| <?xml version="1.0" ?> |
| <robot name="partnet_3317da004c4177a5f47e82e63eafd5bc_0"> |
| <link name="base"/> |
| <link name="link_0"> |
| <visual name="rotation_lid_1"> |
| <origin xyz="-0.31660425872202214 -0.29751199999999994 0.24250700000000014"/> |
| <geometry> |
| <mesh filename="textured_objs/original_9.obj"/> |
| </geometry> |
| </visual> |
| <visual name="rotation_lid_1"> |
| <origin xyz="-0.31660425872202214 -0.29751199999999994 0.24250700000000014"/> |
| <geometry> |
| <mesh filename="textured_objs/original_8.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.31660425872202214 -0.29751199999999994 0.24250700000000014"/> |
| <geometry> |
| <mesh filename="textured_objs/original_9.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="-0.31660425872202214 -0.29751199999999994 0.24250700000000014"/> |
| <geometry> |
| <mesh filename="textured_objs/original_8.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_0" type="revolute"> |
| <origin xyz="0.31660425872202214 0.29751199999999994 -0.24250700000000014"/> |
| <axis xyz="-0.9659262867695628 0 0"/> |
| <child link="link_0"/> |
| <parent link="link_2"/> |
| <limit lower="-1.832595714594046" upper="1.2915436464758039"/> |
| </joint> |
| <link name="link_1"> |
| <visual name="drawer_2"> |
| <origin xyz="0.46159568235906356 0.21526026863272418 -0.284856"/> |
| <geometry> |
| <mesh filename="textured_objs/original_2.obj"/> |
| </geometry> |
| </visual> |
| <visual name="drawer_2"> |
| <origin xyz="0.46159568235906356 0.21526026863272418 -0.284856"/> |
| <geometry> |
| <mesh filename="textured_objs/original_3.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0.46159568235906356 0.21526026863272418 -0.284856"/> |
| <geometry> |
| <mesh filename="textured_objs/original_2.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0.46159568235906356 0.21526026863272418 -0.284856"/> |
| <geometry> |
| <mesh filename="textured_objs/original_3.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_1" type="prismatic"> |
| <origin xyz="-0.46159568235906356 -0.21526026863272418 0.284856"/> |
| <axis xyz="0 0 0.9999999999999999"/> |
| <child link="link_1"/> |
| <parent link="link_2"/> |
| <limit lower="-0.25" upper="0.19199999999999995"/> |
| </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_6.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body_3"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_15.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body_3"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_11.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body_3"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_18.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body_3"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_17.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body_3"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_12.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body_3"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_14.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_6.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_15.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_11.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_18.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_17.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_12.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_14.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> |
|
|
