| <?xml version="1.0" ?> |
| <robot name="partnet_52d8d0a55b5b593188fb7d9c2bb964c5"> |
| <link name="base"/> |
| <link name="link_0"> |
| <visual name="door_1"> |
| <origin xyz="-0.3819643254870551 -0.5491551062331053 -0.5493668750839127"/> |
| <geometry> |
| <mesh filename="textured_objs/original_13.obj"/> |
| </geometry> |
| </visual> |
| <visual name="door_1"> |
| <origin xyz="-0.3819643254870551 -0.5491551062331053 -0.5493668750839127"/> |
| <geometry> |
| <mesh filename="textured_objs/original_10.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.3819643254870551 -0.5491551062331053 -0.5493668750839127"/> |
| <geometry> |
| <mesh filename="textured_objs/original_13.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="-0.3819643254870551 -0.5491551062331053 -0.5493668750839127"/> |
| <geometry> |
| <mesh filename="textured_objs/original_10.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_0" type="revolute"> |
| <origin xyz="0.3819643254870551 0.5491551062331053 0.5493668750839127"/> |
| <axis xyz="0 1 0"/> |
| <child link="link_0"/> |
| <parent link="link_3"/> |
| <limit lower="0.0" upper="2.9670597283903604"/> |
| </joint> |
| <link name="link_1"> |
| <visual name="switch_2"> |
| <origin xyz="0.249 -0.032 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_12.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0.249 -0.032 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_12.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_1" type="continuous"> |
| <origin xyz="-0.6309643254870552 -0.5171551062331052 -0.5493668750839127"/> |
| <axis xyz="0 0 1"/> |
| <child link="link_1"/> |
| <parent link="link_0"/> |
| </joint> |
| <link name="link_2"> |
| <visual name="switch_5"> |
| <origin xyz="-0.2152496364785898 -0.031595799634695707 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_11.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.2152496364785898 -0.031595799634695707 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_11.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_2" type="continuous"> |
| <origin xyz="-0.1667146890084653 -0.5175593065984095 -0.5493668750839127"/> |
| <axis xyz="0 0 1"/> |
| <child link="link_2"/> |
| <parent link="link_0"/> |
| </joint> |
| <link name="link_3"> |
| <visual name="base_body_6"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_4.obj"/> |
| </geometry> |
| </visual> |
| <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_2.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body_6"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_8.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body_6"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_9.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body_6"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_5.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body_6"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_6.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body_6"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_7.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body_6"> |
| <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_4.obj"/> |
| </geometry> |
| </collision> |
| <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/original_2.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_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_7.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_1.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_3" type="fixed"> |
| <origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/> |
| <child link="link_3"/> |
| <parent link="base"/> |
| </joint> |
| </robot> |
|
|
