| <?xml version="1.0" ?> |
| <robot name="partnet_be3f5a83e94251a7c1a0f8bf0959443"> |
| <link name="base"/> |
| <link name="link_0"> |
| <visual name="rotation_lid_1"> |
| <origin xyz="-0.14818507940211356 -0.12169801341104326 0.574954"/> |
| <geometry> |
| <mesh filename="textured_objs/original_2.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.14818507940211356 -0.12169801341104326 0.574954"/> |
| <geometry> |
| <mesh filename="textured_objs/original_2.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_0" type="revolute"> |
| <origin xyz="0.14818507940211356 0.12169801341104326 -0.574954"/> |
| <axis xyz="-0.7071055859468702 0 0"/> |
| <child link="link_0"/> |
| <parent link="link_4"/> |
| <limit lower="-2.3310617489636267" upper="2.349911304885165"/> |
| </joint> |
| <link name="link_1"> |
| <visual name="rotation_lid_2"> |
| <origin xyz="0.3706529999999999 -0.12169830934103251 0.23410574494202988"/> |
| <geometry> |
| <mesh filename="textured_objs/original_1.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0.3706529999999999 -0.12169830934103251 0.23410574494202988"/> |
| <geometry> |
| <mesh filename="textured_objs/original_1.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_1" type="revolute"> |
| <origin xyz="-0.3706529999999999 0.12169830934103251 -0.23410574494202988"/> |
| <axis xyz="0 6.337531001944615e-07 0.7071053471676096"/> |
| <child link="link_1"/> |
| <parent link="link_4"/> |
| <limit lower="-2.3122121930420874" upper="2.293362637120549"/> |
| </joint> |
| <link name="link_2"> |
| <visual name="rotation_lid_3"> |
| <origin xyz="-0.028974535207383897 -0.12169744705095438 -0.5689329999999995"/> |
| <geometry> |
| <mesh filename="textured_objs/original_3.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.028974535207383897 -0.12169744705095438 -0.5689329999999995"/> |
| <geometry> |
| <mesh filename="textured_objs/original_3.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_2" type="revolute"> |
| <origin xyz="0.028974535207383897 0.12169744705095438 0.5689329999999995"/> |
| <axis xyz="0.7071067811861841 -1.0137847905877871e-06 0"/> |
| <child link="link_2"/> |
| <parent link="link_4"/> |
| <limit lower="-2.349911304885165" upper="2.349911304885165"/> |
| </joint> |
| <link name="link_3"> |
| <visual name="rotation_lid_4"> |
| <origin xyz="-0.35473899999999947 -0.12169831691821709 -0.2128357336285697"/> |
| <geometry> |
| <mesh filename="textured_objs/original_4.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.35473899999999947 -0.12169831691821709 -0.2128357336285697"/> |
| <geometry> |
| <mesh filename="textured_objs/original_4.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_3" type="revolute"> |
| <origin xyz="0.35473899999999947 0.12169831691821709 0.2128357336285697"/> |
| <axis xyz="0 6.549638671174334e-07 -0.7071038654564863"/> |
| <child link="link_3"/> |
| <parent link="link_4"/> |
| <limit lower="-2.28079626650619" upper="2.368760860806704"/> |
| </joint> |
| <link name="link_4"> |
| <visual name="base_body_5"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_8.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body_5"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_5.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body_5"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_6.obj"/> |
| </geometry> |
| </visual> |
| <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_8.obj"/> |
| </geometry> |
| </collision> |
| <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_6.obj"/> |
| </geometry> |
| </collision> |
| <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> |
|
|
