| <?xml version="1.0" ?> |
| <robot name="partnet_20765ccd89f9d915d200faae04ce3f8"> |
| <link name="base"/> |
| <link name="link_0"> |
| <visual name="cabinet_door_surface_23"> |
| <origin xyz="-0.5939464903038043 0.5791219999999997 -0.26658616326263207"/> |
| <geometry> |
| <mesh filename="textured_objs/new_3.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.5939464903038043 0.5791219999999997 -0.26658616326263207"/> |
| <geometry> |
| <mesh filename="textured_objs/new_3.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_0" type="revolute"> |
| <origin xyz="0.5939464903038043 -0.5791219999999997 0.26658616326263207"/> |
| <axis xyz="0 1 0"/> |
| <child link="link_0"/> |
| <parent link="link_2"/> |
| <limit lower="0.0" upper="1.5707963267948966"/> |
| </joint> |
| <link name="link_1"> |
| <visual name="cabinet_door_surface_22"> |
| <origin xyz="0.6044735705872705 0.5790019999999996 -0.26339684785049644"/> |
| <geometry> |
| <mesh filename="textured_objs/new_2.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0.6044735705872705 0.5790019999999996 -0.26339684785049644"/> |
| <geometry> |
| <mesh filename="textured_objs/new_2.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_1" type="revolute"> |
| <origin xyz="-0.6044735705872705 -0.5790019999999996 0.26339684785049644"/> |
| <axis xyz="0 -1 0"/> |
| <child link="link_1"/> |
| <parent link="link_2"/> |
| <limit lower="-0.0" upper="1.5707963267948966"/> |
| </joint> |
| <link name="link_2"> |
| <visual name="board_29"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_4.obj"/> |
| </geometry> |
| </visual> |
| <visual name="drawer_front_27"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_1.obj"/> |
| </geometry> |
| </visual> |
| <visual name="drawer_front_25"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_0.obj"/> |
| </geometry> |
| </visual> |
| <visual name="back_panel_16"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_5.obj"/> |
| </geometry> |
| </visual> |
| <visual name="vertical_side_panel_17"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_7.obj"/> |
| </geometry> |
| </visual> |
| <visual name="vertical_side_panel_18"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_6.obj"/> |
| </geometry> |
| </visual> |
| <visual name="vertical_front_panel_19"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_9.obj"/> |
| </geometry> |
| </visual> |
| <visual name="bottom_panel_20"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_8.obj"/> |
| </geometry> |
| </visual> |
| <visual name="tabletop_connector_21"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_2.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_4.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_1.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_0.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_5.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_7.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_6.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_9.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/new_8.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_2.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> |
|
|
