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<?xml version="1.0" ?>
<robot name="kettle">
<link name="base"/>
<link name="link_0">
<visual name="lid-1">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/original-4.obj" scale="0.2 0.2 0.2"/>
</geometry>
</visual>
<collision name="lid-1">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/original-4.obj" scale="0.2 0.2 0.2"/>
</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_1"/>
<limit lower="0" upper="0.03200000000000003"/>
</joint>
<link name="link_1">
<visual name="handle-2">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/original-2.obj" scale="0.2 0.2 0.2"/>
</geometry>
</visual>
<visual name="base_body-3">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/original-3.obj" scale="0.2 0.2 0.2"/>
</geometry>
</visual>
<visual name="base_body-1">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/original-1.obj" scale="0.2 0.2 0.2"/>
</geometry>
</visual>
<collision name="handle-2">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/original-2.obj" scale="0.2 0.2 0.2"/>
</geometry>
</collision>
<collision name="base_body-3">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/original-3.obj" scale="0.2 0.2 0.2"/>
</geometry>
</collision>
<collision name="base_body-1">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/original-1.obj" scale="0.2 0.2 0.2"/>
</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>
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