| <?xml version="1.0" ?> |
| <robot name="partnet_62e22f4d1846d8c1fdc6c1669e5c540"> |
| <link name="base"/> |
| <link name="link_0"> |
| <visual name="door-1"> |
| <origin xyz="0.3505438306555218 0 -0.6806900316849398"/> |
| <geometry> |
| <mesh filename="textured_objs/original-31.obj"/> |
| </geometry> |
| </visual> |
| <visual name="door-1"> |
| <origin xyz="0.3505438306555218 0 -0.6806900316849398"/> |
| <geometry> |
| <mesh filename="textured_objs/original-28.obj"/> |
| </geometry> |
| </visual> |
| <visual name="door-1"> |
| <origin xyz="0.3505438306555218 0 -0.6806900316849398"/> |
| <geometry> |
| <mesh filename="textured_objs/original-17.obj"/> |
| </geometry> |
| </visual> |
| <visual name="door-1"> |
| <origin xyz="0.3505438306555218 0 -0.6806900316849398"/> |
| <geometry> |
| <mesh filename="textured_objs/original-15.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0.3505438306555218 0 -0.6806900316849398"/> |
| <geometry> |
| <mesh filename="textured_objs/original-31.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0.3505438306555218 0 -0.6806900316849398"/> |
| <geometry> |
| <mesh filename="textured_objs/original-28.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0.3505438306555218 0 -0.6806900316849398"/> |
| <geometry> |
| <mesh filename="textured_objs/original-17.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0.3505438306555218 0 -0.6806900316849398"/> |
| <geometry> |
| <mesh filename="textured_objs/original-15.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_0" type="revolute"> |
| <origin xyz="-0.3505438306555218 0 0.6806900316849398"/> |
| <axis xyz="0 -1 0"/> |
| <child link="link_0"/> |
| <parent link="link_8"/> |
| <limit lower="-0.0" upper="1.8975219627682356"/> |
| </joint> |
| <link name="link_1"> |
| <visual name="button-2"> |
| <origin xyz="0.1254727105552122 -0.46922082066593773 0.007191497597979165"/> |
| <geometry> |
| <mesh filename="textured_objs/original-37.obj"/> |
| </geometry> |
| </visual> |
| <visual name="button-2"> |
| <origin xyz="0.1254727105552122 -0.46922082066593773 0.007191497597979165"/> |
| <geometry> |
| <mesh filename="textured_objs/original-9.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0.1254727105552122 -0.46922082066593773 0.007191497597979165"/> |
| <geometry> |
| <mesh filename="textured_objs/original-37.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0.1254727105552122 -0.46922082066593773 0.007191497597979165"/> |
| <geometry> |
| <mesh filename="textured_objs/original-9.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_1" type="prismatic"> |
| <origin xyz="-0.1254727105552122 0.46922082066593773 -0.007191497597979165"/> |
| <axis xyz="0.057221323792074306 0 -0.9983615177396826"/> |
| <child link="link_1"/> |
| <parent link="link_8"/> |
| <limit lower="0" upper="0.0020000000000000035"/> |
| </joint> |
| <link name="link_2"> |
| <visual name="button-3"> |
| <origin xyz="0.07681543618556444 -0.4700815299895653 0.004343945367298942"/> |
| <geometry> |
| <mesh filename="textured_objs/original-36.obj"/> |
| </geometry> |
| </visual> |
| <visual name="button-3"> |
| <origin xyz="0.07681543618556444 -0.4700815299895653 0.004343945367298942"/> |
| <geometry> |
| <mesh filename="textured_objs/original-7.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0.07681543618556444 -0.4700815299895653 0.004343945367298942"/> |
| <geometry> |
| <mesh filename="textured_objs/original-36.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0.07681543618556444 -0.4700815299895653 0.004343945367298942"/> |
| <geometry> |
| <mesh filename="textured_objs/original-7.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_2" type="prismatic"> |
| <origin xyz="-0.07681543618556444 0.4700815299895653 -0.004343945367298942"/> |
| <axis xyz="0.05646021769965069 0 -0.9984048496563447"/> |
| <child link="link_2"/> |
| <parent link="link_8"/> |
| <limit lower="0" upper="0.0020000000000000035"/> |
| </joint> |
| <link name="link_3"> |
| <visual name="button-4"> |
| <origin xyz="0.026295263185476956 -0.4705311323852867 0.0014205888183748611"/> |
| <geometry> |
| <mesh filename="textured_objs/original-35.obj"/> |
| </geometry> |
| </visual> |
| <visual name="button-4"> |
| <origin xyz="0.026295263185476956 -0.4705311323852867 0.0014205888183748611"/> |
| <geometry> |
| <mesh filename="textured_objs/original-5.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0.026295263185476956 -0.4705311323852867 0.0014205888183748611"/> |
| <geometry> |
| <mesh filename="textured_objs/original-35.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="0.026295263185476956 -0.4705311323852867 0.0014205888183748611"/> |
| <geometry> |
| <mesh filename="textured_objs/original-5.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_3" type="prismatic"> |
| <origin xyz="-0.026295263185476956 0.4705311323852867 -0.0014205888183748611"/> |
| <axis xyz="0.056956749082280156 0.00016876671139097167 -0.9983766324648106"/> |
| <child link="link_3"/> |
| <parent link="link_8"/> |
| <limit lower="0" upper="0.0020000000000000035"/> |
| </joint> |
| <link name="link_4"> |
| <visual name="button-5"> |
| <origin xyz="-0.025673077525130164 -0.47040859730475854 -0.0014714584114564418"/> |
| <geometry> |
| <mesh filename="textured_objs/original-34.obj"/> |
| </geometry> |
| </visual> |
| <visual name="button-5"> |
| <origin xyz="-0.025673077525130164 -0.47040859730475854 -0.0014714584114564418"/> |
| <geometry> |
| <mesh filename="textured_objs/original-4.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.025673077525130164 -0.47040859730475854 -0.0014714584114564418"/> |
| <geometry> |
