| <?xml version="1.0" ?> |
| <robot name="partnet_5105a0d1708d68b8f1e469951909c218"> |
| <link name="base"/> |
| <link name="link_0"> |
| <visual name="rotation_1"> |
| <origin xyz="-0.28256573651531514 -0.7567589999999997 0.029760916668331368"/> |
| <geometry> |
| <mesh filename="textured_objs/original_5.obj"/> |
| </geometry> |
| </visual> |
| <visual name="rotation_1"> |
| <origin xyz="-0.28256573651531514 -0.7567589999999997 0.029760916668331368"/> |
| <geometry> |
| <mesh filename="textured_objs/original_4.obj"/> |
| </geometry> |
| </visual> |
| <visual name="rotation_1"> |
| <origin xyz="-0.28256573651531514 -0.7567589999999997 0.029760916668331368"/> |
| <geometry> |
| <mesh filename="textured_objs/original_2.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.28256573651531514 -0.7567589999999997 0.029760916668331368"/> |
| <geometry> |
| <mesh filename="textured_objs/original_5.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="-0.28256573651531514 -0.7567589999999997 0.029760916668331368"/> |
| <geometry> |
| <mesh filename="textured_objs/original_4.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="-0.28256573651531514 -0.7567589999999997 0.029760916668331368"/> |
| <geometry> |
| <mesh filename="textured_objs/original_2.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_0" type="revolute"> |
| <origin xyz="0.28256573651531514 0.7567589999999997 -0.029760916668331368"/> |
| <axis xyz="0 -1 0"/> |
| <child link="link_0"/> |
| <parent link="link_1"/> |
| <limit lower="-1.049291946298991" upper="2.0169024836046465"/> |
| </joint> |
| <link name="link_1"> |
| <visual name="base_body_2"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_3.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body_2"> |
| <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_3.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_1.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_1" type="fixed"> |
| <origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/> |
| <child link="link_1"/> |
| <parent link="base"/> |
| </joint> |
| </robot> |
|
|
