| <?xml version="1.0" ?> |
| <robot name="partnet_3e18df9aea04c8cdbc7fb81194b2b6a8"> |
| <link name="base"/> |
| <link name="link_0"> |
| <visual name="rotation_lid_1"> |
| <origin xyz="-0.1368375968265807 -0.25889499999999993 -0.51237"/> |
| <geometry> |
| <mesh filename="textured_objs/original_6.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.1368375968265807 -0.25889499999999993 -0.51237"/> |
| <geometry> |
| <mesh filename="textured_objs/original_6.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_0" type="revolute"> |
| <origin xyz="0.1368375968265807 0.25889499999999993 0.51237"/> |
| <axis xyz="0.9945741290525519 0 0"/> |
| <child link="link_0"/> |
| <parent link="link_2"/> |
| <limit lower="-3.2609731744262054" upper="1.4451326206513049"/> |
| </joint> |
| <link name="link_1"> |
| <visual name="rotation_lid_2"> |
| <origin xyz="0.058312168754828475 -0.258895 0.47283"/> |
| <geometry> |
| <mesh filename="textured_objs/original_3.obj"/> |
| </geometry> |
| </visual> |
| <visual name="rotation_lid_2"> |
| <origin xyz="0.058312168754828475 -0.258895 0.47283"/> |
| <geometry> |
| <mesh filename="textured_objs/original_4.obj"/> |
| </geometry> |
| </visual> |
| <visual name="rotation_lid_2"> |
| <origin xyz="0.058312168754828475 -0.258895 0.47283"/> |
| <geometry> |
| <mesh filename="textured_objs/original_2.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0.058312168754828475 -0.258895 0.47283"/> |
| <geometry> |
| <mesh filename="textured_objs/original_3.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0.058312168754828475 -0.258895 0.47283"/> |
| <geometry> |
| <mesh filename="textured_objs/original_4.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0.058312168754828475 -0.258895 0.47283"/> |
| <geometry> |
| <mesh filename="textured_objs/original_2.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_1" type="revolute"> |
| <origin xyz="-0.058312168754828475 0.258895 -0.47283"/> |
| <axis xyz="-0.9945805685385236 0 0"/> |
| <child link="link_1"/> |
| <parent link="link_2"/> |
| <limit lower="-3.2421236185046665" upper="1.4199998794225868"/> |
| </joint> |
| <link name="link_2"> |
| <visual name="base_body_3"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_5.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body_3"> |
| <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_5.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_1.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> |
|
|
