File size: 2,623 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 |
<?xml version="1.0" ?>
<robot name="partnet_3bba19a52cbe211cb458c00230942e4e">
<link name="base"/>
<link name="link_0">
<visual name="blade-6">
<origin xyz="0.0698251662 0 -0.0034203225936"/>
<geometry>
<mesh filename="meshes/scissor/new-1.obj" scale="0.3 0.3 0.3"/>
</geometry>
</visual>
<visual name="handle-7">
<origin xyz="0.0698251662 0 -0.0034203225936"/>
<geometry>
<mesh filename="meshes/scissor/original-6.obj" scale="0.3 0.3 0.3"/>
</geometry>
</visual>
<collision>
<origin xyz="0.0698251662 0 -0.0034203225936"/>
<geometry>
<mesh filename="meshes/scissor/new-1.obj" scale="0.3 0.3 0.3"/>
</geometry>
</collision>
<collision>
<origin xyz="0.0698251662 0 -0.0034203225936"/>
<geometry>
<mesh filename="meshes/scissor/original-6.obj" scale="0.3 0.3 0.3"/>
</geometry>
</collision>
</link>
<joint name="joint_0" type="revolute">
<!-- <origin xyz="-0.23275055403563558 0 0.011401075312618584"/> -->
<origin xyz="-0.0698251662 0 0.0034203225936"/>
<axis xyz="0 1 0"/>
<child link="link_0"/>
<parent link="link_1"/>
<limit lower="-0.5969026041820605" upper="0.4"/>
</joint>
<link name="link_1">
<visual name="screw-3">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/scissor/new-0.obj" scale="0.3 0.3 0.3"/>
</geometry>
</visual>
<visual name="screw-3">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/scissor/new-2.obj" scale="0.3 0.3 0.3"/>
</geometry>
</visual>
<visual name="blade-4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/scissor/new-3.obj" scale="0.3 0.3 0.3"/>
</geometry>
</visual>
<visual name="handle-5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/scissor/original-3.obj" scale="0.3 0.3 0.3"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/scissor/new-0.obj" scale="0.3 0.3 0.3"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/scissor/new-2.obj" scale="0.3 0.3 0.3"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/scissor/new-3.obj" scale="0.3 0.3 0.3"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/scissor/original-3.obj" scale="0.3 0.3 0.3"/>
</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>
</robot>
|