| <?xml version="1.0" ?> |
| <robot name="partnet_640da7c995f9fcdeab571431db8834c7"> |
| <link name="base"/> |
| <link name="link_0"> |
| <visual name="cabinet_door_surface_14"> |
| <origin xyz="-0.22069594667286369 0.5647149999999999 0.23656584976974582"/> |
| <geometry> |
| <mesh filename="textured_objs/original_10.obj"/> |
| </geometry> |
| </visual> |
| <visual name="handle_15"> |
| <origin xyz="-0.22069594667286369 0.5647149999999999 0.23656584976974582"/> |
| <geometry> |
| <mesh filename="textured_objs/original_9.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.22069594667286369 0.5647149999999999 0.23656584976974582"/> |
| <geometry> |
| <mesh filename="textured_objs/original_10.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="-0.22069594667286369 0.5647149999999999 0.23656584976974582"/> |
| <geometry> |
| <mesh filename="textured_objs/original_9.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_0" type="revolute"> |
| <origin xyz="0.22069594667286369 -0.5647149999999999 -0.23656584976974582"/> |
| <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_12"> |
| <origin xyz="-0.35967206909502736 0.5647149999999996 -0.22012615797576596"/> |
| <geometry> |
| <mesh filename="textured_objs/original_12.obj"/> |
| </geometry> |
| </visual> |
| <visual name="handle_13"> |
| <origin xyz="-0.35967206909502736 0.5647149999999996 -0.22012615797576596"/> |
| <geometry> |
| <mesh filename="textured_objs/original_8.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.35967206909502736 0.5647149999999996 -0.22012615797576596"/> |
| <geometry> |
| <mesh filename="textured_objs/original_12.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="-0.35967206909502736 0.5647149999999996 -0.22012615797576596"/> |
| <geometry> |
| <mesh filename="textured_objs/original_8.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_1" type="revolute"> |
| <origin xyz="0.35967206909502736 -0.5647149999999996 0.22012615797576596"/> |
| <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_17"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_14.obj"/> |
| </geometry> |
| </visual> |
| <visual name="vertical_side_panel_7"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_11.obj"/> |
| </geometry> |
| </visual> |
| <visual name="vertical_side_panel_8"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_4.obj"/> |
| </geometry> |
| </visual> |
| <visual name="bottom_panel_9"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_7.obj"/> |
| </geometry> |
| </visual> |
| <visual name="leg_10"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_6.obj"/> |
| </geometry> |
| </visual> |
| <visual name="leg_10"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_2.obj"/> |
| </geometry> |
| </visual> |
| <visual name="leg_11"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_5.obj"/> |
| </geometry> |
| </visual> |
| <visual name="leg_11"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_3.obj"/> |
| </geometry> |
| </visual> |
| <visual name="other_leaf_19"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_13.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_14.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_11.obj"/> |
| </geometry> |
| </collision> |
| <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_7.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_2.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_3.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original_13.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> |
|
|
