<?xml version="1.0" ?>
<robot name="partnet_3bba19a52cbe211cb458c00230942e4e">
	<link name="base"/>
	<link name="link_0">
		<visual name="blade-6">
			<origin xyz="0.0698251662 0 -0.0034203225936"/>
			<geometry>
				<mesh filename="meshes/scissor/new-1.obj" scale="0.3 0.3 0.3"/>
			</geometry>
		</visual>
		<visual name="handle-7">
			<origin xyz="0.0698251662 0 -0.0034203225936"/>
			<geometry>
				<mesh filename="meshes/scissor/original-6.obj" scale="0.3 0.3 0.3"/>
			</geometry>
		</visual>
		<collision>
			<origin xyz="0.0698251662 0 -0.0034203225936"/>
			<geometry>
				<mesh filename="meshes/scissor/new-1.obj" scale="0.3 0.3 0.3"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0.0698251662 0 -0.0034203225936"/>
			<geometry>
				<mesh filename="meshes/scissor/original-6.obj" scale="0.3 0.3 0.3"/>
			</geometry>
		</collision>
	</link>
	<joint name="joint_0" type="revolute">
		<!-- <origin xyz="-0.23275055403563558 0 0.011401075312618584"/> -->
		<origin xyz="-0.0698251662 0 0.0034203225936"/>
		<axis xyz="0 1 0"/>
		<child link="link_0"/>
		<parent link="link_1"/>
		<limit lower="-0.5969026041820605" upper="0.4"/>
	</joint>
	<link name="link_1">
		<visual name="screw-3">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/scissor/new-0.obj" scale="0.3 0.3 0.3"/>
			</geometry>
		</visual>
		<visual name="screw-3">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/scissor/new-2.obj" scale="0.3 0.3 0.3"/>
			</geometry>
		</visual>
		<visual name="blade-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/scissor/new-3.obj" scale="0.3 0.3 0.3"/>
			</geometry>
		</visual>
		<visual name="handle-5">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/scissor/original-3.obj" scale="0.3 0.3 0.3"/>
			</geometry>
		</visual>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/scissor/new-0.obj" scale="0.3 0.3 0.3"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/scissor/new-2.obj" scale="0.3 0.3 0.3"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/scissor/new-3.obj" scale="0.3 0.3 0.3"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/scissor/original-3.obj" scale="0.3 0.3 0.3"/>
			</geometry>
		</collision>
	</link>
	<joint name="joint_1" type="fixed">
		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
		<child link="link_1"/>
		<parent link="base"/>
	</joint>
</robot>
