<?xml version="1.0" ?>
<robot name="cup">
	<link name="base"/>
	<link name="link_0">
		<visual name="lid-3-1">
			<origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
			<geometry>
				<mesh filename="meshes/original-1.obj" scale="0.1 0.1 0.1"/>
			</geometry>
		</visual>
		<visual name="lid-3-6">
			<origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
			<geometry>
				<mesh filename="meshes/original-6.obj" scale="0.1 0.1 0.1"/>
			</geometry>
		</visual>
		<visual name="lid-3-4">
			<origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
			<geometry>
				<mesh filename="meshes/original-4.obj" scale="0.1 0.1 0.1"/>
			</geometry>
		</visual>
		<collision name="lid-3-1">
			<origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
			<geometry>
				<mesh filename="meshes/original-1.obj" scale="0.1 0.1 0.1"/>
			</geometry>
		</collision>
		<collision name="lid-3-6">
			<origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
			<geometry>
				<mesh filename="meshes/original-6.obj" scale="0.1 0.1 0.1"/>
			</geometry>
		</collision>
		<collision name="lid-3-4">
			<origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
			<geometry>
				<mesh filename="meshes/original-4.obj" scale="0.1 0.1 0.1"/>
			</geometry>
		</collision>
	</link>
	<joint name="joint_0" type="prismatic">
		<origin xyz="-0.0013007224518146773 0 -0.006225716369432219"/>
		<axis xyz="0 1 0"/>
		<child link="link_0"/>
		<parent link="link_1"/>
		<limit lower="0" upper="0.1080000000000001"/>
	</joint>
	<link name="link_1">
		<visual name="body-1-2">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-2.obj" scale="0.1 0.1 0.1"/>
			</geometry>
		</visual>
		<visual name="body-1-0">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/new-0.obj" scale="0.1 0.1 0.1"/>
			</geometry>
		</visual>
		<visual name="body-1-1">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/new-1.obj" scale="0.1 0.1 0.1"/>
			</geometry>
		</visual>
		<visual name="handle-2-5">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-5.obj" scale="0.1 0.1 0.1"/>
			</geometry>
		</visual>
		<collision name="body-1-2">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-2.obj" scale="0.1 0.1 0.1"/>
			</geometry>
		</collision>
		<collision name="body-1-0">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/new-0.obj" scale="0.1 0.1 0.1"/>
			</geometry>
		</collision>
		<collision name="body-1-1">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/new-1.obj" scale="0.1 0.1 0.1"/>
			</geometry>
		</collision>
		<collision name="handle-2-5">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-5.obj" scale="0.1 0.1 0.1"/>
			</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>

	<link name="link_2">
		<visual name="handle-3-5">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-5.obj" scale="0.1 0.1 0.1"/>
			</geometry>
		</visual>
		<collision name="handle-3-5">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-5.obj" scale="0.1 0.1 0.1"/>
			</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>
