| <?xml version="1.0" ?> |
| <robot name="partnet_5ece281de0d8b41bedfd2a89fff3f91"> |
| <link name="base"/> |
| <link name="link_0"> |
| <visual name="lid-1"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-8.obj"/> |
| </geometry> |
| </visual> |
| <visual name="lid-1"> |
| <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-8.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-2.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_0" type="prismatic"> |
| <origin xyz="0 0 0"/> |
| <axis xyz="0 1 0"/> |
| <child link="link_0"/> |
| <parent link="link_2"/> |
| <limit lower="0" upper="0.03"/> |
| </joint> |
| <link name="link_1"> |
| <visual name="handle-2"> |
| <origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/> |
| <geometry> |
| <mesh filename="textured_objs/original-1.obj"/> |
| </geometry> |
| </visual> |
| <visual name="handle-2"> |
| <origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/> |
| <geometry> |
| <mesh filename="textured_objs/original-11.obj"/> |
| </geometry> |
| </visual> |
| <visual name="handle-2"> |
| <origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/> |
| <geometry> |
| <mesh filename="textured_objs/original-3.obj"/> |
| </geometry> |
| </visual> |
| <visual name="handle-2"> |
| <origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/> |
| <geometry> |
| <mesh filename="textured_objs/original-5.obj"/> |
| </geometry> |
| </visual> |
| <visual name="handle-2"> |
| <origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/> |
| <geometry> |
| <mesh filename="textured_objs/original-4.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/> |
| <geometry> |
| <mesh filename="textured_objs/original-1.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/> |
| <geometry> |
| <mesh filename="textured_objs/original-11.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/> |
| <geometry> |
| <mesh filename="textured_objs/original-3.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/> |
| <geometry> |
| <mesh filename="textured_objs/original-5.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/> |
| <geometry> |
| <mesh filename="textured_objs/original-4.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_1" type="revolute"> |
| <origin xyz="0.03388731351447829 0.15627376785184727 -0.5817229081812827"/> |
| <axis xyz="-0.08 0 0.8563613259934222"/> |
| <child link="link_1"/> |
| <parent link="link_2"/> |
| <limit lower="-0.5235987755982988" upper="0.5235987755982988"/> |
| </joint> |
| <link name="link_2"> |
| <visual name="base_body-3"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-9.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-12.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body-3"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-7.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body-3"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-10.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-9.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-12.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-7.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-10.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> |
|
|