hiangx's picture
Add files using upload-large-folder tool
d1a8fd1 verified
Raw
History Blame Contribute Delete
16.8 kB
<?xml version="1.0" ?>
<robot name="partnet_ae8441235538d4415d85df7c37878bb6">
<link name="base"/>
<link name="link_0">
<visual name="door-1">
<origin xyz="0 -0.5514080451795014 0.2372633664309986"/>
<geometry>
<mesh filename="textured_objs/original-46.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0 -0.5514080451795014 0.2372633664309986"/>
<geometry>
<mesh filename="textured_objs/original-46.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_0" type="revolute">
<origin xyz="0 0.5514080451795014 -0.2372633664309986"/>
<axis xyz="-1 0 0"/>
<child link="link_0"/>
<parent link="link_5"/>
<limit lower="-0.0" upper="1.6461945504810516"/>
</joint>
<link name="link_1">
<visual name="button-2">
<origin xyz="0.35976421627751065 -0.7383382735020435 0.308580049095884"/>
<geometry>
<mesh filename="textured_objs/original-36.obj"/>
</geometry>
</visual>
<visual name="button-2">
<origin xyz="0.35976421627751065 -0.7383382735020435 0.308580049095884"/>
<geometry>
<mesh filename="textured_objs/original-35.obj"/>
</geometry>
</visual>
<visual name="button-2">
<origin xyz="0.35976421627751065 -0.7383382735020435 0.308580049095884"/>
<geometry>
<mesh filename="textured_objs/original-33.obj"/>
</geometry>
</visual>
<visual name="button-2">
<origin xyz="0.35976421627751065 -0.7383382735020435 0.308580049095884"/>
<geometry>
<mesh filename="textured_objs/original-37.obj"/>
</geometry>
</visual>
<visual name="button-2">
<origin xyz="0.35976421627751065 -0.7383382735020435 0.308580049095884"/>
<geometry>
<mesh filename="textured_objs/original-38.obj"/>
</geometry>
</visual>
<visual name="button-2">
<origin xyz="0.35976421627751065 -0.7383382735020435 0.308580049095884"/>
<geometry>
<mesh filename="textured_objs/original-34.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.35976421627751065 -0.7383382735020435 0.308580049095884"/>
<geometry>
<mesh filename="textured_objs/original-36.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.35976421627751065 -0.7383382735020435 0.308580049095884"/>
<geometry>
<mesh filename="textured_objs/original-35.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.35976421627751065 -0.7383382735020435 0.308580049095884"/>
<geometry>
<mesh filename="textured_objs/original-33.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.35976421627751065 -0.7383382735020435 0.308580049095884"/>
<geometry>
<mesh filename="textured_objs/original-37.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.35976421627751065 -0.7383382735020435 0.308580049095884"/>
<geometry>
<mesh filename="textured_objs/original-38.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.35976421627751065 -0.7383382735020435 0.308580049095884"/>
<geometry>
<mesh filename="textured_objs/original-34.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_1" type="continuous">
<origin xyz="-0.35976421627751065 0.7383382735020435 -0.308580049095884"/>
<axis xyz="1.4077093392768743e-05 -0.3856092649989821 -0.9226621779117101"/>
<child link="link_1"/>
<parent link="link_5"/>
</joint>
<link name="link_2">
<visual name="button-3">
<origin xyz="0.18168890876828933 -0.7382648974356245 0.3082408212312694"/>
<geometry>
<mesh filename="textured_objs/original-30.obj"/>
</geometry>
</visual>
<visual name="button-3">
<origin xyz="0.18168890876828933 -0.7382648974356245 0.3082408212312694"/>
<geometry>
<mesh filename="textured_objs/original-27.obj"/>
</geometry>
</visual>
<visual name="button-3">
<origin xyz="0.18168890876828933 -0.7382648974356245 0.3082408212312694"/>
<geometry>
<mesh filename="textured_objs/original-31.obj"/>
</geometry>
</visual>
<visual name="button-3">
<origin xyz="0.18168890876828933 -0.7382648974356245 0.3082408212312694"/>
<geometry>
<mesh filename="textured_objs/original-32.obj"/>
</geometry>
</visual>
<visual name="button-3">
<origin xyz="0.18168890876828933 -0.7382648974356245 0.3082408212312694"/>
