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<?xml version="1.0" ?> |
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<robot name="bottle"> |
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<link name="base"/> |
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<link name="link_0"> |
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<visual name="lid-7"> |
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<origin xyz="-0.007005959241653967 0 -0.007542109902568375"/> |
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<geometry> |
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<mesh filename="meshes/bottle/original-7.obj" scale="0.15 0.15 0.15"/> |
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</geometry> |
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</visual> |
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<collision> |
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<origin xyz="-0.007005959241653967 0 -0.007542109902568375"/> |
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<geometry> |
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<mesh filename="meshes/bottle/original-7.obj" scale="0.15 0.15 0.15"/> |
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</geometry> |
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</collision> |
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</link> |
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<joint name="joint_0" type="continuous"> |
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<origin xyz="0.0 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_0_helper"/> |
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</joint> |
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<link name="link_1"> |
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<visual name="body-5"> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/bottle/original-4.obj" scale="0.15 0.15 0.15"/> |
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</geometry> |
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</visual> |
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<visual name="body-5"> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/bottle/original-3.obj" scale="0.15 0.15 0.15"/> |
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</geometry> |
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</visual> |
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<visual name="body-5"> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/bottle/original-8.obj" scale="0.15 0.15 0.15"/> |
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</geometry> |
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</visual> |
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<visual name="body-5"> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/bottle/original-6.obj" scale="0.15 0.15 0.15"/> |
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</geometry> |
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</visual> |
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<visual name="body-5"> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/bottle/original-2.obj" scale="0.15 0.15 0.15"/> |
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</geometry> |
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</visual> |
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<visual name="neck-6"> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/bottle/original-5.obj" scale="0.15 0.15 0.15"/> |
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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/bottle/original-4.obj" scale="0.15 0.15 0.15"/> |
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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/bottle/original-3.obj" scale="0.15 0.15 0.15"/> |
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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/bottle/original-8.obj" scale="0.15 0.15 0.15"/> |
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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/bottle/original-6.obj" scale="0.15 0.15 0.15"/> |
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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/bottle/original-2.obj" scale="0.15 0.15 0.15"/> |
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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/bottle/original-5.obj" scale="0.15 0.15 0.15"/> |
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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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<link name="link_0_helper"/> |
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<joint name="joint_2" type="prismatic"> |
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<origin xyz="0.007005959241653967 0 0.007542109902568375"/> |
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<axis xyz="0 1 0"/> |
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<child link="link_0_helper"/> |
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<parent link="link_1"/> |
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<limit lower="0" upper="0.06400000000000006"/> |
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</joint> |
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</robot> |
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