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<?xml version="1.0" ?> |
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<robot name="kettle"> |
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<link name="base"/> |
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<link name="link_0"> |
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<visual name="lid-1"> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/kettle/original-4.obj" scale="0.2 0.2 0.2"/> |
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</geometry> |
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</visual> |
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<collision> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/kettle/original-4.obj" scale="0.2 0.2 0.2"/> |
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</geometry> |
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</collision> |
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</link> |
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<joint name="joint_0" type="prismatic"> |
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<origin xyz="0 0 0"/> |
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<axis xyz="0 1 0"/> |
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<child link="link_0"/> |
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<parent link="link_1"/> |
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<limit lower="0" upper="0.03200000000000003"/> |
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</joint> |
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<link name="link_1"> |
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<visual name="handle-2"> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/kettle/original-2.obj" scale="0.2 0.2 0.2"/> |
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</geometry> |
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</visual> |
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<visual name="base_body-3"> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/kettle/original-3.obj" scale="0.2 0.2 0.2"/> |
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</geometry> |
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</visual> |
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<visual name="base_body-3"> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/kettle/original-1.obj" scale="0.2 0.2 0.2"/> |
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</geometry> |
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</visual> |
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<collision> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/kettle/original-2.obj" scale="0.2 0.2 0.2"/> |
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</geometry> |
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</collision> |
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<collision> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/kettle/original-3.obj" scale="0.2 0.2 0.2"/> |
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</geometry> |
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</collision> |
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<collision> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/kettle/original-1.obj" scale="0.2 0.2 0.2"/> |
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</geometry> |
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</collision> |
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</link> |
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<joint name="joint_1" type="fixed"> |
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<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/> |
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<child link="link_1"/> |
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<parent link="base"/> |
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</joint> |
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</robot> |
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