157 lines
4.8 KiB
XML
157 lines
4.8 KiB
XML
<?xml version="1.0"?><robot name="pepe">
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<link name="0">
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<visual>
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<geometry>
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<cylinder length="0.05988099894980281" radius="0.010973903856571376"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.05988099894980281" radius="0.010973903856571376"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="2.265485106304363e-05"/>
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0" ixz="0" iyx="0"/>
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</inertial>
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</link>
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<link name="11">
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<visual>
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<geometry>
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<cylinder length="0.08021043777712455" radius="0.6851716629474602"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.08021043777712455" radius="0.6851716629474602"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.11829858390672475"/>
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0" ixz="0" iyx="0"/>
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</inertial>
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</link>
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<link name="12">
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<visual>
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<geometry>
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<cylinder length="0.08021043777712455" radius="0.6851716629474602"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.08021043777712455" radius="0.6851716629474602"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.11829858390672475"/>
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0" ixz="0" iyx="0"/>
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</inertial>
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</link>
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<link name="13">
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<visual>
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<geometry>
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<cylinder length="0.08021043777712455" radius="0.6851716629474602"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.08021043777712455" radius="0.6851716629474602"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.11829858390672475"/>
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0" ixz="0" iyx="0"/>
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</inertial>
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</link>
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<link name="14">
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<visual>
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<geometry>
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<cylinder length="0.08021043777712455" radius="0.6851716629474602"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.08021043777712455" radius="0.6851716629474602"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.11829858390672475"/>
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0" ixz="0" iyx="0"/>
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</inertial>
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</link>
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<link name="25">
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<visual>
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<geometry>
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<cylinder length="0.9099651727198752" radius="0.719765999838216"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.9099651727198752" radius="0.719765999838216"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="1.4810076398799517"/>
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0" ixz="0" iyx="0"/>
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</inertial>
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</link>
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<link name="26">
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<visual>
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<geometry>
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<cylinder length="0.9099651727198752" radius="0.719765999838216"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.9099651727198752" radius="0.719765999838216"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="1.4810076398799517"/>
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0" ixz="0" iyx="0"/>
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</inertial>
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</link>
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<joint name="11_to_0" type="revolute">
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<parent link="0"/>
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<child link="11"/>
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<axis xyz="1 0 0"/>
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<limit effort="1" upper="-3.1415" lower="3.1415" velocity="1"/>
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<origin rpy="8.19771836091092 1.4468019892140658 1.6939467099855032" xyz="0.7108993773396061 0.19794056821415185 0.29808916518153017"/>
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</joint>
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<joint name="12_to_0" type="revolute">
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<parent link="0"/>
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<child link="12"/>
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<axis xyz="1 0 0"/>
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<limit effort="1" upper="-3.1415" lower="3.1415" velocity="1"/>
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<origin rpy="12.296577541366382 1.4468019892140658 1.6939467099855032" xyz="0.7108993773396061 0.19794056821415185 0.29808916518153017"/>
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</joint>
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<joint name="13_to_0" type="revolute">
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<parent link="0"/>
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<child link="13"/>
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<axis xyz="1 0 0"/>
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<limit effort="1" upper="-3.1415" lower="3.1415" velocity="1"/>
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<origin rpy="16.39543672182184 1.4468019892140658 1.6939467099855032" xyz="0.7108993773396061 0.19794056821415185 0.29808916518153017"/>
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</joint>
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<joint name="14_to_0" type="revolute">
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<parent link="0"/>
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<child link="14"/>
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<axis xyz="1 0 0"/>
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<limit effort="1" upper="-3.1415" lower="3.1415" velocity="1"/>
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<origin rpy="20.4942959022773 1.4468019892140658 1.6939467099855032" xyz="0.7108993773396061 0.19794056821415185 0.29808916518153017"/>
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</joint>
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<joint name="25_to_0" type="revolute">
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<parent link="0"/>
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<child link="25"/>
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<axis xyz="1 0 0"/>
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<limit effort="1" upper="-3.1415" lower="3.1415" velocity="1"/>
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<origin rpy="26.77383088316982 1.050239889513226 5.3919054247971845" xyz="0.8129955504375294 0.2165509104496698 0.8189205197135722"/>
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</joint>
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<joint name="26_to_0" type="revolute">
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<parent link="0"/>
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<child link="26"/>
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<axis xyz="1 0 0"/>
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<limit effort="1" upper="-3.1415" lower="3.1415" velocity="1"/>
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<origin rpy="31.23613603036479 1.050239889513226 5.3919054247971845" xyz="0.8129955504375294 0.2165509104496698 0.8189205197135722"/>
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</joint>
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</robot>
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