<geometry>
<mesh filename="textured_objs/original-29.obj"/>
</geometry>
</visual>
<visual name="button-3">
<origin xyz="0.18168890876828933 -0.7382648974356245 0.3082408212312694"/>
<geometry>
<mesh filename="textured_objs/original-28.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.18168890876828933 -0.7382648974356245 0.3082408212312694"/>
<geometry>
<mesh filename="textured_objs/original-30.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.18168890876828933 -0.7382648974356245 0.3082408212312694"/>
<geometry>
<mesh filename="textured_objs/original-27.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.18168890876828933 -0.7382648974356245 0.3082408212312694"/>
<geometry>
<mesh filename="textured_objs/original-31.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.18168890876828933 -0.7382648974356245 0.3082408212312694"/>
<geometry>
<mesh filename="textured_objs/original-32.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.18168890876828933 -0.7382648974356245 0.3082408212312694"/>
<geometry>
<mesh filename="textured_objs/original-29.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.18168890876828933 -0.7382648974356245 0.3082408212312694"/>
<geometry>
<mesh filename="textured_objs/original-28.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_2" type="continuous">
<origin xyz="-0.18168890876828933 0.7382648974356245 -0.3082408212312694"/>
<axis xyz="3.408444117062708e-05 -0.3852795942952483 -0.9227998878727391"/>
<child link="link_2"/>
<parent link="link_5"/>
</joint>
<link name="link_3">
<visual name="button-4">
<origin xyz="-0.0031372084012542944 -0.7380697179067329 0.3089555697716622"/>
<geometry>
<mesh filename="textured_objs/original-43.obj"/>
</geometry>
</visual>
<visual name="button-4">
<origin xyz="-0.0031372084012542944 -0.7380697179067329 0.3089555697716622"/>
<geometry>
<mesh filename="textured_objs/original-39.obj"/>
</geometry>
</visual>
<visual name="button-4">
<origin xyz="-0.0031372084012542944 -0.7380697179067329 0.3089555697716622"/>
<geometry>
<mesh filename="textured_objs/original-44.obj"/>
</geometry>
</visual>
<visual name="button-4">
<origin xyz="-0.0031372084012542944 -0.7380697179067329 0.3089555697716622"/>
<geometry>
<mesh filename="textured_objs/original-41.obj"/>
</geometry>
</visual>
<visual name="button-4">
<origin xyz="-0.0031372084012542944 -0.7380697179067329 0.3089555697716622"/>
<geometry>
<mesh filename="textured_objs/original-42.obj"/>
</geometry>
</visual>
<visual name="button-4">
<origin xyz="-0.0031372084012542944 -0.7380697179067329 0.3089555697716622"/>
<geometry>
<mesh filename="textured_objs/original-40.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.0031372084012542944 -0.7380697179067329 0.3089555697716622"/>
<geometry>
<mesh filename="textured_objs/original-43.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.0031372084012542944 -0.7380697179067329 0.3089555697716622"/>
<geometry>
<mesh filename="textured_objs/original-39.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.0031372084012542944 -0.7380697179067329 0.3089555697716622"/>
<geometry>
<mesh filename="textured_objs/original-44.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.0031372084012542944 -0.7380697179067329 0.3089555697716622"/>
<geometry>
<mesh filename="textured_objs/original-41.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.0031372084012542944 -0.7380697179067329 0.3089555697716622"/>
<geometry>
<mesh filename="textured_objs/original-42.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.0031372084012542944 -0.7380697179067329 0.3089555697716622"/>
<geometry>
<mesh filename="textured_objs/original-40.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_3" type="continuous">
<origin xyz="0.0031372084012542944 0.7380697179067329 -0.3089555697716622"/>
<axis xyz="-2.4067030022149536e-05 0.3861340893424736 0.9224426618866003"/>
<child link="link_3"/>
<parent link="link_5"/>
</joint>
<link name="link_4">
<visual name="button-5">
