| <?xml version="1.0" ?> |
| <robot name="partnet_2c80e8261b08d3e76c18e71fd49c4dc"> |
| <link name="base"/> |
| <link name="link_0"> |
| <visual name="switch_2"> |
| <origin xyz="0.5382268287006922 -0.16850985530792872 -0.07915972896769327"/> |
| <geometry> |
| <mesh filename="textured_objs/new_2.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0.5382268287006922 -0.16850985530792872 -0.07915972896769327"/> |
| <geometry> |
| <mesh filename="textured_objs/new_2.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_0" type="revolute"> |
| <origin xyz="-0.5382268287006922 0.16850985530792872 0.07915972896769327"/> |
| <axis xyz="0 1 0"/> |
| <child link="link_0"/> |
| <parent link="link_2"/> |
| <limit lower="0.0" upper="1.5707963267948966"/> |
| </joint> |
| <link name="link_1"> |
| <visual name="switch_3"> |
| <origin xyz="-0.5518024114380763 -0.1680426974010687 -0.07156600273536651"/> |
| <geometry> |
| <mesh filename="textured_objs/new_5.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.5518024114380763 -0.1680426974010687 -0.07156600273536651"/> |
| <geometry> |
| <mesh filename="textured_objs/new_5.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_1" type="revolute"> |
| <origin xyz="0.5518024114380763 0.1680426974010687 0.07156600273536651"/> |
| <axis xyz="0 -1 0"/> |
| <child link="link_1"/> |
| <parent link="link_2"/> |
| <limit lower="-0.0" upper="1.5707963267948966"/> |
| </joint> |
| <link name="link_2"> |
| <visual name="surface_base_11"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_7.obj"/> |
| </geometry> |
| </visual> |
| <visual name="vertical_support_12"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_6.obj"/> |
| </geometry> |
| </visual> |
| <visual name="surface_base_9"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_4.obj"/> |
| </geometry> |
| </visual> |
| <visual name="vertical_support_10"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_3.obj"/> |
| </geometry> |
| </visual> |
| <visual name="surface_base_18"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_8.obj"/> |
| </geometry> |
| </visual> |
| <visual name="tube_14"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_9.obj"/> |
| </geometry> |
| </visual> |
| <visual name="head_15"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_10.obj"/> |
| </geometry> |
| </visual> |
| <visual name="mouth_16"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_4.obj"/> |
| </geometry> |
| </visual> |
| <visual name="mouth_16"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_3.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_7.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_6.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_4.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_3.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_8.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_9.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_10.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_4.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_3.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> |
|
|
