| <?xml version="1.0" ?> |
| <robot name="partnet_07dd2e93_9195_4a01_b13b_2a964ff164c4_1"> |
| <link name="base"/> |
| <link name="link_0"> |
| <visual name="rotation_lid_1"> |
| <origin xyz="-0.12207366180004886 -0.19517067974166719 0.3771559999999998"/> |
| <geometry> |
| <mesh filename="textured_objs/original_5.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.12207366180004886 -0.19517067974166719 0.3771559999999998"/> |
| <geometry> |
| <mesh filename="textured_objs/original_5.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_0" type="revolute"> |
| <origin xyz="0.12207366180004886 0.19517067974166719 -0.3771559999999998"/> |
| <axis xyz="-0.7454750658846611 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="0.5753910000000002 -0.19932899999999998 -0.05890411962910913"/> |
| <geometry> |
| <mesh filename="textured_objs/original_7.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0.5753910000000002 -0.19932899999999998 -0.05890411962910913"/> |
| <geometry> |
| <mesh filename="textured_objs/original_7.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_1" type="revolute"> |
| <origin xyz="-0.5753910000000002 0.19932899999999998 0.05890411962910913"/> |
| <axis xyz="0 0 0.9999999999999999"/> |
| <child link="link_1"/> |
| <parent link="link_4"/> |
| <limit lower="-3.141592653589793" upper="1.5707963267948966"/> |
| </joint> |
| <link name="link_2"> |
| <visual name="rotation_lid_3"> |
| <origin xyz="0.2721859931767474 -0.19512944498462215 -0.373907"/> |
| <geometry> |
| <mesh filename="textured_objs/original_4.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0.2721859931767474 -0.19512944498462215 -0.373907"/> |
| <geometry> |
| <mesh filename="textured_objs/original_4.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_2" type="revolute"> |
| <origin xyz="-0.2721859931767474 0.19512944498462215 0.373907"/> |
| <axis xyz="0.745475065884661 0 0"/> |
| <child link="link_2"/> |
| <parent link="link_4"/> |
| <limit lower="-2.3750440461138838" upper="2.293362637120549"/> |
| </joint> |
| <link name="link_3"> |
| <visual name="rotation_lid_4"> |
| <origin xyz="-0.5512030000000001 -0.19932900000000014 0.007999790402891449"/> |
| <geometry> |
| <mesh filename="textured_objs/original_6.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.5512030000000001 -0.19932900000000014 0.007999790402891449"/> |
| <geometry> |
| <mesh filename="textured_objs/original_6.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_3" type="revolute"> |
| <origin xyz="0.5512030000000001 0.19932900000000014 -0.007999790402891449"/> |
| <axis xyz="0 0 -0.7454750658846612"/> |
| <child link="link_3"/> |
| <parent link="link_4"/> |
| <limit lower="-2.387610416728243" upper="2.2996458224277285"/> |
| </joint> |
| <link name="link_4"> |
| <visual name="base_body_5"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_3.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body_5"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_2.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_3.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_2.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> |
|
|
