Datasets:

ArXiv:
License:
weison4ever commited on
Commit
59f4e30
·
1 Parent(s): 772dc6c

[add] resource from skillblender

Browse files

Signed-off-by: weisonweileen <weisonweileen@gmail.com>

This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. assets/gapartnet/45159/images/texture_0.jpg +3 -0
  2. assets/gapartnet/45159/images/texture_1.jpg +3 -0
  3. assets/gapartnet/45159/images/texture_2.jpg +3 -0
  4. assets/gapartnet/45159/mobility.urdf +593 -0
  5. assets/gapartnet/45159/mobility_annotation_gapartnet.urdf +607 -0
  6. assets/gapartnet/45159/mobility_texture_gapartnet.urdf +593 -0
  7. assets/gapartnet/45159/parts_render/0.txt +1 -0
  8. assets/gapartnet/45159/parts_render/1.txt +1 -0
  9. assets/gapartnet/45159/parts_render/10.txt +1 -0
  10. assets/gapartnet/45159/parts_render/11.txt +1 -0
  11. assets/gapartnet/45159/parts_render/12.txt +1 -0
  12. assets/gapartnet/45159/parts_render/13.txt +1 -0
  13. assets/gapartnet/45159/parts_render/14.txt +1 -0
  14. assets/gapartnet/45159/parts_render/18.txt +1 -0
  15. assets/gapartnet/45159/parts_render/19.txt +1 -0
  16. assets/gapartnet/45159/parts_render/2.txt +1 -0
  17. assets/gapartnet/45159/parts_render/23.txt +1 -0
  18. assets/gapartnet/45159/parts_render/24.txt +1 -0
  19. assets/gapartnet/45159/parts_render/25.txt +1 -0
  20. assets/gapartnet/45159/parts_render/26.txt +1 -0
  21. assets/gapartnet/45159/parts_render/27.txt +1 -0
  22. assets/gapartnet/45159/parts_render/28.txt +1 -0
  23. assets/gapartnet/45159/parts_render/29.txt +1 -0
  24. assets/gapartnet/45159/parts_render/3.txt +1 -0
  25. assets/gapartnet/45159/parts_render/30.txt +1 -0
  26. assets/gapartnet/45159/parts_render/31.txt +1 -0
  27. assets/gapartnet/45159/parts_render/32.txt +1 -0
  28. assets/gapartnet/45159/parts_render/33.txt +1 -0
  29. assets/gapartnet/45159/parts_render/34.txt +1 -0
  30. assets/gapartnet/45159/parts_render/35.txt +1 -0
  31. assets/gapartnet/45159/parts_render/36.txt +1 -0
  32. assets/gapartnet/45159/parts_render/4.txt +1 -0
  33. assets/gapartnet/45159/parts_render/5.txt +1 -0
  34. assets/gapartnet/45159/parts_render/6.txt +1 -0
  35. assets/gapartnet/45159/parts_render/7.txt +1 -0
  36. assets/gapartnet/45159/parts_render/8.txt +1 -0
  37. assets/gapartnet/45159/parts_render/9.txt +1 -0
  38. assets/gapartnet/45159/parts_render_after_merging/0.txt +1 -0
  39. assets/gapartnet/45159/parts_render_after_merging/1.txt +1 -0
  40. assets/gapartnet/45159/parts_render_after_merging/10.txt +1 -0
  41. assets/gapartnet/45159/parts_render_after_merging/11.txt +1 -0
  42. assets/gapartnet/45159/parts_render_after_merging/12.txt +1 -0
  43. assets/gapartnet/45159/parts_render_after_merging/13.txt +1 -0
  44. assets/gapartnet/45159/parts_render_after_merging/14.txt +1 -0
  45. assets/gapartnet/45159/parts_render_after_merging/15.txt +1 -0
  46. assets/gapartnet/45159/parts_render_after_merging/16.txt +1 -0
  47. assets/gapartnet/45159/parts_render_after_merging/17.txt +1 -0
  48. assets/gapartnet/45159/parts_render_after_merging/18.txt +1 -0
  49. assets/gapartnet/45159/parts_render_after_merging/19.txt +1 -0
  50. assets/gapartnet/45159/parts_render_after_merging/2.txt +1 -0
assets/gapartnet/45159/images/texture_0.jpg ADDED

Git LFS Details

  • SHA256: ac39178048c84f7b229abc893d1a2b0ae42f176c99dffb2da26c4e04111af8de
  • Pointer size: 130 Bytes
  • Size of remote file: 45.7 kB
assets/gapartnet/45159/images/texture_1.jpg ADDED

Git LFS Details

  • SHA256: 579d2528a1a7c9dd80bd03ab3ea5d31c5e8d2c0c5ca7c95775f058f49c95be2d
  • Pointer size: 130 Bytes
  • Size of remote file: 50.8 kB
assets/gapartnet/45159/images/texture_2.jpg ADDED

Git LFS Details

  • SHA256: 56b3f43535fbf950dd9c4893c415c80a7ce1a753b3e1bed466f5640248378c53
  • Pointer size: 129 Bytes
  • Size of remote file: 6.15 kB
assets/gapartnet/45159/mobility.urdf ADDED
@@ -0,0 +1,593 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" ?>
2
+ <robot name="partnet_1676f8b995b976e5824662341ce2b233">
3
+ <link name="base"/>
4
+ <link name="link_0">
5
+ <visual name="cabinet_door_surface-8">
6
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
7
+ <geometry>
8
+ <mesh filename="textured_objs/original-43.obj"/>
9
+ </geometry>
10
+ </visual>
11
+ <visual name="cabinet_door_surface-8">
12
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
13
+ <geometry>
14
+ <mesh filename="textured_objs/original-48.obj"/>
15
+ </geometry>
16
+ </visual>
17
+ <visual name="cabinet_door_surface-8">
18
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
19
+ <geometry>
20
+ <mesh filename="textured_objs/original-44.obj"/>
21
+ </geometry>
22
+ </visual>
23
+ <visual name="cabinet_door_surface-8">
24
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
25
+ <geometry>
26
+ <mesh filename="textured_objs/original-50.obj"/>
27
+ </geometry>
28
+ </visual>
29
+ <visual name="cabinet_door_surface-8">
30
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
31
+ <geometry>
32
+ <mesh filename="textured_objs/original-49.obj"/>
33
+ </geometry>
34
+ </visual>
35
+ <visual name="cabinet_door_surface-8">
36
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
37
+ <geometry>
38
+ <mesh filename="textured_objs/original-47.obj"/>
39
+ </geometry>
40
+ </visual>
41
+ <visual name="cabinet_door_surface-8">
42
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
43
+ <geometry>
44
+ <mesh filename="textured_objs/original-46.obj"/>
45
+ </geometry>
46
+ </visual>
47
+ <visual name="cabinet_door_surface-8">
48
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
49
+ <geometry>
50
+ <mesh filename="textured_objs/original-51.obj"/>
51
+ </geometry>
52
+ </visual>
53
+ <visual name="cabinet_door_surface-8">
54
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
55
+ <geometry>
56
+ <mesh filename="textured_objs/original-45.obj"/>
57
+ </geometry>
58
+ </visual>
59
+ <visual name="cabinet_door_surface-8">
60
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
61
+ <geometry>
62
+ <mesh filename="textured_objs/original-42.obj"/>
63
+ </geometry>
64
+ </visual>
65
+ <visual name="handle-9">
66
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
67
+ <geometry>
68
+ <mesh filename="textured_objs/original-55.obj"/>
69
+ </geometry>
70
+ </visual>
71
+ <visual name="handle-9">
72
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
73
+ <geometry>
74
+ <mesh filename="textured_objs/original-53.obj"/>
75
+ </geometry>
76
+ </visual>
77
+ <visual name="handle-9">
78
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
79
+ <geometry>
80
+ <mesh filename="textured_objs/original-54.obj"/>
81
+ </geometry>
82
+ </visual>
83
+ <collision>
84
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
85
+ <geometry>
86
+ <mesh filename="textured_objs/original-43.obj"/>
87
+ </geometry>
88
+ </collision>
89
+ <collision>
90
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
91
+ <geometry>
92
+ <mesh filename="textured_objs/original-48.obj"/>
93
+ </geometry>
94
+ </collision>
95
+ <collision>
96
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
97
+ <geometry>
98
+ <mesh filename="textured_objs/original-44.obj"/>
99
+ </geometry>
100
+ </collision>
101
+ <collision>
102
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
103
+ <geometry>
104
+ <mesh filename="textured_objs/original-50.obj"/>
105
+ </geometry>
106
+ </collision>
107
+ <collision>
108
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
109
+ <geometry>
110
+ <mesh filename="textured_objs/original-49.obj"/>
111
+ </geometry>
112
+ </collision>
113
+ <collision>
114
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
115
+ <geometry>
116
+ <mesh filename="textured_objs/original-47.obj"/>
117
+ </geometry>
118
+ </collision>
119
+ <collision>
120
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
121
+ <geometry>
122
+ <mesh filename="textured_objs/original-46.obj"/>
123
+ </geometry>
124
+ </collision>
125
+ <collision>
126
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
127
+ <geometry>
128
+ <mesh filename="textured_objs/original-51.obj"/>
