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<?xml version="1.0" ?>
<robot name="partnet_a0dea17b4e7cb9d29addfcd581d71fe9">
	<link name="base"/>
	<link name="link_0">
		<visual name="blade_15">
			<origin xyz="0.5808198569303977 -0.04516800000000032 -0.009017717189124363"/>
			<geometry>
				<mesh filename="textured_objs/original_6.obj"/>
			</geometry>
		</visual>
		<visual name="handle_16">
			<origin xyz="0.5808198569303977 -0.04516800000000032 -0.009017717189124363"/>
			<geometry>
				<mesh filename="textured_objs/original_4.obj"/>
			</geometry>
		</visual>
		<visual name="handle_16">
			<origin xyz="0.5808198569303977 -0.04516800000000032 -0.009017717189124363"/>
			<geometry>
				<mesh filename="textured_objs/original_3.obj"/>
			</geometry>
		</visual>
		<visual name="handle_16">
			<origin xyz="0.5808198569303977 -0.04516800000000032 -0.009017717189124363"/>
			<geometry>
				<mesh filename="textured_objs/new_1.obj"/>
			</geometry>
		</visual>
		<collision>
			<origin xyz="0.5808198569303977 -0.04516800000000032 -0.009017717189124363"/>
			<geometry>
				<mesh filename="textured_objs/original_6.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0.5808198569303977 -0.04516800000000032 -0.009017717189124363"/>
			<geometry>
				<mesh filename="textured_objs/original_4.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0.5808198569303977 -0.04516800000000032 -0.009017717189124363"/>
			<geometry>
				<mesh filename="textured_objs/original_3.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0.5808198569303977 -0.04516800000000032 -0.009017717189124363"/>
			<geometry>
				<mesh filename="textured_objs/new_1.obj"/>
			</geometry>
		</collision>
	</link>
	<joint name="joint_0" type="revolute">
		<origin xyz="-0.5808198569303977 0.04516800000000032 0.009017717189124363"/>
		<axis xyz="0 -1 0"/>
		<child link="link_0"/>
		<parent link="link_1"/>
		<limit lower="-0.3204424506661589" upper="0.9236282401553995"/>
	</joint>
	<link name="link_1">
		<visual name="blade_13">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original_8.obj"/>
			</geometry>
		</visual>
		<visual name="handle_14">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original_1.obj"/>
			</geometry>
		</visual>
		<visual name="handle_14">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original_2.obj"/>
			</geometry>
		</visual>
		<visual name="handle_14">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/new_0.obj"/>
			</geometry>
		</visual>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original_8.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original_1.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original_2.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/new_0.obj"/>
			</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>
</robot>