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