129
+ </geometry>
130
+ </collision>
131
+ <collision>
132
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
133
+ <geometry>
134
+ <mesh filename="textured_objs/original-45.obj"/>
135
+ </geometry>
136
+ </collision>
137
+ <collision>
138
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
139
+ <geometry>
140
+ <mesh filename="textured_objs/original-42.obj"/>
141
+ </geometry>
142
+ </collision>
143
+ <collision>
144
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
145
+ <geometry>
146
+ <mesh filename="textured_objs/original-55.obj"/>
147
+ </geometry>
148
+ </collision>
149
+ <collision>
150
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
151
+ <geometry>
152
+ <mesh filename="textured_objs/original-53.obj"/>
153
+ </geometry>
154
+ </collision>
155
+ <collision>
156
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
157
+ <geometry>
158
+ <mesh filename="textured_objs/original-54.obj"/>
159
+ </geometry>
160
+ </collision>
161
+ </link>
162
+ <joint name="joint_0" type="revolute">
163
+ <origin xyz="0.6293170790203719 0.6086450219154358 0.4252905637110561"/>
164
+ <axis xyz="0 0.9999999999999999 0"/>
165
+ <child link="link_0"/>
166
+ <parent link="link_2"/>
167
+ <limit lower="0.0" upper="1.5707963267948966"/>
168
+ </joint>
169
+ <link name="link_1">
170
+ <visual name="cabinet_door_surface-6">
171
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
172
+ <geometry>
173
+ <mesh filename="textured_objs/original-30.obj"/>
174
+ </geometry>
175
+ </visual>
176
+ <visual name="cabinet_door_surface-6">
177
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
178
+ <geometry>
179
+ <mesh filename="textured_objs/original-34.obj"/>
180
+ </geometry>
181
+ </visual>
182
+ <visual name="cabinet_door_surface-6">
183
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
184
+ <geometry>
185
+ <mesh filename="textured_objs/original-26.obj"/>
186
+ </geometry>
187
+ </visual>
188
+ <visual name="cabinet_door_surface-6">
189
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
190
+ <geometry>
191
+ <mesh filename="textured_objs/original-32.obj"/>
192
+ </geometry>
193
+ </visual>
194
+ <visual name="cabinet_door_surface-6">
195
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
196
+ <geometry>
197
+ <mesh filename="textured_objs/original-25.obj"/>
198
+ </geometry>
199
+ </visual>
200
+ <visual name="cabinet_door_surface-6">
201
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
202
+ <geometry>
203
+ <mesh filename="textured_objs/original-33.obj"/>
204
+ </geometry>
205
+ </visual>
206
+ <visual name="cabinet_door_surface-6">
207
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
208
+ <geometry>
209
+ <mesh filename="textured_objs/original-35.obj"/>
210
+ </geometry>
211
+ </visual>
212
+ <visual name="cabinet_door_surface-6">
213
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
214
+ <geometry>
215
+ <mesh filename="textured_objs/original-27.obj"/>
216
+ </geometry>
217
+ </visual>
218
+ <visual name="cabinet_door_surface-6">
219
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
220
+ <geometry>
221
+ <mesh filename="textured_objs/original-28.obj"/>
222
+ </geometry>
223
+ </visual>
224
+ <visual name="cabinet_door_surface-6">
225
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
226
+ <geometry>
227
+ <mesh filename="textured_objs/original-31.obj"/>
228
+ </geometry>
229
+ </visual>
230
+ <visual name="handle-7">
231
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
232
+ <geometry>
233
+ <mesh filename="textured_objs/original-39.obj"/>
234
+ </geometry>
235
+ </visual>
236
+ <visual name="handle-7">
237
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
238
+ <geometry>
239
+ <mesh filename="textured_objs/original-38.obj"/>
240
+ </geometry>
241
+ </visual>
242
+ <visual name="handle-7">
243
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
244
+ <geometry>
245
+ <mesh filename="textured_objs/original-37.obj"/>
246
+ </geometry>
247
+ </visual>
248
+ <collision>
249
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
250
+ <geometry>
251
+ <mesh filename="textured_objs/original-30.obj"/>
252
+ </geometry>
253
+ </collision>
254
+ <collision>
255
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
256
+ <geometry>
257
+ <mesh filename="textured_objs/original-34.obj"/>
258
+ </geometry>
259
+ </collision>
260
+ <collision>
261
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
262
+ <geometry>
263
+ <mesh filename="textured_objs/original-26.obj"/>
264
+ </geometry>
265
+ </collision>
266
+ <collision>
267
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
268
+ <geometry>
269
+ <mesh filename="textured_objs/original-32.obj"/>
270
+ </geometry>
271
+ </collision>
272
+ <collision>
273
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
274
+ <geometry>
275
+ <mesh filename="textured_objs/original-25.obj"/>
276
+ </geometry>
277
+ </collision>
278
+ <collision>
279
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
280
+ <geometry>
281
+ <mesh filename="textured_objs/original-33.obj"/>
282
+ </geometry>
283
+ </collision>
284
+ <collision>
285
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
286
+ <geometry>
287
+ <mesh filename="textured_objs/original-35.obj"/>
288
+ </geometry>
289
+ </collision>
290
+ <collision>
291
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
292
+ <geometry>
293
+ <mesh filename="textured_objs/original-27.obj"/>
294
+ </geometry>
295
+ </collision>
296
+ <collision>
297
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
298
+ <geometry>
299
+ <mesh filename="textured_objs/original-28.obj"/>
300
+ </geometry>
301
+ </collision>
302
+ <collision>
303
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
304
+ <geometry>
305
+ <mesh filename="textured_objs/original-31.obj"/>
306
+ </geometry>
307
+ </collision>
308
+ <collision>
309
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
310
+ <geometry>
311
+ <mesh filename="textured_objs/original-39.obj"/>
312
+ </geometry>
313
+ </collision>
314
+ <collision>
315
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
316
+ <geometry>
317
+ <mesh filename="textured_objs/original-38.obj"/>
318
+ </geometry>
319
+ </collision>
320
+ <collision>
321
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
322
+ <geometry>
323
+ <mesh filename="textured_objs/original-37.obj"/>
324
+ </geometry>
325
+ </collision>
326
+ </link>
327
+ <joint name="joint_1" type="revolute">
328
+ <origin xyz="-0.6466144835367729 0.6086450219154358 0.42931528988591117"/>
329
+ <axis xyz="0 -0.9999999999999999 0"/>
330
+ <child link="link_1"/>
331
+ <parent link="link_2"/>
332
+ <limit lower="-0.0" upper="1.5707963267948966"/>
333
+ </joint>
334
+ <link name="link_2">
335
+ <visual name="shelf-23">
336
+ <origin xyz="0 0 0"/>
337
+ <geometry>
338
+ <mesh filename="textured_objs/original-23.obj"/>
339
+ </geometry>
340
+ </visual>
341
+ <visual name="shelf-24">
342
+ <origin xyz="0 0 0"/>
343
+ <geometry>
344
+ <mesh filename="textured_objs/original-2.obj"/>
345
+ </geometry>
346
+ </visual>
347
+ <visual name="back_panel-18">
348
+ <origin xyz="0 0 0"/>
349
+ <geometry>
350
+ <mesh filename="textured_objs/original-6.obj"/>
351
+ </geometry>
352
+ </visual>
353
+ <visual name="bottom_panel-19">
354
+ <origin xyz="0 0 0"/>
355
+ <geometry>
356
+ <mesh filename="textured_objs/original-3.obj"/>
357
+ </geometry>
358
+ </visual>
359
+ <visual name="vertical_side_panel-25">
360
+ <origin xyz="0 0 0"/>
361
+ <geometry>
362
+ <mesh filename="textured_objs/original-12.obj"/>
363
+ </geometry>
364
+ </visual>
365
+ <visual name="vertical_side_panel-25">
366
+ <origin xyz="0 0 0"/>
367
+ <geometry>
368
+ <mesh filename="textured_objs/original-11.obj"/>
369
+ </geometry>
370
+ </visual>
371
+ <visual name="vertical_side_panel-26">
372
+ <origin xyz="0 0 0"/>
373
+ <geometry>
374
+ <mesh filename="textured_objs/original-16.obj"/>
375
+ </geometry>
376
+ </visual>
377
+ <visual name="vertical_side_panel-26">
378
+ <origin xyz="0 0 0"/>
379
+ <geometry>
380
