| <?xml version="1.0" ?> |
| <robot name="partnet_04569f2f-3e07-4655-9337-bfa41a5ccbc0"> |
| <link name="base"/> |
| <link name="link_0"> |
| <visual name="door-1"> |
| <origin xyz="0.41306891977786964 0 -0.5009578447043892"/> |
| <geometry> |
| <mesh filename="textured_objs/original-14.obj"/> |
| </geometry> |
| </visual> |
| <visual name="door-1"> |
| <origin xyz="0.41306891977786964 0 -0.5009578447043892"/> |
| <geometry> |
| <mesh filename="textured_objs/original-9.obj"/> |
| </geometry> |
| </visual> |
| <visual name="door-1"> |
| <origin xyz="0.41306891977786964 0 -0.5009578447043892"/> |
| <geometry> |
| <mesh filename="textured_objs/original-12.obj"/> |
| </geometry> |
| </visual> |
| <visual name="door-1"> |
| <origin xyz="0.41306891977786964 0 -0.5009578447043892"/> |
| <geometry> |
| <mesh filename="textured_objs/original-10.obj"/> |
| </geometry> |
| </visual> |
| <visual name="door-1"> |
| <origin xyz="0.41306891977786964 0 -0.5009578447043892"/> |
| <geometry> |
| <mesh filename="textured_objs/original-11.obj"/> |
| </geometry> |
| </visual> |
| <visual name="door-1"> |
| <origin xyz="0.41306891977786964 0 -0.5009578447043892"/> |
| <geometry> |
| <mesh filename="textured_objs/original-13.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0.41306891977786964 0 -0.5009578447043892"/> |
| <geometry> |
| <mesh filename="textured_objs/original-14.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0.41306891977786964 0 -0.5009578447043892"/> |
| <geometry> |
| <mesh filename="textured_objs/original-9.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0.41306891977786964 0 -0.5009578447043892"/> |
| <geometry> |
| <mesh filename="textured_objs/original-12.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0.41306891977786964 0 -0.5009578447043892"/> |
| <geometry> |
| <mesh filename="textured_objs/original-10.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0.41306891977786964 0 -0.5009578447043892"/> |
| <geometry> |
| <mesh filename="textured_objs/original-11.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0.41306891977786964 0 -0.5009578447043892"/> |
| <geometry> |
| <mesh filename="textured_objs/original-13.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_0" type="revolute"> |
| <origin xyz="-0.41306891977786964 0 0.5009578447043892"/> |
| <axis xyz="0 -1 0"/> |
| <child link="link_0"/> |
| <parent link="link_9"/> |
| <limit lower="-0.0" upper="1.6713272917097697"/> |
| </joint> |
| <link name="link_1"> |
| <visual name="button-3"> |
| <origin xyz="-0.3340639023446024 -0.4964357740425043 0.07642978875212111"/> |
| <geometry> |
| <mesh filename="textured_objs/original-25.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.3340639023446024 -0.4964357740425043 0.07642978875212111"/> |
| <geometry> |
| <mesh filename="textured_objs/original-25.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_1" type="prismatic"> |
| <origin xyz="0.3340639023446024 0.4964357740425043 -0.07642978875212111"/> |
| <axis xyz="-4.657845383382128e-06 -0.15216119187547963 -0.9883556908650539"/> |
| <child link="link_1"/> |
| <parent link="link_9"/> |
| <limit lower="0" upper="0.002"/> |
| </joint> |
| <link name="link_2"> |
| <visual name="button-4"> |
| <origin xyz="-0.29111733658759303 -0.4906258843202211 0.07555088953796019"/> |
| <geometry> |
| <mesh filename="textured_objs/original-26.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.29111733658759303 -0.4906258843202211 0.07555088953796019"/> |
| <geometry> |
| <mesh filename="textured_objs/original-26.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_2" type="prismatic"> |
| <origin xyz="0.29111733658759303 0.4906258843202211 -0.07555088953796019"/> |
| <axis xyz="6.879132997872837e-06 -0.15219889275132606 -0.9883498859199348"/> |
| <child link="link_2"/> |
| <parent link="link_9"/> |
| <limit lower="0" upper="0.002"/> |
| </joint> |
| <link name="link_3"> |
| <visual name="button-5"> |
| <origin xyz="-0.2481536478338573 -0.4848625028548582 0.07464954927160374"/> |
| <geometry> |
| <mesh filename="textured_objs/original-27.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.2481536478338573 -0.4848625028548582 0.07464954927160374"/> |
| <geometry> |
| <mesh filename="textured_objs/original-27.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_3" type="prismatic"> |
| <origin xyz="0.2481536478338573 0.4848625028548582 -0.07464954927160374"/> |
| <axis xyz="-1.2286585355728131e-05 -0.15216120253430832 -0.988355689158692"/> |
| <child link="link_3"/> |
| <parent link="link_9"/> |
| <limit lower="0" upper="0.0020000000000000035"/> |
| </joint> |
| <link name="link_4"> |
| <visual name="button-6"> |
| <origin xyz="-0.20519039312857965 -0.47912923971095694 0.07372798286684665"/> |
| <geometry> |
| <mesh filename="textured_objs/original-28.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.20519039312857965 -0.47912923971095694 0.07372798286684665"/> |
| <geometry> |
| <mesh filename="textured_objs/original-28.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_4" type="prismatic"> |
| <origin xyz="0.20519039312857965 0.47912923971095694 -0.07372798286684665"/> |
| <axis xyz="-3.0676534288335765e-05 -0.15207617072810217 -0.9883687759918498"/> |
| <child link="link_4"/> |
| <parent link="link_9"/> |
| <limit lower="0" upper="0.0020000000000000035"/> |
| </joint> |
| <link name="link_5"> |
| <visual name="button-7"> |
| <origin xyz="-0.2102478774381876 -0.458228074899056 0.15079525576462757"/> |
| <geometry> |
| <mesh filename="textured_objs/original-30.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.2102478774381876 -0.458228074899056 0.15079525576462757"/> |
| <geometry> |
| <mesh filename="textured_objs/original-30.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_5" type="prismatic"> |
| <origin xyz="0.2102478774381876 0.458228074899056 -0.15079525576462757"/> |
| <axis xyz="0.023807670836812796 -0.322343001028449 -0.9463235094286201"/> |
| <child link="link_5"/> |
| <parent link="link_9"/> |
| <limit lower="0" upper="0.0020000000000000035"/> |
| </joint> |
| <link name="link_6"> |
| <visual name="button-8"> |
| <origin xyz="0.001819 -0.4736158487474846 0.1368118711470816"/> |
