|
|
<?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> |
|
|
|
