| <?xml version="1.0" ?> |
| <robot name="partnet_15b5c54a8ddc84353a5acb1c5cbd19ff"> |
| <link name="base"/> |
| <link name="link_0"> |
| <visual name="rotation_lid_3"> |
| <origin xyz="-0.11440558821760938 -0.2886859015583081 0.42"/> |
| <geometry> |
| <mesh filename="textured_objs/original_2.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.11440558821760938 -0.2886859015583081 0.42"/> |
| <geometry> |
| <mesh filename="textured_objs/original_2.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_0" type="revolute"> |
| <origin xyz="0.11440558821760938 0.2886859015583081 -0.42"/> |
| <axis xyz="-0.644123314889653 0 0"/> |
| <child link="link_0"/> |
| <parent link="link_2"/> |
| <limit lower="-2.2689280275926285" upper="0.5235987755982988"/> |
| </joint> |
| <link name="link_1"> |
| <visual name="rotation_lid_4"> |
| <origin xyz="-0.427809 -0.288 -0.43565743326573825"/> |
| <geometry> |
| <mesh filename="textured_objs/original_1.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.427809 -0.288 -0.43565743326573825"/> |
| <geometry> |
| <mesh filename="textured_objs/original_1.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_1" type="revolute"> |
| <origin xyz="0.427809 0.288 0.43565743326573825"/> |
| <axis xyz="1 0 0"/> |
| <child link="link_1"/> |
| <parent link="link_2"/> |
| <limit lower="-2.0943951023931953" upper="0.6981317007977318"/> |
| </joint> |
| <link name="link_2"> |
| <visual name="base_body_6"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_26.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body_6"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_3.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_26.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_3.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_2" type="fixed"> |
| <origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/> |
| <child link="link_2"/> |
| <parent link="base"/> |
| </joint> |
| </robot> |
|
|