+ <mesh filename="textured_objs/original-15.obj"/>
381
+ </geometry>
382
+ </visual>
383
+ <visual name="frame_vertical_bar-27">
384
+ <origin xyz="0 0 0"/>
385
+ <geometry>
386
+ <mesh filename="textured_objs/original-8.obj"/>
387
+ </geometry>
388
+ </visual>
389
+ <visual name="frame_vertical_bar-28">
390
+ <origin xyz="0 0 0"/>
391
+ <geometry>
392
+ <mesh filename="textured_objs/original-4.obj"/>
393
+ </geometry>
394
+ </visual>
395
+ <visual name="frame_vertical_bar-29">
396
+ <origin xyz="0 0 0"/>
397
+ <geometry>
398
+ <mesh filename="textured_objs/original-18.obj"/>
399
+ </geometry>
400
+ </visual>
401
+ <visual name="frame_horizontal_bar-30">
402
+ <origin xyz="0 0 0"/>
403
+ <geometry>
404
+ <mesh filename="textured_objs/original-22.obj"/>
405
+ </geometry>
406
+ </visual>
407
+ <visual name="frame_horizontal_bar-31">
408
+ <origin xyz="0 0 0"/>
409
+ <geometry>
410
+ <mesh filename="textured_objs/original-21.obj"/>
411
+ </geometry>
412
+ </visual>
413
+ <visual name="frame_horizontal_bar-32">
414
+ <origin xyz="0 0 0"/>
415
+ <geometry>
416
+ <mesh filename="textured_objs/original-5.obj"/>
417
+ </geometry>
418
+ </visual>
419
+ <visual name="frame_horizontal_bar-33">
420
+ <origin xyz="0 0 0"/>
421
+ <geometry>
422
+ <mesh filename="textured_objs/original-9.obj"/>
423
+ </geometry>
424
+ </visual>
425
+ <visual name="frame_horizontal_bar-34">
426
+ <origin xyz="0 0 0"/>
427
+ <geometry>
428
+ <mesh filename="textured_objs/original-7.obj"/>
429
+ </geometry>
430
+ </visual>
431
+ <visual name="other_leaf-36">
432
+ <origin xyz="0 0 0"/>
433
+ <geometry>
434
+ <mesh filename="textured_objs/original-56.obj"/>
435
+ </geometry>
436
+ </visual>
437
+ <visual name="base_side_panel-11">
438
+ <origin xyz="0 0 0"/>
439
+ <geometry>
440
+ <mesh filename="textured_objs/original-13.obj"/>
441
+ </geometry>
442
+ </visual>
443
+ <visual name="base_side_panel-12">
444
+ <origin xyz="0 0 0"/>
445
+ <geometry>
446
+ <mesh filename="textured_objs/original-19.obj"/>
447
+ </geometry>
448
+ </visual>
449
+ <visual name="base_side_panel-13">
450
+ <origin xyz="0 0 0"/>
451
+ <geometry>
452
+ <mesh filename="textured_objs/original-17.obj"/>
453
+ </geometry>
454
+ </visual>
455
+ <visual name="base_side_panel-14">
456
+ <origin xyz="0 0 0"/>
457
+ <geometry>
458
+ <mesh filename="textured_objs/original-20.obj"/>
459
+ </geometry>
460
+ </visual>
461
+ <collision>
462
+ <origin xyz="0 0 0"/>
463
+ <geometry>
464
+ <mesh filename="textured_objs/original-23.obj"/>
465
+ </geometry>
466
+ </collision>
467
+ <collision>
468
+ <origin xyz="0 0 0"/>
469
+ <geometry>
470
+ <mesh filename="textured_objs/original-2.obj"/>
471
+ </geometry>
472
+ </collision>
473
+ <collision>
474
+ <origin xyz="0 0 0"/>
475
+ <geometry>
476
+ <mesh filename="textured_objs/original-6.obj"/>
477
+ </geometry>
478
+ </collision>
479
+ <collision>
480
+ <origin xyz="0 0 0"/>
481
+ <geometry>
482
+ <mesh filename="textured_objs/original-3.obj"/>
483
+ </geometry>
484
+ </collision>
485
+ <collision>
486
+ <origin xyz="0 0 0"/>
487
+ <geometry>
488
+ <mesh filename="textured_objs/original-12.obj"/>
489
+ </geometry>
490
+ </collision>
491
+ <collision>
492
+ <origin xyz="0 0 0"/>
493
+ <geometry>
494
+ <mesh filename="textured_objs/original-11.obj"/>
495
+ </geometry>
496
+ </collision>
497
+ <collision>
498
+ <origin xyz="0 0 0"/>
499
+ <geometry>
500
+ <mesh filename="textured_objs/original-16.obj"/>
501
+ </geometry>
502
+ </collision>
503
+ <collision>
504
+ <origin xyz="0 0 0"/>
505
+ <geometry>
506
+ <mesh filename="textured_objs/original-15.obj"/>
507
+ </geometry>
508
+ </collision>
509
+ <collision>
510
+ <origin xyz="0 0 0"/>
511
+ <geometry>
512
+ <mesh filename="textured_objs/original-8.obj"/>
513
+ </geometry>
514
+ </collision>
515
+ <collision>
516
+ <origin xyz="0 0 0"/>
517
+ <geometry>
518
+ <mesh filename="textured_objs/original-4.obj"/>
519
+ </geometry>
520
+ </collision>
521
+ <collision>
522
+ <origin xyz="0 0 0"/>
523
+ <geometry>
524
+ <mesh filename="textured_objs/original-18.obj"/>
525
+ </geometry>
526
+ </collision>
527
+ <collision>
528
+ <origin xyz="0 0 0"/>
529
+ <geometry>
530
+ <mesh filename="textured_objs/original-22.obj"/>
531
+ </geometry>
532
+ </collision>
533
+ <collision>
534
+ <origin xyz="0 0 0"/>
535
+ <geometry>
536
+ <mesh filename="textured_objs/original-21.obj"/>
537
+ </geometry>
538
+ </collision>
539
+ <collision>
540
+ <origin xyz="0 0 0"/>
541
+ <geometry>
542
+ <mesh filename="textured_objs/original-5.obj"/>
543
+ </geometry>
544
+ </collision>
545
+ <collision>
546
+ <origin xyz="0 0 0"/>
547
+ <geometry>
548
+ <mesh filename="textured_objs/original-9.obj"/>
549
+ </geometry>
550
+ </collision>
551
+ <collision>
552
+ <origin xyz="0 0 0"/>
553
+ <geometry>
554
+ <mesh filename="textured_objs/original-7.obj"/>
555
+ </geometry>
556
+ </collision>
557
+ <collision>
558
+ <origin xyz="0 0 0"/>
559
+ <geometry>
560
+ <mesh filename="textured_objs/original-56.obj"/>
561
+ </geometry>
562
+ </collision>
563
+ <collision>
564
+ <origin xyz="0 0 0"/>
565
+ <geometry>
566
+ <mesh filename="textured_objs/original-13.obj"/>
567
+ </geometry>
568
+ </collision>
569
+ <collision>
570
+ <origin xyz="0 0 0"/>
571
+ <geometry>
572
+ <mesh filename="textured_objs/original-19.obj"/>
573
+ </geometry>
574
+ </collision>
575
+ <collision>
576
+ <origin xyz="0 0 0"/>
577
+ <geometry>
578
+ <mesh filename="textured_objs/original-17.obj"/>
579
+ </geometry>
580
+ </collision>
581
+ <collision>
582
+ <origin xyz="0 0 0"/>
583
+ <geometry>
584
+ <mesh filename="textured_objs/original-20.obj"/>
585
+ </geometry>
586
+ </collision>
587
+ </link>
588
+ <joint name="joint_2" type="fixed">
589
+ <origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
590
+ <child link="link_2"/>
591
+ <parent link="base"/>
592
+ </joint>
593
+ </robot>
assets/gapartnet/45159/mobility_annotation_gapartnet.urdf ADDED
@@ -0,0 +1,607 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" ?>
2
+ <robot name="partnet_1676f8b995b976e5824662341ce2b233">
3
+ <link name="base"/>
4
+ <link name="link_0">
5
+ <visual name="cabinet_door_surface-8">
6
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
7
+ <geometry>
8
+ <mesh filename="textured_objs/original-43.obj"/>
9
+ </geometry>
10
+ </visual>
11
+ <visual name="cabinet_door_surface-8">
12
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
13
+ <geometry>
14
+ <mesh filename="textured_objs/original-48.obj"/>
15
+ </geometry>
16
+ </visual>
17
+ <visual name="cabinet_door_surface-8">
18
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
19
+ <geometry>
20
+ <mesh filename="textured_objs/original-44.obj"/>
21
+ </geometry>
22
+ </visual>
23
+ <visual name="cabinet_door_surface-8">
24
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
25
+ <geometry>
26
+ <mesh filename="textured_objs/original-50.obj"/>
27
+ </geometry>
28
+ </visual>
29
+ <visual name="cabinet_door_surface-8">
30
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
31
+ <geometry>
32
+ <mesh filename="textured_objs/original-49.obj"/>
33
+ </geometry>
34
+ </visual>
35
+ <visual name="cabinet_door_surface-8">
36
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
37
+ <geometry>
38
+ <mesh filename="textured_objs/original-47.obj"/>
39
+ </geometry>
40
+ </visual>
41
+ <visual name="cabinet_door_surface-8">
42
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
43
+ <geometry>
44
+ <mesh filename="textured_objs/original-46.obj"/>
45
+ </geometry>
46
+ </visual>
47
+ <visual name="cabinet_door_surface-8">
48
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
49
+ <geometry>
50
+ <mesh filename="textured_objs/original-51.obj"/>
51
+ </geometry>
52
+ </visual>
53
+ <visual name="cabinet_door_surface-8">
54
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
55
+ <geometry>
56
+ <mesh filename="textured_objs/original-45.obj"/>
57
+ </geometry>
58
+ </visual>
59
+ <visual name="cabinet_door_surface-8">
60
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
61
+ <geometry>
62
+ <mesh filename="textured_objs/original-42.obj"/>
