File size: 3,443 Bytes
1477756 |
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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 |
<?xml version="1.0" ?>
<robot name="cup">
<link name="base"/>
<link name="link_0">
<visual name="lid-3">
<origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
<geometry>
<mesh filename="meshes/cup/original-1.obj" scale="0.1 0.1 0.1"/>
</geometry>
</visual>
<visual name="lid-3">
<origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
<geometry>
<mesh filename="meshes/cup/original-6.obj" scale="0.1 0.1 0.1"/>
</geometry>
</visual>
<visual name="lid-3">
<origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
<geometry>
<mesh filename="meshes/cup/original-4.obj" scale="0.1 0.1 0.1"/>
</geometry>
</visual>
<collision>
<origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
<geometry>
<mesh filename="meshes/cup/original-1.obj" scale="0.1 0.1 0.1"/>
</geometry>
</collision>
<collision>
<origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
<geometry>
<mesh filename="meshes/cup/original-6.obj" scale="0.1 0.1 0.1"/>
</geometry>
</collision>
<collision>
<origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
<geometry>
<mesh filename="meshes/cup/original-4.obj" scale="0.1 0.1 0.1"/>
</geometry>
</collision>
</link>
<joint name="joint_0" type="prismatic">
<origin xyz="-0.0013007224518146773 0 -0.006225716369432219"/>
<axis xyz="0 1 0"/>
<child link="link_0"/>
<parent link="link_1"/>
<limit lower="0" upper="0.1080000000000001"/>
</joint>
<link name="link_1">
<visual name="body-1">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/cup/original-2.obj" scale="0.1 0.1 0.1"/>
</geometry>
</visual>
<visual name="body-1">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/cup/new-0.obj" scale="0.1 0.1 0.1"/>
</geometry>
</visual>
<visual name="body-1">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/cup/new-1.obj" scale="0.1 0.1 0.1"/>
</geometry>
</visual>
<visual name="handle-2">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/cup/original-5.obj" scale="0.1 0.1 0.1"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/cup/original-2.obj" scale="0.1 0.1 0.1"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/cup/new-0.obj" scale="0.1 0.1 0.1"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/cup/new-1.obj" scale="0.1 0.1 0.1"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/cup/original-5.obj" scale="0.1 0.1 0.1"/>
</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>
<link name="link_2">
<visual name="handle-3">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/cup/original-5.obj" scale="0.1 0.1 0.1"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/cup/original-5.obj" scale="0.1 0.1 0.1"/>
</geometry>
</collision>
</link>
<joint name="joint_2" type="fixed">
<origin rpy="1.570796326794897 0 1.570796326794897" xyz="0 0 0"/>
<child link="link_2"/>
<parent link="base"/>
</joint>
</robot>
|