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RoboTwin

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RoboTwin
File size: 2,899 Bytes 
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<?xml version="1.0" ?>
<robot name="partnet_3e18df9aea04c8cdbc7fb81194b2b6a8">
	<link name="base"/>
	<link name="link_0">
		<visual name="rotation_lid-1">
			<origin xyz="-0.1368375968265807 -0.25889499999999993 -0.51237"/>
			<geometry>
				<mesh filename="textured_objs/original-6.obj"/>
			</geometry>
		</visual>
		<collision>
			<origin xyz="-0.1368375968265807 -0.25889499999999993 -0.51237"/>
			<geometry>
				<mesh filename="textured_objs/original-6.obj"/>
			</geometry>
		</collision>
	</link>
	<joint name="joint_0" type="revolute">
		<origin xyz="0.1368375968265807 0.25889499999999993 0.51237"/>
		<axis xyz="0.9945741290525519 0 0"/>
		<child link="link_0"/>
		<parent link="link_2"/>
		<limit lower="-3.2609731744262054" upper="1.4451326206513049"/>
	</joint>
	<link name="link_1">
		<visual name="rotation_lid-2">
			<origin xyz="0.058312168754828475 -0.258895 0.47283"/>
			<geometry>
				<mesh filename="textured_objs/original-3.obj"/>
			</geometry>
		</visual>
		<visual name="rotation_lid-2">
			<origin xyz="0.058312168754828475 -0.258895 0.47283"/>
			<geometry>
				<mesh filename="textured_objs/original-4.obj"/>
			</geometry>
		</visual>
		<visual name="rotation_lid-2">
			<origin xyz="0.058312168754828475 -0.258895 0.47283"/>
			<geometry>
				<mesh filename="textured_objs/original-2.obj"/>
			</geometry>
		</visual>
		<collision>
			<origin xyz="0.058312168754828475 -0.258895 0.47283"/>
			<geometry>
				<mesh filename="textured_objs/original-3.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0.058312168754828475 -0.258895 0.47283"/>
			<geometry>
				<mesh filename="textured_objs/original-4.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0.058312168754828475 -0.258895 0.47283"/>
			<geometry>
				<mesh filename="textured_objs/original-2.obj"/>
			</geometry>
		</collision>
	</link>
	<joint name="joint_1" type="revolute">
		<origin xyz="-0.058312168754828475 0.258895 -0.47283"/>
		<axis xyz="-0.9945805685385236 0 0"/>
		<child link="link_1"/>
		<parent link="link_2"/>
		<limit lower="-3.2421236185046665" upper="1.4199998794225868"/>
	</joint>
	<link name="link_2">
		<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-1.obj"/>
			</geometry>
		</visual>
		<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-1.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>