63
+ </geometry>
64
+ </visual>
65
+ <collision>
66
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
67
+ <geometry>
68
+ <mesh filename="textured_objs/original-43.obj"/>
69
+ </geometry>
70
+ </collision>
71
+ <collision>
72
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
73
+ <geometry>
74
+ <mesh filename="textured_objs/original-48.obj"/>
75
+ </geometry>
76
+ </collision>
77
+ <collision>
78
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
79
+ <geometry>
80
+ <mesh filename="textured_objs/original-44.obj"/>
81
+ </geometry>
82
+ </collision>
83
+ <collision>
84
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
85
+ <geometry>
86
+ <mesh filename="textured_objs/original-50.obj"/>
87
+ </geometry>
88
+ </collision>
89
+ <collision>
90
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
91
+ <geometry>
92
+ <mesh filename="textured_objs/original-49.obj"/>
93
+ </geometry>
94
+ </collision>
95
+ <collision>
96
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
97
+ <geometry>
98
+ <mesh filename="textured_objs/original-47.obj"/>
99
+ </geometry>
100
+ </collision>
101
+ <collision>
102
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
103
+ <geometry>
104
+ <mesh filename="textured_objs/original-46.obj"/>
105
+ </geometry>
106
+ </collision>
107
+ <collision>
108
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
109
+ <geometry>
110
+ <mesh filename="textured_objs/original-51.obj"/>
111
+ </geometry>
112
+ </collision>
113
+ <collision>
114
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
115
+ <geometry>
116
+ <mesh filename="textured_objs/original-45.obj"/>
117
+ </geometry>
118
+ </collision>
119
+ <collision>
120
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
121
+ <geometry>
122
+ <mesh filename="textured_objs/original-42.obj"/>
123
+ </geometry>
124
+ </collision>
125
+ </link>
126
+ <joint name="joint_0" type="revolute">
127
+ <origin xyz="0.6293170790203719 0.6086450219154358 0.4252905637110561"/>
128
+ <axis xyz="0 0.9999999999999999 0"/>
129
+ <child link="link_0"/>
130
+ <parent link="link_2"/>
131
+ <limit lower="0.0" upper="1.5707963267948966"/>
132
+ </joint>
133
+ <link name="link_1">
134
+ <visual name="cabinet_door_surface-6">
135
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
136
+ <geometry>
137
+ <mesh filename="textured_objs/original-30.obj"/>
138
+ </geometry>
139
+ </visual>
140
+ <visual name="cabinet_door_surface-6">
141
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
142
+ <geometry>
143
+ <mesh filename="textured_objs/original-34.obj"/>
144
+ </geometry>
145
+ </visual>
146
+ <visual name="cabinet_door_surface-6">
147
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
148
+ <geometry>
149
+ <mesh filename="textured_objs/original-26.obj"/>
150
+ </geometry>
151
+ </visual>
152
+ <visual name="cabinet_door_surface-6">
153
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
154
+ <geometry>
155
+ <mesh filename="textured_objs/original-32.obj"/>
156
+ </geometry>
157
+ </visual>
158
+ <visual name="cabinet_door_surface-6">
159
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
160
+ <geometry>
161
+ <mesh filename="textured_objs/original-25.obj"/>
162
+ </geometry>
163
+ </visual>
164
+ <visual name="cabinet_door_surface-6">
165
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
166
+ <geometry>
167
+ <mesh filename="textured_objs/original-33.obj"/>
168
+ </geometry>
169
+ </visual>
170
+ <visual name="cabinet_door_surface-6">
171
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
172
+ <geometry>
173
+ <mesh filename="textured_objs/original-35.obj"/>
174
+ </geometry>
175
+ </visual>
176
+ <visual name="cabinet_door_surface-6">
177
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
178
+ <geometry>
179
+ <mesh filename="textured_objs/original-27.obj"/>
180
+ </geometry>
181
+ </visual>
182
+ <visual name="cabinet_door_surface-6">
183
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
184
+ <geometry>
185
+ <mesh filename="textured_objs/original-28.obj"/>
186
+ </geometry>
187
+ </visual>
188
+ <visual name="cabinet_door_surface-6">
189
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
190
+ <geometry>
191
+ <mesh filename="textured_objs/original-31.obj"/>
192
+ </geometry>
193
+ </visual>
194
+ <collision>
195
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
196
+ <geometry>
197
+ <mesh filename="textured_objs/original-30.obj"/>
198
+ </geometry>
199
+ </collision>
200
+ <collision>
201
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
202
+ <geometry>
203
+ <mesh filename="textured_objs/original-34.obj"/>
204
+ </geometry>
205
+ </collision>
206
+ <collision>
207
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
208
+ <geometry>
209
+ <mesh filename="textured_objs/original-26.obj"/>
210
+ </geometry>
211
+ </collision>
212
+ <collision>
213
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
214
+ <geometry>
215
+ <mesh filename="textured_objs/original-32.obj"/>
216
+ </geometry>
217
+ </collision>
218
+ <collision>
219
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
220
+ <geometry>
221
+ <mesh filename="textured_objs/original-25.obj"/>
222
+ </geometry>
223
+ </collision>
224
+ <collision>
225
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
226
+ <geometry>
227
+ <mesh filename="textured_objs/original-33.obj"/>
228
+ </geometry>
229
+ </collision>
230
+ <collision>
231
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
232
+ <geometry>
233
+ <mesh filename="textured_objs/original-35.obj"/>
234
+ </geometry>
235
+ </collision>
236
+ <collision>
237
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
238
+ <geometry>
239
+ <mesh filename="textured_objs/original-27.obj"/>
240
+ </geometry>
241
+ </collision>
242
+ <collision>
243
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
244
+ <geometry>
245
+ <mesh filename="textured_objs/original-28.obj"/>
246
+ </geometry>
247
+ </collision>
248
+ <collision>
249
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
250
+ <geometry>
251
+ <mesh filename="textured_objs/original-31.obj"/>
252
+ </geometry>
253
+ </collision>
254
+ </link>
255
+ <joint name="joint_1" type="revolute">
256
+ <origin xyz="-0.6466144835367729 0.6086450219154358 0.42931528988591117"/>
257
+ <axis xyz="0 -0.9999999999999999 0"/>
258
+ <child link="link_1"/>
259
+ <parent link="link_2"/>
260
+ <limit lower="-0.0" upper="1.5707963267948966"/>
261
+ </joint>
262
+ <link name="link_2">
263
+ <visual name="shelf-23">
264
+ <origin xyz="0 0 0"/>
265
+ <geometry>
266
+ <mesh filename="textured_objs/original-23.obj"/>
267
+ </geometry>
268
+ </visual>
269
+ <visual name="shelf-24">
270
+ <origin xyz="0 0 0"/>
271
+ <geometry>
272
+ <mesh filename="textured_objs/original-2.obj"/>
273
+ </geometry>
274
+ </visual>
275
+ <visual name="back_panel-18">
276
+ <origin xyz="0 0 0"/>
277
+ <geometry>
278
+ <mesh filename="textured_objs/original-6.obj"/>
279
+ </geometry>
280
+ </visual>
281
+ <visual name="bottom_panel-19">
282
+ <origin xyz="0 0 0"/>
283
+ <geometry>
284
+ <mesh filename="textured_objs/original-3.obj"/>
285
+ </geometry>
286
+ </visual>
287
+ <visual name="vertical_side_panel-25">
288
+ <origin xyz="0 0 0"/>
289
+ <geometry>
290
+ <mesh filename="textured_objs/original-12.obj"/>
291
+ </geometry>
292
+ </visual>
293
+ <visual name="vertical_side_panel-25">
294
+ <origin xyz="0 0 0"/>
295
+ <geometry>
296
+ <mesh filename="textured_objs/original-11.obj"/>
297
+ </geometry>
298
+ </visual>
299
+ <visual name="vertical_side_panel-26">
300
+ <origin xyz="0 0 0"/>
301
+ <geometry>
302
+ <mesh filename="textured_objs/original-16.obj"/>
303
+ </geometry>
304
+ </visual>
305
+ <visual name="vertical_side_panel-26">
306
+ <origin xyz="0 0 0"/>
307
+ <geometry>
308
+ <mesh filename="textured_objs/original-15.obj"/>
309
+ </geometry>
310
+ </visual>
311
+ <visual name="frame_vertical_bar-27">
312
+ <origin xyz="0 0 0"/>
313
+ <geometry>
314
+ <mesh filename="textured_objs/original-8.obj"/>
315
+ </geometry>
316
+ </visual>
317
