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<?xml version="1.0" ?> |
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<robot name="partnet_15b5c54a8ddc84353a5acb1c5cbd19ff"> |
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<link name="base"/> |
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<link name="link_0"> |
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<visual name="rotation_lid-3"> |
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<origin xyz="-0.11440558821760938 -0.2886859015583081 0.42"/> |
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<geometry> |
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<mesh filename="textured_objs/original-2.obj"/> |
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</geometry> |
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</visual> |
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<collision> |
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<origin xyz="-0.11440558821760938 -0.2886859015583081 0.42"/> |
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<geometry> |
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<mesh filename="textured_objs/original-2.obj"/> |
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</geometry> |
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</collision> |
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</link> |
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<joint name="joint_0" type="revolute"> |
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<origin xyz="0.11440558821760938 0.2886859015583081 -0.42"/> |
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<axis xyz="-0.644123314889653 0 0"/> |
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<child link="link_0"/> |
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<parent link="link_2"/> |
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<limit lower="-2.2689280275926285" upper="0.5235987755982988"/> |
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</joint> |
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<link name="link_1"> |
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<visual name="rotation_lid-4"> |
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<origin xyz="-0.427809 -0.288 -0.43565743326573825"/> |
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<geometry> |
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<mesh filename="textured_objs/original-1.obj"/> |
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</geometry> |
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</visual> |
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<collision> |
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<origin xyz="-0.427809 -0.288 -0.43565743326573825"/> |
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<geometry> |
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<mesh filename="textured_objs/original-1.obj"/> |
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</geometry> |
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</collision> |
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</link> |
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<joint name="joint_1" type="revolute"> |
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<origin xyz="0.427809 0.288 0.43565743326573825"/> |
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<axis xyz="1 0 0"/> |
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<child link="link_1"/> |
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<parent link="link_2"/> |
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<limit lower="-2.0943951023931953" upper="0.6981317007977318"/> |
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</joint> |
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<link name="link_2"> |
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<visual name="base_body-6"> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/original-3.obj"/> |
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</geometry> |
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</visual> |
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<visual name="base_body-6"> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/original-26.obj"/> |
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</geometry> |
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</visual> |
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<collision> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/original-3.obj"/> |
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</geometry> |
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</collision> |
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<collision> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/part_0.obj"/> |
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</geometry> |
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</collision> |
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<collision> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/part_1.obj"/> |
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</geometry> |
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</collision> |
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<collision> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/part_2.obj"/> |
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</geometry> |
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</collision> |
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<collision> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/part_3.obj"/> |
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</geometry> |
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</collision> |
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<collision> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/part_4.obj"/> |
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</geometry> |
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</collision> |
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<collision> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/part_5.obj"/> |
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</geometry> |
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</collision> |
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<collision> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/part_6.obj"/> |
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</geometry> |
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</collision> |
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<collision> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/part_7.obj"/> |
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</geometry> |
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</collision> |
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<collision> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/part_8.obj"/> |
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</geometry> |
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</collision> |
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<collision> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/part_9.obj"/> |
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</geometry> |
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</collision> |
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<collision> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/part_10.obj"/> |
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</geometry> |
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</collision> |
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<collision> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/part_11.obj"/> |
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</geometry> |
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</collision> |
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<collision> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/part_12.obj"/> |
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</geometry> |
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</collision> |
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<collision> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/part_13.obj"/> |
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</geometry> |
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</collision> |
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<collision> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/part_14.obj"/> |
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</geometry> |
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</collision> |
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</link> |
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<joint name="joint_2" type="fixed"> |
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<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/> |
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<child link="link_2"/> |
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<parent link="base"/> |
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</joint> |
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</robot> |
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