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<?xml version="1.0" ?> |
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<robot name="partnet_af4cb94c847d35c0d619cf3eef078374"> |
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<link name="base"/> |
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<link name="link_0"> |
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<visual name="rotation_lid-1"> |
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<origin xyz="0.4193451476148117 -0.23770745161746787 0.44705500000000065"/> |
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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="0.4193451476148117 -0.23770745161746787 0.44705500000000065"/> |
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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="-0.4193451476148117 0.23770745161746787 -0.44705500000000065"/> |
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<axis xyz="0 0 1"/> |
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<child link="link_0"/> |
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<parent link="link_2"/> |
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<limit lower="-2.249380339970292" upper="0.78"/> |
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</joint> |
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<link name="link_1"> |
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<visual name="rotation_lid-2"> |
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<origin xyz="-0.41360223348952163 -0.2356544280401282 0.4470550000000002"/> |
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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="-0.41360223348952163 -0.2356544280401282 0.4470550000000002"/> |
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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="0.41360223348952163 0.2356544280401282 -0.4470550000000002"/> |
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<axis xyz="0 0 -1"/> |
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<child link="link_1"/> |
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<parent link="link_2"/> |
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<limit lower="-2.0294688542190062" upper="0.9"/> |
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</joint> |
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<link name="link_2"> |
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<visual name="base_body-3"> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/original-4.obj"/> |
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</geometry> |
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</visual> |
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<visual name="base_body-3"> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/original-16.obj"/> |
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</geometry> |
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</visual> |
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<visual name="base_body-3"> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/original-8.obj"/> |
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</geometry> |
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</visual> |
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<visual name="base_body-3"> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/original-13.obj"/> |
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</geometry> |
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</visual> |
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<visual name="base_body-3"> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/original-9.obj"/> |
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</geometry> |
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</visual> |
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<visual name="base_body-3"> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/original-5.obj"/> |
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</geometry> |
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</visual> |
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<visual name="base_body-3"> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/original-6.obj"/> |
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</geometry> |
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</visual> |
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<visual name="base_body-3"> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/original-15.obj"/> |
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</geometry> |
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</visual> |
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<visual name="base_body-3"> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/original-11.obj"/> |
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</geometry> |
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</visual> |
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<visual name="base_body-3"> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/original-18.obj"/> |
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</geometry> |
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</visual> |
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<visual name="base_body-3"> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/original-17.obj"/> |
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</geometry> |
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</visual> |
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<visual name="base_body-3"> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/original-12.obj"/> |
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</geometry> |
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</visual> |
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<visual name="base_body-3"> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/original-7.obj"/> |
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</geometry> |
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</visual> |
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<visual name="base_body-3"> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/original-10.obj"/> |
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</geometry> |
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</visual> |
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<visual name="base_body-3"> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="textured_objs/original-14.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-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/original-16.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/original-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/original-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/original-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/original-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/original-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/original-15.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/original-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/original-18.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/original-17.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/original-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/original-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/original-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/original-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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