+ <visual name="frame_vertical_bar-28">
318
+ <origin xyz="0 0 0"/>
319
+ <geometry>
320
+ <mesh filename="textured_objs/original-4.obj"/>
321
+ </geometry>
322
+ </visual>
323
+ <visual name="frame_vertical_bar-29">
324
+ <origin xyz="0 0 0"/>
325
+ <geometry>
326
+ <mesh filename="textured_objs/original-18.obj"/>
327
+ </geometry>
328
+ </visual>
329
+ <visual name="frame_horizontal_bar-30">
330
+ <origin xyz="0 0 0"/>
331
+ <geometry>
332
+ <mesh filename="textured_objs/original-22.obj"/>
333
+ </geometry>
334
+ </visual>
335
+ <visual name="frame_horizontal_bar-31">
336
+ <origin xyz="0 0 0"/>
337
+ <geometry>
338
+ <mesh filename="textured_objs/original-21.obj"/>
339
+ </geometry>
340
+ </visual>
341
+ <visual name="frame_horizontal_bar-32">
342
+ <origin xyz="0 0 0"/>
343
+ <geometry>
344
+ <mesh filename="textured_objs/original-5.obj"/>
345
+ </geometry>
346
+ </visual>
347
+ <visual name="frame_horizontal_bar-33">
348
+ <origin xyz="0 0 0"/>
349
+ <geometry>
350
+ <mesh filename="textured_objs/original-9.obj"/>
351
+ </geometry>
352
+ </visual>
353
+ <visual name="frame_horizontal_bar-34">
354
+ <origin xyz="0 0 0"/>
355
+ <geometry>
356
+ <mesh filename="textured_objs/original-7.obj"/>
357
+ </geometry>
358
+ </visual>
359
+ <visual name="other_leaf-36">
360
+ <origin xyz="0 0 0"/>
361
+ <geometry>
362
+ <mesh filename="textured_objs/original-56.obj"/>
363
+ </geometry>
364
+ </visual>
365
+ <visual name="base_side_panel-11">
366
+ <origin xyz="0 0 0"/>
367
+ <geometry>
368
+ <mesh filename="textured_objs/original-13.obj"/>
369
+ </geometry>
370
+ </visual>
371
+ <visual name="base_side_panel-12">
372
+ <origin xyz="0 0 0"/>
373
+ <geometry>
374
+ <mesh filename="textured_objs/original-19.obj"/>
375
+ </geometry>
376
+ </visual>
377
+ <visual name="base_side_panel-13">
378
+ <origin xyz="0 0 0"/>
379
+ <geometry>
380
+ <mesh filename="textured_objs/original-17.obj"/>
381
+ </geometry>
382
+ </visual>
383
+ <visual name="base_side_panel-14">
384
+ <origin xyz="0 0 0"/>
385
+ <geometry>
386
+ <mesh filename="textured_objs/original-20.obj"/>
387
+ </geometry>
388
+ </visual>
389
+ <collision>
390
+ <origin xyz="0 0 0"/>
391
+ <geometry>
392
+ <mesh filename="textured_objs/original-23.obj"/>
393
+ </geometry>
394
+ </collision>
395
+ <collision>
396
+ <origin xyz="0 0 0"/>
397
+ <geometry>
398
+ <mesh filename="textured_objs/original-2.obj"/>
399
+ </geometry>
400
+ </collision>
401
+ <collision>
402
+ <origin xyz="0 0 0"/>
403
+ <geometry>
404
+ <mesh filename="textured_objs/original-6.obj"/>
405
+ </geometry>
406
+ </collision>
407
+ <collision>
408
+ <origin xyz="0 0 0"/>
409
+ <geometry>
410
+ <mesh filename="textured_objs/original-3.obj"/>
411
+ </geometry>
412
+ </collision>
413
+ <collision>
414
+ <origin xyz="0 0 0"/>
415
+ <geometry>
416
+ <mesh filename="textured_objs/original-12.obj"/>
417
+ </geometry>
418
+ </collision>
419
+ <collision>
420
+ <origin xyz="0 0 0"/>
421
+ <geometry>
422
+ <mesh filename="textured_objs/original-11.obj"/>
423
+ </geometry>
424
+ </collision>
425
+ <collision>
426
+ <origin xyz="0 0 0"/>
427
+ <geometry>
428
+ <mesh filename="textured_objs/original-16.obj"/>
429
+ </geometry>
430
+ </collision>
431
+ <collision>
432
+ <origin xyz="0 0 0"/>
433
+ <geometry>
434
+ <mesh filename="textured_objs/original-15.obj"/>
435
+ </geometry>
436
+ </collision>
437
+ <collision>
438
+ <origin xyz="0 0 0"/>
439
+ <geometry>
440
+ <mesh filename="textured_objs/original-8.obj"/>
441
+ </geometry>
442
+ </collision>
443
+ <collision>
444
+ <origin xyz="0 0 0"/>
445
+ <geometry>
446
+ <mesh filename="textured_objs/original-4.obj"/>
447
+ </geometry>
448
+ </collision>
449
+ <collision>
450
+ <origin xyz="0 0 0"/>
451
+ <geometry>
452
+ <mesh filename="textured_objs/original-18.obj"/>
453
+ </geometry>
454
+ </collision>
455
+ <collision>
456
+ <origin xyz="0 0 0"/>
457
+ <geometry>
458
+ <mesh filename="textured_objs/original-22.obj"/>
459
+ </geometry>
460
+ </collision>
461
+ <collision>
462
+ <origin xyz="0 0 0"/>
463
+ <geometry>
464
+ <mesh filename="textured_objs/original-21.obj"/>
465
+ </geometry>
466
+ </collision>
467
+ <collision>
468
+ <origin xyz="0 0 0"/>
469
+ <geometry>
470
+ <mesh filename="textured_objs/original-5.obj"/>
471
+ </geometry>
472
+ </collision>
473
+ <collision>
474
+ <origin xyz="0 0 0"/>
475
+ <geometry>
476
+ <mesh filename="textured_objs/original-9.obj"/>
477
+ </geometry>
478
+ </collision>
479
+ <collision>
480
+ <origin xyz="0 0 0"/>
481
+ <geometry>
482
+ <mesh filename="textured_objs/original-7.obj"/>
483
+ </geometry>
484
+ </collision>
485
+ <collision>
486
+ <origin xyz="0 0 0"/>
487
+ <geometry>
488
+ <mesh filename="textured_objs/original-56.obj"/>
489
+ </geometry>
490
+ </collision>
491
+ <collision>
492
+ <origin xyz="0 0 0"/>
493
+ <geometry>
494
+ <mesh filename="textured_objs/original-13.obj"/>
495
+ </geometry>
496
+ </collision>
497
+ <collision>
498
+ <origin xyz="0 0 0"/>
499
+ <geometry>
500
+ <mesh filename="textured_objs/original-19.obj"/>
501
+ </geometry>
502
+ </collision>
503
+ <collision>
504
+ <origin xyz="0 0 0"/>
505
+ <geometry>
506
+ <mesh filename="textured_objs/original-17.obj"/>
507
+ </geometry>
508
+ </collision>
509
+ <collision>
510
+ <origin xyz="0 0 0"/>
511
+ <geometry>
512
+ <mesh filename="textured_objs/original-20.obj"/>
513
+ </geometry>
514
+ </collision>
515
+ </link>
516
+ <joint name="joint_2" type="fixed">
517
+ <origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
518
+ <child link="link_2"/>
519
+ <parent link="base"/>
520
+ </joint>
521
+ <link name="link_3">
522
+ <visual name="handle-1">
523
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
524
+ <geometry>
525
+ <mesh filename="textured_objs/original-55.obj"/>
526
+ </geometry>
527
+ </visual>
528
+ <visual name="handle-1">
529
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
530
+ <geometry>
531
+ <mesh filename="textured_objs/original-53.obj"/>
532
+ </geometry>
533
+ </visual>
534
+ <visual name="handle-1">
535
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
536
+ <geometry>
537
+ <mesh filename="textured_objs/original-54.obj"/>
538
+ </geometry>
539
+ </visual>
540
+ <collision>
541
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
542
+ <geometry>
543
+ <mesh filename="textured_objs/original-55.obj"/>
544
+ </geometry>
545
+ </collision>
546
+ <collision>
547
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
548
+ <geometry>
549
+ <mesh filename="textured_objs/original-53.obj"/>
550
+ </geometry>
551
+ </collision>
552
+ <collision>
553
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
554
+ <geometry>
555
+ <mesh filename="textured_objs/original-54.obj"/>
556
+ </geometry>
557
+ </collision>
558
+ </link>
559
+ <joint name="joint_3" type="fixed">
560
+ <origin rpy="0 0 0" xyz="0 0 0"/>
561
+ <child link="link_3"/>
562
+ <parent link="link_0"/>
563
+ </joint>
564
+ <link name="link_4">
565
+ <visual name="handle-1">
566
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
567
+ <geometry>
568
+ <mesh filename="textured_objs/original-39.obj"/>
569
+ </geometry>
570
+ </visual>
571
+ <visual name="handle-1">
572
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
573
+ <geometry>
574
+ <mesh filename="textured_objs/original-38.obj"/>
575
+ </geometry>
576
+ </visual>
577
+ <visual name="handle-1">
578
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
579
+ <geometry>
580
+ <mesh filename="textured_objs/original-37.obj"/>
581
+ </geometry>
582
+ </visual>
583
+ <collision>
584
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
585
+ <geometry>
586
+ <mesh filename="textured_objs/original-39.obj"/>
587
+ </geometry>
588
+ </collision>
589
+ <collision>
590
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
591
+ <geometry>
592
+ <mesh filename="textured_objs/original-38.obj"/>
593
+ </geometry>
594
+ </collision>
595
+ <collision>
596
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
597
+ <geometry>
598
+ <mesh filename="textured_objs/original-37.obj"/>
599
+ </geometry>
600
