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<?xml version="1.0" ?> |
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<robot name="door"> |
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<link name="base"/> |
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<link name="link_0"> |
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<visual name="outside_frame-1"> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/door/original-1.obj"/> |
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</geometry> |
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</visual> |
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<visual name="outside_frame-1"> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/door/original-2.obj"/> |
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</geometry> |
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</visual> |
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<collision> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/door/original-1.obj"/> |
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</geometry> |
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</collision> |
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<collision> |
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<origin xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/door/original-2.obj"/> |
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</geometry> |
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</collision> |
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</link> |
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<joint name="joint_0" type="fixed"> |
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<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/> |
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<child link="link_0"/> |
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<parent link="base"/> |
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</joint> |
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<link name="link_1"> |
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<visual name="glass-34"> |
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<origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/> |
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<geometry> |
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<mesh filename="meshes/door/original-12.obj"/> |
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</geometry> |
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</visual> |
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<visual name="fixed_part-31"> |
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<origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/> |
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<geometry> |
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<mesh filename="meshes/door/original-10.obj" scale="2 2 2"/> |
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</geometry> |
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</visual> |
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<visual name="fixed_part-30"> |
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<origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/> |
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<geometry> |
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<mesh filename="meshes/door/original-11.obj" scale="2 2 2"/> |
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</geometry> |
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</visual> |
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<collision> |
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<origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/> |
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<geometry> |
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<mesh filename="meshes/door/original-12.obj"/> |
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</geometry> |
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</collision> |
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<collision> |
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<origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/> |
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<geometry> |
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<mesh filename="meshes/door/original-10.obj" scale="2 2 2"/> |
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</geometry> |
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</collision> |
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<collision> |
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<origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/> |
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<geometry> |
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<mesh filename="meshes/door/original-11.obj" scale="2 2 2"/> |
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</geometry> |
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</collision> |
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</link> |
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<joint name="joint_1" type="revolute"> |
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<origin xyz="-0.4265270657166128 0.48329200000000005 0.008461858680020029"/> |
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<axis xyz="0 -1 0"/> |
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<child link="link_1"/> |
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<parent link="link_0"/> |
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<limit lower="0.0" upper="1.5707963267948966"/> |
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</joint> |
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<link name="link_2"> |
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<visual name="glass-33"> |
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<origin xyz="-0.41540686074842226 -0.4832920000000003 -0.0055998888476049835"/> |
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<geometry> |
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<mesh filename="meshes/door/original-7.obj"/> |
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</geometry> |
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</visual> |
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<visual name="fixed_part-32"> |
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<origin xyz="-0.41540686074842226 -0.4832920000000003 -0.0055998888476049835"/> |
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<geometry> |
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<mesh filename="meshes/door/original-6.obj" scale="2 2 2"/> |
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</geometry> |
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</visual> |
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<visual name="fixed_part-29"> |
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<origin xyz="-0.41540686074842226 -0.4832920000000003 -0.0055998888476049835"/> |
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<geometry> |
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<mesh filename="meshes/door/original-5.obj" scale="2 2 2"/> |
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</geometry> |
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</visual> |
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<collision> |
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<origin xyz="-0.41540686074842226 -0.4832920000000003 -0.0055998888476049835"/> |
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<geometry> |
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<mesh filename="meshes/door/original-7.obj"/> |
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</geometry> |
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</collision> |
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<collision> |
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<origin xyz="-0.41540686074842226 -0.4832920000000003 -0.0055998888476049835"/> |
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<geometry> |
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<mesh filename="meshes/door/original-6.obj" scale="2 2 2"/> |
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</geometry> |
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</collision> |
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<collision> |
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<origin xyz="-0.41540686074842226 -0.4832920000000003 -0.0055998888476049835"/> |
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<geometry> |
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<mesh filename="meshes/door/original-5.obj" scale="2 2 2"/> |
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</geometry> |
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</collision> |
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</link> |
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<joint name="joint_2" type="revolute"> |
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<origin xyz="0.42040686074842226 0.4832920000000003 0.0055998888476049835"/> |
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<axis xyz="0 1 0"/> |
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<child link="link_2"/> |
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<parent link="link_0"/> |
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<limit lower="-0.0" upper="1.5707963267948966"/> |
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</joint> |
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</robot> |
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