File size: 3,881 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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 | <?xml version="1.0" ?>
<robot name="door">
<link name="base"/>
<link name="link_0">
<visual name="outside_frame-1">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/door/original-1.obj"/>
</geometry>
</visual>
<visual name="outside_frame-1">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/door/original-2.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/door/original-1.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/door/original-2.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="glass-34">
<origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/>
<geometry>
<mesh filename="meshes/door/original-12.obj"/>
</geometry>
</visual>
<visual name="fixed_part-31">
<origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/>
<geometry>
<mesh filename="meshes/door/original-10.obj" scale="2 2 2"/>
</geometry>
</visual>
<visual name="fixed_part-30">
<origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/>
<geometry>
<mesh filename="meshes/door/original-11.obj" scale="2 2 2"/>
</geometry>
</visual>
<collision>
<origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/>
<geometry>
<mesh filename="meshes/door/original-12.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/>
<geometry>
<mesh filename="meshes/door/original-10.obj" scale="2 2 2"/>
</geometry>
</collision>
<collision>
<origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/>
<geometry>
<mesh filename="meshes/door/original-11.obj" scale="2 2 2"/>
</geometry>
</collision>
</link>
<joint name="joint_1" type="revolute">
<origin xyz="-0.4265270657166128 0.48329200000000005 0.008461858680020029"/>
<axis xyz="0 -1 0"/>
<child link="link_1"/>
<parent link="link_0"/>
<limit lower="0.0" upper="1.5707963267948966"/>
</joint>
<link name="link_2">
<visual name="glass-33">
<origin xyz="-0.41540686074842226 -0.4832920000000003 -0.0055998888476049835"/>
<geometry>
<mesh filename="meshes/door/original-7.obj"/>
</geometry>
</visual>
<visual name="fixed_part-32">
<origin xyz="-0.41540686074842226 -0.4832920000000003 -0.0055998888476049835"/>
<geometry>
<mesh filename="meshes/door/original-6.obj" scale="2 2 2"/>
</geometry>
</visual>
<visual name="fixed_part-29">
<origin xyz="-0.41540686074842226 -0.4832920000000003 -0.0055998888476049835"/>
<geometry>
<mesh filename="meshes/door/original-5.obj" scale="2 2 2"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.41540686074842226 -0.4832920000000003 -0.0055998888476049835"/>
<geometry>
<mesh filename="meshes/door/original-7.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.41540686074842226 -0.4832920000000003 -0.0055998888476049835"/>
<geometry>
<mesh filename="meshes/door/original-6.obj" scale="2 2 2"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.41540686074842226 -0.4832920000000003 -0.0055998888476049835"/>
<geometry>
<mesh filename="meshes/door/original-5.obj" scale="2 2 2"/>
</geometry>
</collision>
</link>
<joint name="joint_2" type="revolute">
<origin xyz="0.42040686074842226 0.4832920000000003 0.0055998888476049835"/>
<axis xyz="0 1 0"/>
<child link="link_2"/>
<parent link="link_0"/>
<limit lower="-0.0" upper="1.5707963267948966"/>
</joint>
</robot>
|