+ </collision>
601
+ </link>
602
+ <joint name="joint_4" type="fixed">
603
+ <origin rpy="0 0 0" xyz="0 0 0"/>
604
+ <child link="link_4"/>
605
+ <parent link="link_1"/>
606
+ </joint>
607
+ </robot>
assets/gapartnet/45159/mobility_texture_gapartnet.urdf ADDED
@@ -0,0 +1,593 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" ?>
2
+ <robot name="partnet_1676f8b995b976e5824662341ce2b233">
3
+ <link name="base"/>
4
+ <link name="link_0">
5
+ <visual name="cabinet_door_surface-8">
6
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
7
+ <geometry>
8
+ <mesh filename="textured_objs/original-43.obj"/>
9
+ </geometry>
10
+ </visual>
11
+ <visual name="cabinet_door_surface-8">
12
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
13
+ <geometry>
14
+ <mesh filename="textured_objs/original-48.obj"/>
15
+ </geometry>
16
+ </visual>
17
+ <visual name="cabinet_door_surface-8">
18
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
19
+ <geometry>
20
+ <mesh filename="textured_objs/original-44.obj"/>
21
+ </geometry>
22
+ </visual>
23
+ <visual name="cabinet_door_surface-8">
24
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
25
+ <geometry>
26
+ <mesh filename="textured_objs/original-50.obj"/>
27
+ </geometry>
28
+ </visual>
29
+ <visual name="cabinet_door_surface-8">
30
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
31
+ <geometry>
32
+ <mesh filename="textured_objs/original-49.obj"/>
33
+ </geometry>
34
+ </visual>
35
+ <visual name="cabinet_door_surface-8">
36
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
37
+ <geometry>
38
+ <mesh filename="textured_objs/original-47.obj"/>
39
+ </geometry>
40
+ </visual>
41
+ <visual name="cabinet_door_surface-8">
42
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
43
+ <geometry>
44
+ <mesh filename="textured_objs/original-46.obj"/>
45
+ </geometry>
46
+ </visual>
47
+ <visual name="cabinet_door_surface-8">
48
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
49
+ <geometry>
50
+ <mesh filename="textured_objs/original-51.obj"/>
51
+ </geometry>
52
+ </visual>
53
+ <visual name="cabinet_door_surface-8">
54
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
55
+ <geometry>
56
+ <mesh filename="textured_objs/original-45.obj"/>
57
+ </geometry>
58
+ </visual>
59
+ <visual name="cabinet_door_surface-8">
60
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
61
+ <geometry>
62
+ <mesh filename="textured_objs/original-42.obj"/>
63
+ </geometry>
64
+ </visual>
65
+ <visual name="handle-9">
66
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
67
+ <geometry>
68
+ <mesh filename="textured_objs/original-55.obj"/>
69
+ </geometry>
70
+ </visual>
71
+ <visual name="handle-9">
72
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
73
+ <geometry>
74
+ <mesh filename="textured_objs/original-53.obj"/>
75
+ </geometry>
76
+ </visual>
77
+ <visual name="handle-9">
78
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
79
+ <geometry>
80
+ <mesh filename="textured_objs/original-54.obj"/>
81
+ </geometry>
82
+ </visual>
83
+ <collision>
84
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
85
+ <geometry>
86
+ <mesh filename="textured_objs/original-43.obj"/>
87
+ </geometry>
88
+ </collision>
89
+ <collision>
90
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
91
+ <geometry>
92
+ <mesh filename="textured_objs/original-48.obj"/>
93
+ </geometry>
94
+ </collision>
95
+ <collision>
96
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
97
+ <geometry>
98
+ <mesh filename="textured_objs/original-44.obj"/>
99
+ </geometry>
100
+ </collision>
101
+ <collision>
102
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
103
+ <geometry>
104
+ <mesh filename="textured_objs/original-50.obj"/>
105
+ </geometry>
106
+ </collision>
107
+ <collision>
108
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
109
+ <geometry>
110
+ <mesh filename="textured_objs/original-49.obj"/>
111
+ </geometry>
112
+ </collision>
113
+ <collision>
114
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
115
+ <geometry>
116
+ <mesh filename="textured_objs/original-47.obj"/>
117
+ </geometry>
118
+ </collision>
119
+ <collision>
120
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
121
+ <geometry>
122
+ <mesh filename="textured_objs/original-46.obj"/>
123
+ </geometry>
124
+ </collision>
125
+ <collision>
126
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
127
+ <geometry>
128
+ <mesh filename="textured_objs/original-51.obj"/>
129
+ </geometry>
130
+ </collision>
131
+ <collision>
132
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
133
+ <geometry>
134
+ <mesh filename="textured_objs/original-45.obj"/>
135
+ </geometry>
136
+ </collision>
137
+ <collision>
138
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
139
+ <geometry>
140
+ <mesh filename="textured_objs/original-42.obj"/>
141
+ </geometry>
142
+ </collision>
143
+ <collision>
144
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
145
+ <geometry>
146
+ <mesh filename="textured_objs/original-55.obj"/>
147
+ </geometry>
148
+ </collision>
149
+ <collision>
150
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
151
+ <geometry>
152
+ <mesh filename="textured_objs/original-53.obj"/>
153
+ </geometry>
154
+ </collision>
155
+ <collision>
156
+ <origin xyz="-0.6293170790203719 -0.6086450219154358 -0.4252905637110561"/>
157
+ <geometry>
158
+ <mesh filename="textured_objs/original-54.obj"/>
159
+ </geometry>
160
+ </collision>
161
+ </link>
162
+ <joint name="joint_0" type="revolute">
163
+ <origin xyz="0.6293170790203719 0.6086450219154358 0.4252905637110561"/>
164
+ <axis xyz="0 0.9999999999999999 0"/>
165
+ <child link="link_0"/>
166
+ <parent link="link_2"/>
167
+ <limit lower="0.0" upper="1.5707963267948966"/>
168
+ </joint>
169
+ <link name="link_1">
170
+ <visual name="cabinet_door_surface-6">
171
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
172
+ <geometry>
173
+ <mesh filename="textured_objs/original-30.obj"/>
174
+ </geometry>
175
+ </visual>
176
+ <visual name="cabinet_door_surface-6">
177
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
178
+ <geometry>
179
+ <mesh filename="textured_objs/original-34.obj"/>
180
+ </geometry>
181
+ </visual>
182
+ <visual name="cabinet_door_surface-6">
183
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
184
+ <geometry>
185
+ <mesh filename="textured_objs/original-26.obj"/>
186
+ </geometry>
187
+ </visual>
188
+ <visual name="cabinet_door_surface-6">
189
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
190
+ <geometry>
191
+ <mesh filename="textured_objs/original-32.obj"/>
192
+ </geometry>
193
+ </visual>
194
+ <visual name="cabinet_door_surface-6">
195
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
196
+ <geometry>
197
+ <mesh filename="textured_objs/original-25.obj"/>
198
+ </geometry>
199
+ </visual>
200
+ <visual name="cabinet_door_surface-6">
201
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
202
+ <geometry>
203
+ <mesh filename="textured_objs/original-33.obj"/>
204
+ </geometry>
205
+ </visual>
206
+ <visual name="cabinet_door_surface-6">
207
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
208
+ <geometry>
209
+ <mesh filename="textured_objs/original-35.obj"/>
210
+ </geometry>
211
+ </visual>
212
+ <visual name="cabinet_door_surface-6">
213
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
214
+ <geometry>
215
+ <mesh filename="textured_objs/original-27.obj"/>
216
+ </geometry>
217
+ </visual>
218
+ <visual name="cabinet_door_surface-6">
219
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
220
+ <geometry>
221
+ <mesh filename="textured_objs/original-28.obj"/>
222
+ </geometry>
223
+ </visual>
224
+ <visual name="cabinet_door_surface-6">
225
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
226
+ <geometry>
227
+ <mesh filename="textured_objs/original-31.obj"/>
228
+ </geometry>
229
+ </visual>
230
+ <visual name="handle-7">
231
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
232
+ <geometry>
233
+ <mesh filename="textured_objs/original-39.obj"/>
234
+ </geometry>