| <mesh filename="textured_objs/original-34.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="-0.025673077525130164 -0.47040859730475854 -0.0014714584114564418"/> |
| <geometry> |
| <mesh filename="textured_objs/original-4.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_4" type="prismatic"> |
| <origin xyz="0.025673077525130164 0.47040859730475854 0.0014714584114564418"/> |
| <axis xyz="0.05722132379207521 0 -0.9983615177396826"/> |
| <child link="link_4"/> |
| <parent link="link_8"/> |
| <limit lower="0" upper="0.0020000000000000035"/> |
| </joint> |
| <link name="link_5"> |
| <visual name="button-6"> |
| <origin xyz="0.10969627580945299 -0.4090461987727474 0.0062338618710563645"/> |
| <geometry> |
| <mesh filename="textured_objs/original-11.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0.10969627580945299 -0.4090461987727474 0.0062338618710563645"/> |
| <geometry> |
| <mesh filename="textured_objs/original-11.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_5" type="prismatic"> |
| <origin xyz="-0.10969627580945299 0.4090461987727474 -0.0062338618710563645"/> |
| <axis xyz="0.05671033450071591 -7.1308825345771066e-06 -0.9983906739898802"/> |
| <child link="link_5"/> |
| <parent link="link_8"/> |
| <limit lower="0" upper="0.0020000000000000035"/> |
| </joint> |
| <link name="link_6"> |
| <visual name="button-7"> |
| <origin xyz="0.038726023511953006 -0.40904404153236845 0.0022069225049517675"/> |
| <geometry> |
| <mesh filename="textured_objs/original-8.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="0.038726023511953006 -0.40904404153236845 0.0022069225049517675"/> |
| <geometry> |
| <mesh filename="textured_objs/original-8.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_6" type="prismatic"> |
| <origin xyz="-0.038726023511953006 0.40904404153236845 -0.0022069225049517675"/> |
| <axis xyz="0.05678819114138993 -1.0219296854522412e-05 -0.9983862485243148"/> |
| <child link="link_6"/> |
| <parent link="link_8"/> |
| <limit lower="0" upper="0.0020000000000000035"/> |
| </joint> |
| <link name="link_7"> |
| <visual name="button-8"> |
| <origin xyz="-0.10361798531120239 -0.41190382455618996 -0.00589765830153544"/> |
| <geometry> |
| <mesh filename="textured_objs/original-6.obj"/> |
| </geometry> |
| </visual> |
| <visual name="button-8"> |
| <origin xyz="-0.10361798531120239 -0.41190382455618996 -0.00589765830153544"/> |
| <geometry> |
| <mesh filename="textured_objs/original-33.obj"/> |
| </geometry> |
| </visual> |
| <visual name="button-8"> |
| <origin xyz="-0.10361798531120239 -0.41190382455618996 -0.00589765830153544"/> |
| <geometry> |
| <mesh filename="textured_objs/original-10.obj"/> |
| </geometry> |
| </visual> |
| <collision> |
| <origin xyz="-0.10361798531120239 -0.41190382455618996 -0.00589765830153544"/> |
| <geometry> |
| <mesh filename="textured_objs/original-6.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="-0.10361798531120239 -0.41190382455618996 -0.00589765830153544"/> |
| <geometry> |
| <mesh filename="textured_objs/original-33.obj"/> |
| </geometry> |
| </collision> |
| <collision> |
| <origin xyz="-0.10361798531120239 -0.41190382455618996 -0.00589765830153544"/> |
| <geometry> |
| <mesh filename="textured_objs/original-10.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_7" type="continuous"> |
| <origin xyz="0.10361798531120239 0.41190382455618996 0.00589765830153544"/> |
| <axis xyz="-0.05682535370526588 0 0.9983841340767948"/> |
| <child link="link_7"/> |
| <parent link="link_8"/> |
| </joint> |
| <link name="link_8"> |
| <visual name="base_body-9"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-29.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body-9"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-21.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body-9"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-30.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body-9"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-41.obj"/> |
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| </visual> |
| <visual name="base_body-9"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-43.obj"/> |
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| </visual> |
| <visual name="base_body-9"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-22.obj"/> |
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| </visual> |
| <visual name="base_body-9"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-26.obj"/> |
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| </visual> |
| <visual name="base_body-9"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-3.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body-9"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-44.obj"/> |
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| <visual name="base_body-9"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-16.obj"/> |
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| </visual> |
| <visual name="base_body-9"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-13.obj"/> |
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| <visual name="base_body-9"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-45.obj"/> |
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| <visual name="base_body-9"> |
| <origin xyz="0 0 0"/> |
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| <mesh filename="textured_objs/original-39.obj"/> |
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| <visual name="base_body-9"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-27.obj"/> |
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| </visual> |
| <visual name="base_body-9"> |
