| <?xml version="1.0" ?> |
| <robot name="partnet_0b636286_7250_446e_ba4e_2191f48ad50c"> |
| <link name="base"/> |
| <link name="link_0"> |
| <visual name="translation_1"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_12.obj"/> |
| </geometry> |
| </visual> |
| <visual name="translation_1"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_14.obj"/> |
| </geometry> |
| </visual> |
| <visual name="translation_1"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_15.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_14.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_15.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_0" type="prismatic"> |
| <origin xyz="0 0 0"/> |
| <axis xyz="1 0 0"/> |
| <child link="link_0"/> |
| <parent link="link_4"/> |
| <limit lower="0" upper="1.2999999999999998"/> |
| </joint> |
| <link name="link_1"> |
| <visual name="translation_2"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_20.obj"/> |
| </geometry> |
| </visual> |
| <visual name="translation_2"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_19.obj"/> |
| </geometry> |
| </visual> |
| <visual name="translation_2"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_17.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_20.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_19.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_17.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_1" type="prismatic"> |
| <origin xyz="0 0 0"/> |
| <axis xyz="1 0 0"/> |
| <child link="link_1"/> |
| <parent link="link_4"/> |
| <limit lower="-0.43599999999999994" upper="0.8799999999999999"/> |
| </joint> |
| <link name="link_2"> |
| <visual name="translation_3"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_2.obj"/> |
| </geometry> |
| </visual> |
| <visual name="translation_3"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_4.obj"/> |
| </geometry> |
| </visual> |
| <visual name="translation_3"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_5.obj"/> |
| </geometry> |
| </visual> |
| <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_4.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_5.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_2" type="prismatic"> |
| <origin xyz="0 0 0"/> |
| <axis xyz="1 0 0"/> |
| <child link="link_2"/> |
| <parent link="link_4"/> |
| <limit lower="-0.8799999999999999" upper="0.43599999999999994"/> |
| </joint> |
| <link name="link_3"> |
| <visual name="translation_4"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_7.obj"/> |
| </geometry> |
| </visual> |
| <visual name="translation_4"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_9.obj"/> |
| </geometry> |
| </visual> |
| <visual name="translation_4"> |
| <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_7.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_9.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_10.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_3" type="prismatic"> |
| <origin xyz="0 0 0"/> |
| <axis xyz="1 0 0"/> |
| <child link="link_3"/> |
| <parent link="link_4"/> |
| <limit lower="-1.308" upper="0"/> |
| </joint> |
| <link name="link_4"> |
| <visual name="base_body_5"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_22.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body_5"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_23.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_22.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_23.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> |
|
|
