| <?xml version="1.0" ?> |
| <robot name="partnet_6c0d654636fc54545c0af2849a181c0"> |
| <link name="base"/> |
| <link name="link_0"> |
| <visual name="rotation_lid_1"> |
| <origin xyz="-0.14752513690857993 -0.15900499999999979 0.412153"/> |
| <geometry> |
| <mesh filename="textured_objs/original_2.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.14752513690857993 -0.15900499999999979 0.412153"/> |
| <geometry> |
| <mesh filename="textured_objs/original_2.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_0" type="revolute"> |
| <origin xyz="0.14752513690857993 0.15900499999999979 -0.412153"/> |
| <axis xyz="-0.8741577615656795 0 0"/> |
| <child link="link_0"/> |
| <parent link="link_4"/> |
| <limit lower="-2.613805087786708" upper="2.0294688542190062"/> |
| </joint> |
| <link name="link_1"> |
| <visual name="rotation_lid_2"> |
| <origin xyz="0.4044690000000002 -0.15900499999999973 0.01817454130744789"/> |
| <geometry> |
| <mesh filename="textured_objs/original_6.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0.4044690000000002 -0.15900499999999973 0.01817454130744789"/> |
| <geometry> |
| <mesh filename="textured_objs/original_6.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_1" type="revolute"> |
| <origin xyz="-0.4044690000000002 0.15900499999999973 -0.01817454130744789"/> |
| <axis xyz="0 0 0.8741572761215376"/> |
| <child link="link_1"/> |
| <parent link="link_4"/> |
| <limit lower="-2.638937829015427" upper="2.0294688542190062"/> |
| </joint> |
| <link name="link_2"> |
| <visual name="rotation_lid_3"> |
| <origin xyz="0.09790094904684699 -0.15900499999999917 -0.4372489999999991"/> |
| <geometry> |
| <mesh filename="textured_objs/original_3.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0.09790094904684699 -0.15900499999999917 -0.4372489999999991"/> |
| <geometry> |
| <mesh filename="textured_objs/original_3.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_2" type="revolute"> |
| <origin xyz="-0.09790094904684699 0.15900499999999917 0.4372489999999991"/> |
| <axis xyz="0.8741577615656795 0 0"/> |
| <child link="link_2"/> |
| <parent link="link_4"/> |
| <limit lower="-2.638937829015427" upper="2.0671679660620836"/> |
| </joint> |
| <link name="link_3"> |
| <visual name="rotation_lid_4"> |
| <origin xyz="-0.4449340000000004 -0.15900500000000037 -0.1354452204501322"/> |
| <geometry> |
| <mesh filename="textured_objs/original_5.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.4449340000000004 -0.15900500000000037 -0.1354452204501322"/> |
| <geometry> |
| <mesh filename="textured_objs/original_5.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_3" type="revolute"> |
| <origin xyz="0.4449340000000004 0.15900500000000037 0.1354452204501322"/> |
| <axis xyz="0 0 -0.8741577615656797"/> |
| <child link="link_3"/> |
| <parent link="link_4"/> |
| <limit lower="-2.6200882730938875" upper="2.0483184101405447"/> |
| </joint> |
| <link name="link_4"> |
| <visual name="base_body_5"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_7.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_7.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> |
|
|