235
+ </visual>
236
+ <visual name="handle-7">
237
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
238
+ <geometry>
239
+ <mesh filename="textured_objs/original-38.obj"/>
240
+ </geometry>
241
+ </visual>
242
+ <visual name="handle-7">
243
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
244
+ <geometry>
245
+ <mesh filename="textured_objs/original-37.obj"/>
246
+ </geometry>
247
+ </visual>
248
+ <collision>
249
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
250
+ <geometry>
251
+ <mesh filename="textured_objs/original-30.obj"/>
252
+ </geometry>
253
+ </collision>
254
+ <collision>
255
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
256
+ <geometry>
257
+ <mesh filename="textured_objs/original-34.obj"/>
258
+ </geometry>
259
+ </collision>
260
+ <collision>
261
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
262
+ <geometry>
263
+ <mesh filename="textured_objs/original-26.obj"/>
264
+ </geometry>
265
+ </collision>
266
+ <collision>
267
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
268
+ <geometry>
269
+ <mesh filename="textured_objs/original-32.obj"/>
270
+ </geometry>
271
+ </collision>
272
+ <collision>
273
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
274
+ <geometry>
275
+ <mesh filename="textured_objs/original-25.obj"/>
276
+ </geometry>
277
+ </collision>
278
+ <collision>
279
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
280
+ <geometry>
281
+ <mesh filename="textured_objs/original-33.obj"/>
282
+ </geometry>
283
+ </collision>
284
+ <collision>
285
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
286
+ <geometry>
287
+ <mesh filename="textured_objs/original-35.obj"/>
288
+ </geometry>
289
+ </collision>
290
+ <collision>
291
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
292
+ <geometry>
293
+ <mesh filename="textured_objs/original-27.obj"/>
294
+ </geometry>
295
+ </collision>
296
+ <collision>
297
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
298
+ <geometry>
299
+ <mesh filename="textured_objs/original-28.obj"/>
300
+ </geometry>
301
+ </collision>
302
+ <collision>
303
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
304
+ <geometry>
305
+ <mesh filename="textured_objs/original-31.obj"/>
306
+ </geometry>
307
+ </collision>
308
+ <collision>
309
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
310
+ <geometry>
311
+ <mesh filename="textured_objs/original-39.obj"/>
312
+ </geometry>
313
+ </collision>
314
+ <collision>
315
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
316
+ <geometry>
317
+ <mesh filename="textured_objs/original-38.obj"/>
318
+ </geometry>
319
+ </collision>
320
+ <collision>
321
+ <origin xyz="0.6466144835367729 -0.6086450219154358 -0.42931528988591117"/>
322
+ <geometry>
323
+ <mesh filename="textured_objs/original-37.obj"/>
324
+ </geometry>
325
+ </collision>
326
+ </link>
327
+ <joint name="joint_1" type="revolute">
328
+ <origin xyz="-0.6466144835367729 0.6086450219154358 0.42931528988591117"/>
329
+ <axis xyz="0 -0.9999999999999999 0"/>
330
+ <child link="link_1"/>
331
+ <parent link="link_2"/>
332
+ <limit lower="-0.0" upper="1.5707963267948966"/>
333
+ </joint>
334
+ <link name="link_2">
335
+ <visual name="shelf-23">
336
+ <origin xyz="0 0 0"/>
337
+ <geometry>
338
+ <mesh filename="textured_objs/original-23.obj"/>
339
+ </geometry>
340
+ </visual>
341
+ <visual name="shelf-24">
342
+ <origin xyz="0 0 0"/>
343
+ <geometry>
344
+ <mesh filename="textured_objs/original-2.obj"/>
345
+ </geometry>
346
+ </visual>
347
+ <visual name="back_panel-18">
348
+ <origin xyz="0 0 0"/>
349
+ <geometry>
350
+ <mesh filename="textured_objs/original-6.obj"/>
351
+ </geometry>
352
+ </visual>
353
+ <visual name="bottom_panel-19">
354
+ <origin xyz="0 0 0"/>
355
+ <geometry>
356
+ <mesh filename="textured_objs/original-3.obj"/>
357
+ </geometry>
358
+ </visual>
359
+ <visual name="vertical_side_panel-25">
360
+ <origin xyz="0 0 0"/>
361
+ <geometry>
362
+ <mesh filename="textured_objs/original-12.obj"/>
363
+ </geometry>
364
+ </visual>
365
+ <visual name="vertical_side_panel-25">
366
+ <origin xyz="0 0 0"/>
367
+ <geometry>
368
+ <mesh filename="textured_objs/original-11.obj"/>
369
+ </geometry>
370
+ </visual>
371
+ <visual name="vertical_side_panel-26">
372
+ <origin xyz="0 0 0"/>
373
+ <geometry>
374
+ <mesh filename="textured_objs/original-16.obj"/>
375
+ </geometry>
376
+ </visual>
377
+ <visual name="vertical_side_panel-26">
378
+ <origin xyz="0 0 0"/>
379
+ <geometry>
380
+ <mesh filename="textured_objs/original-15.obj"/>
381
+ </geometry>
382
+ </visual>
383
+ <visual name="frame_vertical_bar-27">
384
+ <origin xyz="0 0 0"/>
385
+ <geometry>
386
+ <mesh filename="textured_objs/original-8.obj"/>
387
+ </geometry>
388
+ </visual>
389
+ <visual name="frame_vertical_bar-28">
390
+ <origin xyz="0 0 0"/>
391
+ <geometry>
392
+ <mesh filename="textured_objs/original-4.obj"/>
393
+ </geometry>
394
+ </visual>
395
+ <visual name="frame_vertical_bar-29">
396
+ <origin xyz="0 0 0"/>
397
+ <geometry>
398
+ <mesh filename="textured_objs/original-18.obj"/>
399
+ </geometry>
400
+ </visual>
401
+ <visual name="frame_horizontal_bar-30">
402
+ <origin xyz="0 0 0"/>
403
+ <geometry>
404
+ <mesh filename="textured_objs/original-22.obj"/>
405
+ </geometry>
406
+ </visual>
407
+ <visual name="frame_horizontal_bar-31">
408
+ <origin xyz="0 0 0"/>
409
+ <geometry>
410
+ <mesh filename="textured_objs/original-21.obj"/>
411
+ </geometry>
412
+ </visual>
413
+ <visual name="frame_horizontal_bar-32">
414
+ <origin xyz="0 0 0"/>
415
+ <geometry>
416
+ <mesh filename="textured_objs/original-5.obj"/>
417
+ </geometry>
418
+ </visual>
419
+ <visual name="frame_horizontal_bar-33">
420
+ <origin xyz="0 0 0"/>
421
+ <geometry>
422
+ <mesh filename="textured_objs/original-9.obj"/>
423
+ </geometry>
424
+ </visual>
425
+ <visual name="frame_horizontal_bar-34">
426
+ <origin xyz="0 0 0"/>
427
+ <geometry>
428
+ <mesh filename="textured_objs/original-7.obj"/>
429
+ </geometry>
430
+ </visual>
431
+ <visual name="other_leaf-36">
432
+ <origin xyz="0 0 0"/>
433
+ <geometry>
434
+ <mesh filename="textured_objs/original-56.obj"/>
435
+ </geometry>
436
+ </visual>
437
+ <visual name="base_side_panel-11">
438
+ <origin xyz="0 0 0"/>
439
+ <geometry>
440
+ <mesh filename="textured_objs/original-13.obj"/>
441
+ </geometry>
442
+ </visual>
443
+ <visual name="base_side_panel-12">
444
+ <origin xyz="0 0 0"/>
445
+ <geometry>
446
+ <mesh filename="textured_objs/original-19.obj"/>
447
+ </geometry>
448
+ </visual>
449
+ <visual name="base_side_panel-13">
450
+ <origin xyz="0 0 0"/>
451
+ <geometry>
452
+ <mesh filename="textured_objs/original-17.obj"/>
453
+ </geometry>
454
+ </visual>
455
+ <visual name="base_side_panel-14">
456
+ <origin xyz="0 0 0"/>
457
+ <geometry>
458
+ <mesh filename="textured_objs/original-20.obj"/>
459
+ </geometry>
460
+ </visual>
461
+ <collision>
462
+ <origin xyz="0 0 0"/>
463
+ <geometry>
464
+ <mesh filename="textured_objs/original-23.obj"/>
465
+ </geometry>
466
+ </collision>
467
+ <collision>
468
+ <origin xyz="0 0 0"/>
469
+ <geometry>
470
+ <mesh filename="textured_objs/original-2.obj"/>
471
+ </geometry>
472
+ </collision>
473
+ <collision>
474
+ <origin xyz="0 0 0"/>
475
+ <geometry>
476
+ <mesh filename="textured_objs/original-6.obj"/>
477
+ </geometry>
478
+ </collision>
479
+ <collision>
480
+ <origin xyz="0 0 0"/>
481
+ <geometry>
482
+ <mesh filename="textured_objs/original-3.obj"/>
483
+ </geometry>
484
+ </collision>
485
+ <collision>
486
+ <origin xyz="0 0 0"/>
487
+ <geometry>
488
+ <mesh filename="textured_objs/original-12.obj"/>
489
+ </geometry>
490
+ </collision>
491
+ <collision>
492
+ <origin xyz="0 0 0"/>
493
+ <geometry>
494
+ <mesh filename="textured_objs/original-11.obj"/>
495
+ </geometry>
496
+ </collision>
497
+ <collision>
498
+ <origin xyz="0 0 0"/>
499
+ <geometry>
500
+ <mesh filename="textured_objs/original-16.obj"/>
501
+ </geometry>
502
+ </collision>
503
+ <collision>
504
+ <origin xyz="0 0 0"/>
505
+ <geometry>
506
+ <mesh filename="textured_objs/original-15.obj"/>
