| <?xml version="1.0" ?> |
| <robot name="partnet_996ad42614a95dcf950db3214c62b23a"> |
| <link name="base"/> |
| <link name="link_0"> |
| <visual name="door_1"> |
| <origin xyz="-0.43744160900919266 -0.5965019999999996 -0.5125726850992987"/> |
| <geometry> |
| <mesh filename="textured_objs/original_5.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.43744160900919266 -0.5965019999999996 -0.5125726850992987"/> |
| <geometry> |
| <mesh filename="textured_objs/original_5.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_0" type="revolute"> |
| <origin xyz="0.43744160900919266 0.5965019999999996 0.5125726850992987"/> |
| <axis xyz="0 1 0"/> |
| <child link="link_0"/> |
| <parent link="link_2"/> |
| <limit lower="-0.0" upper="2.7771679057733767"/> |
| </joint> |
| <link name="link_1"> |
| <visual name="switch_2"> |
| <origin xyz="-0.021797499999999997 -0.0034572763326844256 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_7.obj"/> |
| </geometry> |
| </visual> |
| <visual name="switch_2"> |
| <origin xyz="-0.021797499999999997 -0.0034572763326844256 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_6.obj"/> |
| </geometry> |
| </visual> |
| <visual name="switch_2"> |
| <origin xyz="-0.021797499999999997 -0.0034572763326844256 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_4.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.021797499999999997 -0.0034572763326844256 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_7.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="-0.021797499999999997 -0.0034572763326844256 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_6.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="-0.021797499999999997 -0.0034572763326844256 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_4.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_1" type="continuous"> |
| <origin xyz="-0.4156441090091927 -0.5930447236673152 -0.5125726850992987"/> |
| <axis xyz="0 0 1"/> |
| <child link="link_1"/> |
| <parent link="link_0"/> |
| </joint> |
| <link name="link_2"> |
| <visual name="base_body_3"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_3.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body_3"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_8.obj"/> |
| </geometry> |
| </visual> |
| <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_8.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> |
|
|
