| <?xml version="1.0" ?> |
| <robot name="partnet_622026621d781235889463094c9fcbb0"> |
| <link name="base"/> |
| <link name="link_0"> |
| <visual name="rotation_lid_1"> |
| <origin xyz="0.12742280927128435 -0.20805700000000024 0.4668189999999999"/> |
| <geometry> |
| <mesh filename="textured_objs/original_2.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0.12742280927128435 -0.20805700000000024 0.4668189999999999"/> |
| <geometry> |
| <mesh filename="textured_objs/original_2.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_0" type="revolute"> |
| <origin xyz="-0.12742280927128435 0.20805700000000024 -0.4668189999999999"/> |
| <axis xyz="-0.7071078613399783 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="0.43919700000000006 -0.20805699999999944 -0.009942627137709104"/> |
| <geometry> |
| <mesh filename="textured_objs/original_5.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0.43919700000000006 -0.20805699999999944 -0.009942627137709104"/> |
| <geometry> |
| <mesh filename="textured_objs/original_5.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_1" type="revolute"> |
| <origin xyz="-0.43919700000000006 0.20805699999999944 0.009942627137709104"/> |
| <axis xyz="0 0 0.707107861339978"/> |
| <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="0.07712470905914726 -0.20805700000000002 -0.458974"/> |
| <geometry> |
| <mesh filename="textured_objs/original_4.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0.07712470905914726 -0.20805700000000002 -0.458974"/> |
| <geometry> |
| <mesh filename="textured_objs/original_4.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_2" type="revolute"> |
| <origin xyz="-0.07712470905914726 0.20805700000000002 0.458974"/> |
| <axis xyz="0.7071067811865475 0 0"/> |
| <child link="link_2"/> |
| <parent link="link_4"/> |
| <limit lower="-2.375044046113884" upper="2.356194490192345"/> |
| </joint> |
| <link name="link_3"> |
| <visual name="rotation_lid_4"> |
| <origin xyz="-0.48659600000000003 -0.20805699999999983 -0.11642219153206129"/> |
| <geometry> |
| <mesh filename="textured_objs/original_3.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.48659600000000003 -0.20805699999999983 -0.11642219153206129"/> |
| <geometry> |
| <mesh filename="textured_objs/original_3.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_3" type="revolute"> |
| <origin xyz="0.48659600000000003 0.20805699999999983 0.11642219153206129"/> |
| <axis xyz="0 0 -0.7071067811865476"/> |
| <child link="link_3"/> |
| <parent link="link_4"/> |
| <limit lower="-2.3436281195779856" upper="2.3247785636564466"/> |
| </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> |
|
|
