174722434282295"/>
<axis xyz="0 1 0"/>
<child link="link_3"/>
<parent link="link_0"/>
</joint>
<link name="link_4">
<visual name="wheel_14">
<origin xyz="0 0.18953 -0.409591"/>
<geometry>
<mesh filename="textured_objs/original_28.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0.18953 -0.409591"/>
<geometry>
<mesh filename="textured_objs/original_28.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_4" type="continuous">
<origin xyz="0.7378236123256089 -0.18953 -0.052156224342822965"/>
<axis xyz="-1 0 0"/>
<child link="link_4"/>
<parent link="link_3"/>
</joint>
<link name="link_5">
<visual name="caster_mounting_plate_11">
<origin xyz="0.7353071140952109 0 0.4420390869193078"/>
<geometry>
<mesh filename="textured_objs/original_38.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_11">
<origin xyz="0.7353071140952109 0 0.4420390869193078"/>
<geometry>
<mesh filename="textured_objs/original_43.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_11">
<origin xyz="0.7353071140952109 0 0.4420390869193078"/>
<geometry>
<mesh filename="textured_objs/original_41.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_11">
<origin xyz="0.7353071140952109 0 0.4420390869193078"/>
<geometry>
<mesh filename="textured_objs/original_42.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_11">
<origin xyz="0.7353071140952109 0 0.4420390869193078"/>
<geometry>
<mesh filename="textured_objs/original_44.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_11">
<origin xyz="0.7353071140952109 0 0.4420390869193078"/>
<geometry>
<mesh filename="textured_objs/original_39.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.7353071140952109 0 0.4420390869193078"/>
<geometry>
<mesh filename="textured_objs/original_38.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.7353071140952109 0 0.4420390869193078"/>
<geometry>
<mesh filename="textured_objs/original_43.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.7353071140952109 0 0.4420390869193078"/>
<geometry>
<mesh filename="textured_objs/original_41.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.7353071140952109 0 0.4420390869193078"/>
<geometry>
<mesh filename="textured_objs/original_42.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.7353071140952109 0 0.4420390869193078"/>
<geometry>
<mesh filename="textured_objs/original_44.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.7353071140952109 0 0.4420390869193078"/>
<geometry>
<mesh filename="textured_objs/original_39.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_5" type="continuous">
<origin xyz="-0.7353071140952109 0 -0.4420390869193078"/>
<axis xyz="0 1 0"/>
<child link="link_5"/>
<parent link="link_0"/>
</joint>
<link name="link_6">
<visual name="wheel_12">
<origin xyz="0 0.18953 0.485552"/>
<geometry>
<mesh filename="textured_objs/original_40.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0.18953 0.485552"/>
<geometry>
<mesh filename="textured_objs/original_40.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_6" type="continuous">
<origin xyz="0.7353071140952109 -0.18953 -0.04351291308069216"/>
<axis xyz="-1 0 0"/>
<child link="link_6"/>
<parent link="link_5"/>
</joint>
<link name="link_7">
<visual name="caster_mounting_plate_9">
<origin xyz="-0.7927839366774556 0 0.4515961952848435"/>
<geometry>
<mesh filename="textured_objs/original_5.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_9">
<origin xyz="-0.7927839366774556 0 0.4515961952848435"/>
<geometry>
<mesh filename="textured_objs/original_6.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_9">
<origin xyz="-0.7927839366774556 0 0.4515961952848435"/>
<geometry>
<mesh filename="textured_objs/original_7.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_9">
<origin xyz="-0.7927839366774556 0 0.4515961952848435"/>
<geometry>
<mesh filename="textured_objs/original_3.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_9">
<origin xyz="-0.7927839366774556 0 0.4515961952848435"/>
<geometry>
<mesh filename="textured_objs/original_2.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_9">
<origin xyz="-0.7927839366774556 0 0.4515961952848435"/>
<geometry>
<mesh filename="textured_objs/original_8.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.7927839366774556 0 0.4515961952848435"/>
<geometry>
<mesh filename="textured_objs/original_5.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.7927839366774556 0 0.4515961952848435"/>
<geometry>
<mesh filename="textured_objs/original_6.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.7927839366774556 0 0.4515961952848435"/>
<geometry>
<mesh filename="textured_objs/original_7.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.7927839366774556 0 0.4515961952848435"/>
<geometry>
<mesh filename="textured_objs/original_3.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.7927839366774556 0 0.4515961952848435"/>
<geometry>
<mesh filename="textured_objs/original_2.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.7927839366774556 0 0.4515961952848435"/>
<geometry>
<mesh filename="textured_objs/original_8.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_7" type="continuous">
<origin xyz="0.7927839366774556 0 -0.4515961952848435"/>
<axis xyz="0 1 0"/>
<child link="link_7"/>
<parent link="link_0"/>
</joint>
<link name="link_8">
<visual name="wheel_10">
<origin xyz="0 0.18953 0.4989015"/>
<geometry>
<mesh filename="textured_objs/original_4.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0.18953 0.4989015"/>
<geometry>
<mesh filename="textured_objs/original_4.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_8" type="continuous">
<origin xyz="-0.7927839366774556 -0.18953 -0.04730530471515648"/>
<axis xyz="-1 0 0"/>
<child link="link_8"/>
<parent link="link_7"/>
</joint>
</robot>