| <geometry> |
| <mesh filename="textured_objs/original-3.obj"/> |
| </geometry> |
| </visual> |
| <visual name="button-8"> |
| <origin xyz="0.001819 -0.4736158487474846 0.1368118711470816"/> |
| <geometry> |
| <mesh filename="textured_objs/original-4.obj"/> |
| </geometry> |
| </visual> |
| <visual name="button-8"> |
| <origin xyz="0.001819 -0.4736158487474846 0.1368118711470816"/> |
| <geometry> |
| <mesh filename="textured_objs/original-6.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0.001819 -0.4736158487474846 0.1368118711470816"/> |
| <geometry> |
| <mesh filename="textured_objs/original-3.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0.001819 -0.4736158487474846 0.1368118711470816"/> |
| <geometry> |
| <mesh filename="textured_objs/original-4.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0.001819 -0.4736158487474846 0.1368118711470816"/> |
| <geometry> |
| <mesh filename="textured_objs/original-6.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_6" type="continuous"> |
| <origin xyz="-0.001819 0.4736158487474846 -0.1368118711470816"/> |
| <axis xyz="0 -0.277520015262966 -0.960719855695948"/> |
| <child link="link_6"/> |
| <parent link="link_9"/> |
| </joint> |
| <link name="link_7"> |
| <visual name="button-9"> |
| <origin xyz="-0.4008265779448591 -0.45988864320187683 0.1464537703050751"/> |
| <geometry> |
| <mesh filename="textured_objs/original-29.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.4008265779448591 -0.45988864320187683 0.1464537703050751"/> |
| <geometry> |
| <mesh filename="textured_objs/original-29.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_7" type="prismatic"> |
| <origin xyz="0.4008265779448591 0.45988864320187683 -0.1464537703050751"/> |
| <axis xyz="0.023773032776781503 -0.32210712587310925 -0.9464046927051658"/> |
| <child link="link_7"/> |
| <parent link="link_9"/> |
| <limit lower="0" upper="0.0020000000000000035"/> |
| </joint> |
| <link name="link_8"> |
| <visual name="button-10"> |
| <origin xyz="-0.3770028939639366 -0.502274832494393 0.0772946306467326"/> |
| <geometry> |
| <mesh filename="textured_objs/original-24.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.3770028939639366 -0.502274832494393 0.0772946306467326"/> |
| <geometry> |
| <mesh filename="textured_objs/original-24.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_8" type="prismatic"> |
| <origin xyz="0.3770028939639366 0.502274832494393 -0.0772946306467326"/> |
| <axis xyz="-3.067518681339073e-05 -0.15207617075808802 -0.988368775987278"/> |
| <child link="link_8"/> |
| <parent link="link_9"/> |
| <limit lower="0" upper="0.0020000000000000035"/> |
| </joint> |
| <link name="link_9"> |
| <visual name="base_body-11"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-21.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body-11"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-36.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body-11"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-41.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body-11"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-22.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body-11"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-33.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body-11"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-16.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body-11"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-8.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body-11"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-35.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body-11"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-39.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body-11"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-5.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body-11"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-37.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body-11"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-38.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body-11"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-18.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body-11"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-17.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body-11"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-42.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body-11"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-20.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body-11"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-32.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body-11"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-19.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body-11"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-40.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-21.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-36.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-41.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-22.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-33.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-16.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-8.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-35.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-39.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-37.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-38.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-18.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-17.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-42.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-20.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-32.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-19.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-40.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_9" type="fixed"> |
| <origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/> |
| <child link="link_9"/> |
| <parent link="base"/> |
| </joint> |
| </robot> |
|
|