<?xml version="1.0" ?>
<robot name="partnet_af4cb94c847d35c0d619cf3eef078374">
	<link name="base"/>
	<link name="link_0">
		<visual name="rotation_lid-1">
			<origin xyz="0.4193451476148117 -0.23770745161746787 0.44705500000000065"/>
			<geometry>
				<mesh filename="textured_objs/original-2.obj"/>
			</geometry>
		</visual>
		<collision>
			<origin xyz="0.4193451476148117 -0.23770745161746787 0.44705500000000065"/>
			<geometry>
				<mesh filename="textured_objs/original-2.obj"/>
			</geometry>
		</collision>
	</link>
	<joint name="joint_0" type="revolute">
		<origin xyz="-0.4193451476148117 0.23770745161746787 -0.44705500000000065"/>
		<axis xyz="0 0 1"/>
		<child link="link_0"/>
		<parent link="link_2"/>
		<limit lower="-2.249380339970292" upper="0.78"/>
	</joint>
	<link name="link_1">
		<visual name="rotation_lid-2">
			<origin xyz="-0.41360223348952163 -0.2356544280401282 0.4470550000000002"/>
			<geometry>
				<mesh filename="textured_objs/original-1.obj"/>
			</geometry>
		</visual>
		<collision>
			<origin xyz="-0.41360223348952163 -0.2356544280401282 0.4470550000000002"/>
			<geometry>
				<mesh filename="textured_objs/original-1.obj"/>
			</geometry>
		</collision>
	</link>
	<joint name="joint_1" type="revolute">
		<origin xyz="0.41360223348952163 0.2356544280401282 -0.4470550000000002"/>
		<axis xyz="0 0 -1"/>
		<child link="link_1"/>
		<parent link="link_2"/>
		<limit lower="-2.0294688542190062" upper="0.9"/>
	</joint>
	<link name="link_2">
		<visual name="base_body-3">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-4.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-3">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-16.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-3">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-8.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-3">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-13.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-3">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-9.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-3">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-5.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-3">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-6.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-3">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-15.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-3">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-11.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-3">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-18.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-3">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-17.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-3">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-12.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-3">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-7.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-3">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-10.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-3">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-14.obj"/>
			</geometry>
		</visual>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-4.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-16.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-8.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-13.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-9.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-5.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-6.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-15.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-11.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-18.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-17.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-12.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-7.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-10.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-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>