| <origin xyz="0 0 0"/> |
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| <visual name="base_body-9"> |
| <origin xyz="0 0 0"/> |
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| <mesh filename="textured_objs/original-38.obj"/> |
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| </visual> |
| <visual name="base_body-9"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-18.obj"/> |
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| </visual> |
| <visual name="base_body-9"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-25.obj"/> |
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| <visual name="base_body-9"> |
| <origin xyz="0 0 0"/> |
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| <mesh filename="textured_objs/original-12.obj"/> |
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| <visual name="base_body-9"> |
| <origin xyz="0 0 0"/> |
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| <visual name="base_body-9"> |
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| </visual> |
| <visual name="base_body-9"> |
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| <visual name="base_body-9"> |
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| <visual name="base_body-9"> |
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| </visual> |
| <visual name="base_body-9"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-14.obj"/> |
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| </visual> |
| <visual name="base_body-9"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-19.obj"/> |
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| </visual> |
| <visual name="base_body-9"> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-40.obj"/> |
| </geometry> |
| </visual> |
| <visual name="base_body-9"> |
| <origin xyz="0 0 0"/> |
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| <mesh filename="textured_objs/original-46.obj"/> |
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| </visual> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-29.obj"/> |
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| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-21.obj"/> |
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| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-30.obj"/> |
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| <collision> |
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| <collision> |
| <origin xyz="0 0 0"/> |
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| <mesh filename="textured_objs/original-43.obj"/> |
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| <collision> |
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| <mesh filename="textured_objs/original-22.obj"/> |
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| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-26.obj"/> |
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| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-3.obj"/> |
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| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-44.obj"/> |
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| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-16.obj"/> |
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| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-13.obj"/> |
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| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-45.obj"/> |
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| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-39.obj"/> |
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| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-27.obj"/> |
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| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-23.obj"/> |
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| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-38.obj"/> |
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| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-18.obj"/> |
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| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-25.obj"/> |
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| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-12.obj"/> |
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| </collision> |
| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-42.obj"/> |
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| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-24.obj"/> |
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| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-20.obj"/> |
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| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-32.obj"/> |
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| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-47.obj"/> |
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| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-14.obj"/> |
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| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-19.obj"/> |
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| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-40.obj"/> |
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| <collision> |
| <origin xyz="0 0 0"/> |
| <geometry> |
| <mesh filename="textured_objs/original-46.obj"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="joint_8" type="fixed"> |
| <origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/> |
| <child link="link_8"/> |
| <parent link="base"/> |
| </joint> |
| </robot> |
|
|