507
+ </geometry>
508
+ </collision>
509
+ <collision>
510
+ <origin xyz="0 0 0"/>
511
+ <geometry>
512
+ <mesh filename="textured_objs/original-8.obj"/>
513
+ </geometry>
514
+ </collision>
515
+ <collision>
516
+ <origin xyz="0 0 0"/>
517
+ <geometry>
518
+ <mesh filename="textured_objs/original-4.obj"/>
519
+ </geometry>
520
+ </collision>
521
+ <collision>
522
+ <origin xyz="0 0 0"/>
523
+ <geometry>
524
+ <mesh filename="textured_objs/original-18.obj"/>
525
+ </geometry>
526
+ </collision>
527
+ <collision>
528
+ <origin xyz="0 0 0"/>
529
+ <geometry>
530
+ <mesh filename="textured_objs/original-22.obj"/>
531
+ </geometry>
532
+ </collision>
533
+ <collision>
534
+ <origin xyz="0 0 0"/>
535
+ <geometry>
536
+ <mesh filename="textured_objs/original-21.obj"/>
537
+ </geometry>
538
+ </collision>
539
+ <collision>
540
+ <origin xyz="0 0 0"/>
541
+ <geometry>
542
+ <mesh filename="textured_objs/original-5.obj"/>
543
+ </geometry>
544
+ </collision>
545
+ <collision>
546
+ <origin xyz="0 0 0"/>
547
+ <geometry>
548
+ <mesh filename="textured_objs/original-9.obj"/>
549
+ </geometry>
550
+ </collision>
551
+ <collision>
552
+ <origin xyz="0 0 0"/>
553
+ <geometry>
554
+ <mesh filename="textured_objs/original-7.obj"/>
555
+ </geometry>
556
+ </collision>
557
+ <collision>
558
+ <origin xyz="0 0 0"/>
559
+ <geometry>
560
+ <mesh filename="textured_objs/original-56.obj"/>
561
+ </geometry>
562
+ </collision>
563
+ <collision>
564
+ <origin xyz="0 0 0"/>
565
+ <geometry>
566
+ <mesh filename="textured_objs/original-13.obj"/>
567
+ </geometry>
568
+ </collision>
569
+ <collision>
570
+ <origin xyz="0 0 0"/>
571
+ <geometry>
572
+ <mesh filename="textured_objs/original-19.obj"/>
573
+ </geometry>
574
+ </collision>
575
+ <collision>
576
+ <origin xyz="0 0 0"/>
577
+ <geometry>
578
+ <mesh filename="textured_objs/original-17.obj"/>
579
+ </geometry>
580
+ </collision>
581
+ <collision>
582
+ <origin xyz="0 0 0"/>
583
+ <geometry>
584
+ <mesh filename="textured_objs/original-20.obj"/>
585
+ </geometry>
586
+ </collision>
587
+ </link>
588
+ <joint name="joint_2" type="fixed">
589
+ <origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
590
+ <child link="link_2"/>
591
+ <parent link="base"/>
592
+ </joint>
593
+ </robot>
assets/gapartnet/45159/parts_render/0.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 0 storage_furniture Storage Furniture
assets/gapartnet/45159/parts_render/1.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 1 cabinet Cabinet
assets/gapartnet/45159/parts_render/10.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 10 panel_base Panel Base
assets/gapartnet/45159/parts_render/11.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 11 base_side_panel Base side panel
assets/gapartnet/45159/parts_render/12.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 12 base_side_panel Base side panel
assets/gapartnet/45159/parts_render/13.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 13 base_side_panel Base side panel
assets/gapartnet/45159/parts_render/14.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 14 base_side_panel Base side panel
assets/gapartnet/45159/parts_render/18.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 18 back_panel Back panel
assets/gapartnet/45159/parts_render/19.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 19 bottom_panel Bottom panel
assets/gapartnet/45159/parts_render/2.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 2 cabinet_frame Cabinet frame
assets/gapartnet/45159/parts_render/23.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 23 shelf Shelf
assets/gapartnet/45159/parts_render/24.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 24 shelf Shelf
assets/gapartnet/45159/parts_render/25.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 25 vertical_side_panel Vertical side panel
assets/gapartnet/45159/parts_render/26.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 26 vertical_side_panel Vertical side panel
assets/gapartnet/45159/parts_render/27.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 27 frame_vertical_bar Vertical support bar
assets/gapartnet/45159/parts_render/28.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 28 frame_vertical_bar Vertical support bar
assets/gapartnet/45159/parts_render/29.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 29 frame_vertical_bar Vertical support bar
assets/gapartnet/45159/parts_render/3.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 3 cabinet_base Cabinet Base
assets/gapartnet/45159/parts_render/30.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 30 frame_horizontal_bar Horizontal support bar
assets/gapartnet/45159/parts_render/31.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 31 frame_horizontal_bar Horizontal support bar
assets/gapartnet/45159/parts_render/32.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 32 frame_horizontal_bar Horizontal support bar
assets/gapartnet/45159/parts_render/33.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 33 frame_horizontal_bar Horizontal support bar
assets/gapartnet/45159/parts_render/34.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 34 frame_horizontal_bar Horizontal support bar
assets/gapartnet/45159/parts_render/35.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 35 other rectangle (other)
assets/gapartnet/45159/parts_render/36.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 36 other_leaf other_leaf
assets/gapartnet/45159/parts_render/4.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 4 cabinet_door Cabinet door
assets/gapartnet/45159/parts_render/5.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 5 cabinet_door Cabinet door
assets/gapartnet/45159/parts_render/6.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 6 cabinet_door_surface Cabinet door surface
assets/gapartnet/45159/parts_render/7.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 7 handle Handle
assets/gapartnet/45159/parts_render/8.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 8 cabinet_door_surface Cabinet door surface
assets/gapartnet/45159/parts_render/9.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 9 handle Handle
assets/gapartnet/45159/parts_render_after_merging/0.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 0 storage_furniture storage_furniture
assets/gapartnet/45159/parts_render_after_merging/1.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 1 cabinet cabinet
assets/gapartnet/45159/parts_render_after_merging/10.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 10 frame_horizontal_bar frame_horizontal_bar
assets/gapartnet/45159/parts_render_after_merging/11.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 11 frame_horizontal_bar frame_horizontal_bar
assets/gapartnet/45159/parts_render_after_merging/12.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 12 frame_horizontal_bar frame_horizontal_bar
assets/gapartnet/45159/parts_render_after_merging/13.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 13 frame_horizontal_bar frame_horizontal_bar
assets/gapartnet/45159/parts_render_after_merging/14.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 14 frame_horizontal_bar frame_horizontal_bar
assets/gapartnet/45159/parts_render_after_merging/15.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 15 cabinet_base cabinet_base
assets/gapartnet/45159/parts_render_after_merging/16.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 16 panel_base panel_base
assets/gapartnet/45159/parts_render_after_merging/17.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 17 base_side_panel base_side_panel
assets/gapartnet/45159/parts_render_after_merging/18.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 18 base_side_panel base_side_panel
assets/gapartnet/45159/parts_render_after_merging/19.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 19 base_side_panel base_side_panel
assets/gapartnet/45159/parts_render_after_merging/2.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 2 cabinet_frame cabinet_frame