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<?xml version="1.0" ?> |
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<robot name="partnet_3e18df9aea04c8cdbc7fb81194b2b6a8"> |
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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="-0.1368375968265807 -0.25889499999999993 -0.51237"/> |
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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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<collision> |
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<origin xyz="-0.1368375968265807 -0.25889499999999993 -0.51237"/> |
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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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</link> |
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<joint name="joint_0" type="revolute"> |
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<origin xyz="0.1368375968265807 0.25889499999999993 0.51237"/> |
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<axis xyz="0.9945741290525519 0 0"/> |
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<child link="link_0"/> |
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<parent link="link_2"/> |
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<limit lower="-3.2609731744262054" upper="1.4451326206513049"/> |
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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="0.058312168754828475 -0.258895 0.47283"/> |
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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="rotation_lid-2"> |
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<origin xyz="0.058312168754828475 -0.258895 0.47283"/> |
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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="rotation_lid-2"> |
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<origin xyz="0.058312168754828475 -0.258895 0.47283"/> |
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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="0.058312168754828475 -0.258895 0.47283"/> |
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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="0.058312168754828475 -0.258895 0.47283"/> |
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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="0.058312168754828475 -0.258895 0.47283"/> |
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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_1" type="revolute"> |
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<origin xyz="-0.058312168754828475 0.258895 -0.47283"/> |
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<axis xyz="-0.9945805685385236 0 0"/> |
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<child link="link_1"/> |
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<parent link="link_2"/> |
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<limit lower="-3.2421236185046665" upper="1.4199998794225868"/> |
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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-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-1.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-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-1.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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