| <?xml version="1.0" ?> |
| <robot name="partnet_59af77ad277cf2806ae51efdae196e9a"> |
| <link name="base"/> |
| <link name="link_0"> |
| <visual name="rotation_lid_3"> |
| <origin xyz="-0.1832887311195096 -0.37992500000000007 0.6425329999999999"/> |
| <geometry> |
| <mesh filename="textured_objs/original_8.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.1832887311195096 -0.37992500000000007 0.6425329999999999"/> |
| <geometry> |
| <mesh filename="textured_objs/original_8.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_0" type="revolute"> |
| <origin xyz="0.1832887311195096 0.37992500000000007 -0.6425329999999999"/> |
| <axis xyz="-0.5000006366409013 0 0"/> |
| <child link="link_0"/> |
| <parent link="link_6"/> |
| <limit lower="-3.6477381366681487" upper="1.0122909661567112"/> |
| </joint> |
| <link name="link_1"> |
| <visual name="rotation_lid_4"> |
| <origin xyz="-0.04665768269672266 -0.25416000000000033 0.8603640000000001"/> |
| <geometry> |
| <mesh filename="textured_objs/original_9.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.04665768269672266 -0.25416000000000033 0.8603640000000001"/> |
| <geometry> |
| <mesh filename="textured_objs/original_9.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_1" type="revolute"> |
| <origin xyz="-0.13663104842278695 -0.12576499999999974 -0.21783100000000022"/> |
| <axis xyz="-0.7071053594215018 0 0"/> |
| <child link="link_1"/> |
| <parent link="link_0"/> |
| <limit lower="-3.9095375244672983" upper="2.3387411976724017"/> |
| </joint> |
| <link name="link_2"> |
| <visual name="rotation_lid_5"> |
| <origin xyz="-0.5007950000000001 -0.379925 0.2390748344089006"/> |
| <geometry> |
| <mesh filename="textured_objs/original_2.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.5007950000000001 -0.379925 0.2390748344089006"/> |
| <geometry> |
| <mesh filename="textured_objs/original_2.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_2" type="revolute"> |
| <origin xyz="0.5007950000000001 0.379925 -0.2390748344089006"/> |
| <axis xyz="0 0 -0.7682824968244821"/> |
| <child link="link_2"/> |
| <parent link="link_6"/> |
| <limit lower="-4.014257279586958" upper="0.6632251157578453"/> |
| </joint> |
| <link name="link_3"> |
| <visual name="rotation_lid_6"> |
| <origin xyz="-0.03750872614695955 -0.2541600000000003 -0.8782899999999999"/> |
| <geometry> |
| <mesh filename="textured_objs/original_6.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.03750872614695955 -0.2541600000000003 -0.8782899999999999"/> |
| <geometry> |
| <mesh filename="textured_objs/original_6.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_3" type="revolute"> |
| <origin xyz="0.1469367141412743 -0.1257649999999998 0.21783099999999977"/> |
| <axis xyz="0.7071080748586582 0 0"/> |
| <child link="link_3"/> |
| <parent link="link_4"/> |
| <limit lower="-3.8920842319473548" upper="2.3387411976724017"/> |
| </joint> |
| <link name="link_4"> |
| <visual name="rotation_lid_7"> |
| <origin xyz="0.10942798799431475 -0.37992500000000007 -0.6604590000000001"/> |
| <geometry> |
| <mesh filename="textured_objs/original_5.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0.10942798799431475 -0.37992500000000007 -0.6604590000000001"/> |
| <geometry> |
| <mesh filename="textured_objs/original_5.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_4" type="revolute"> |
| <origin xyz="-0.10942798799431475 0.37992500000000007 0.6604590000000001"/> |
| <axis xyz="0.5000006366409013 0 0"/> |
| <child link="link_4"/> |
| <parent link="link_6"/> |
| <limit lower="-3.665191429188092" upper="1.0297442586766543"/> |
| </joint> |
| <link name="link_5"> |
| <visual name="rotation_lid_8"> |
| <origin xyz="0.48946200000000006 -0.37992500000000007 -0.22034355760606106"/> |
| <geometry> |
| <mesh filename="textured_objs/original_3.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0.48946200000000006 -0.37992500000000007 -0.22034355760606106"/> |
| <geometry> |
| <mesh filename="textured_objs/original_3.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_5" type="revolute"> |
| <origin xyz="-0.48946200000000006 0.37992500000000007 0.22034355760606106"/> |
| <axis xyz="0 0 0.6401096650089413"/> |
| <child link="link_5"/> |
| <parent link="link_6"/> |
| <limit lower="-4.014257279586958" upper="0.6806784082777885"/> |
| </joint> |
| <link name="link_6"> |
| <visual name="base_body_9"> |
| <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_6" type="fixed"> |
| <origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/> |
| <child link="link_6"/> |
| <parent link="base"/> |
| </joint> |
| </robot> |
|
|
