| <?xml version="1.0" ?> |
| <robot name="partnet_3abe53cf05d6a45e9f6511f1884e2d17"> |
| <link name="base"/> |
| <link name="link_0"> |
| <visual name="rotation_lid_1"> |
| <origin xyz="-0.22824362703686685 -0.17569499999999952 0.4663489999999999"/> |
| <geometry> |
| <mesh filename="textured_objs/original_2.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.22824362703686685 -0.17569499999999952 0.4663489999999999"/> |
| <geometry> |
| <mesh filename="textured_objs/original_2.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_0" type="revolute"> |
| <origin xyz="0.22824362703686685 0.17569499999999952 -0.4663489999999999"/> |
| <axis xyz="-0.7071067811865474 0 0"/> |
| <child link="link_0"/> |
| <parent link="link_4"/> |
| <limit lower="-2.356194490192345" upper="2.356194490192345"/> |
| </joint> |
| <link name="link_1"> |
| <visual name="rotation_lid_2"> |
| <origin xyz="0.48697599999999985 -0.17569499999999982 -0.02633372691437219"/> |
| <geometry> |
| <mesh filename="textured_objs/original_5.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0.48697599999999985 -0.17569499999999982 -0.02633372691437219"/> |
| <geometry> |
| <mesh filename="textured_objs/original_5.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_1" type="revolute"> |
| <origin xyz="-0.48697599999999985 0.17569499999999982 0.02633372691437219"/> |
| <axis xyz="0 0 0.7071067811865474"/> |
| <child link="link_1"/> |
| <parent link="link_4"/> |
| <limit lower="-2.356194490192345" upper="2.356194490192345"/> |
| </joint> |
| <link name="link_2"> |
| <visual name="rotation_lid_3"> |
| <origin xyz="0.0579459683125112 -0.17569499999999966 -0.46090699999999996"/> |
| <geometry> |
| <mesh filename="textured_objs/original_4.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0.0579459683125112 -0.17569499999999966 -0.46090699999999996"/> |
| <geometry> |
| <mesh filename="textured_objs/original_4.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_2" type="revolute"> |
| <origin xyz="-0.0579459683125112 0.17569499999999966 0.46090699999999996"/> |
| <axis xyz="0.7071067811865476 0 0"/> |
| <child link="link_2"/> |
| <parent link="link_4"/> |
| <limit lower="-2.356194490192345" upper="2.356194490192345"/> |
| </joint> |
| <link name="link_3"> |
| <visual name="rotation_lid_4"> |
| <origin xyz="-0.44028 -0.17569500000000024 -0.09461069595392668"/> |
| <geometry> |
| <mesh filename="textured_objs/original_3.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.44028 -0.17569500000000024 -0.09461069595392668"/> |
| <geometry> |
| <mesh filename="textured_objs/original_3.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_3" type="revolute"> |
| <origin xyz="0.44028 0.17569500000000024 0.09461069595392668"/> |
| <axis xyz="0 0 -0.7071067811865475"/> |
| <child link="link_3"/> |
| <parent link="link_4"/> |
| <limit lower="-2.3436281195779856" upper="2.356194490192345"/> |
| </joint> |
| <link name="link_4"> |
| <visual name="base_body_5"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_1.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_1.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_4" type="fixed"> |
| <origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/> |
| <child link="link_4"/> |
| <parent link="base"/> |
| </joint> |
| </robot> |
|
|