<origin xyz="-0.30009959157634397 -0.7399347620417146 0.3097135984983169"/>
<geometry>
<mesh filename="textured_objs/original-18.obj"/>
</geometry>
</visual>
<visual name="button-5">
<origin xyz="-0.30009959157634397 -0.7399347620417146 0.3097135984983169"/>
<geometry>
<mesh filename="textured_objs/original-19.obj"/>
</geometry>
</visual>
<visual name="button-5">
<origin xyz="-0.30009959157634397 -0.7399347620417146 0.3097135984983169"/>
<geometry>
<mesh filename="textured_objs/original-17.obj"/>
</geometry>
</visual>
<visual name="button-5">
<origin xyz="-0.30009959157634397 -0.7399347620417146 0.3097135984983169"/>
<geometry>
<mesh filename="textured_objs/original-15.obj"/>
</geometry>
</visual>
<visual name="button-5">
<origin xyz="-0.30009959157634397 -0.7399347620417146 0.3097135984983169"/>
<geometry>
<mesh filename="textured_objs/original-16.obj"/>
</geometry>
</visual>
<visual name="button-5">
<origin xyz="-0.30009959157634397 -0.7399347620417146 0.3097135984983169"/>
<geometry>
<mesh filename="textured_objs/original-20.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.30009959157634397 -0.7399347620417146 0.3097135984983169"/>
<geometry>
<mesh filename="textured_objs/original-18.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.30009959157634397 -0.7399347620417146 0.3097135984983169"/>
<geometry>
<mesh filename="textured_objs/original-19.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.30009959157634397 -0.7399347620417146 0.3097135984983169"/>
<geometry>
<mesh filename="textured_objs/original-17.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.30009959157634397 -0.7399347620417146 0.3097135984983169"/>
<geometry>
<mesh filename="textured_objs/original-15.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.30009959157634397 -0.7399347620417146 0.3097135984983169"/>
<geometry>
<mesh filename="textured_objs/original-16.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.30009959157634397 -0.7399347620417146 0.3097135984983169"/>
<geometry>
<mesh filename="textured_objs/original-20.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_4" type="continuous">
<origin xyz="0.30009959157634397 0.7399347620417146 -0.3097135984983169"/>
<axis xyz="2.2519268656708346e-05 0.3861021712159842 0.9224560221903185"/>
<child link="link_4"/>
<parent link="link_5"/>
</joint>
<link name="link_5">
<visual name="base_body-6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-21.obj"/>
</geometry>
</visual>
<visual name="base_body-6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-52.obj"/>
</geometry>
</visual>
<visual name="base_body-6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-22.obj"/>
</geometry>
</visual>
<visual name="base_body-6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-26.obj"/>
</geometry>
</visual>
<visual name="base_body-6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-2.obj"/>
</geometry>
</visual>
<visual name="base_body-6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-9.obj"/>
</geometry>
</visual>
<visual name="base_body-6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-45.obj"/>
</geometry>
</visual>
<visual name="base_body-6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-49.obj"/>
</geometry>
</visual>
<visual name="base_body-6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-54.obj"/>
</geometry>
</visual>
<visual name="base_body-6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-51.obj"/>
</geometry>
</visual>
<visual name="base_body-6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-50.obj"/>
</geometry>
</visual>
<visual name="base_body-6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-6.obj"/>
</geometry>
</visual>
<visual name="base_body-6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-48.obj"/>
</geometry>
</visual>
<visual name="base_body-6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-23.obj"/>
</geometry>
</visual>
<visual name="base_body-6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-25.obj"/>
</geometry>
</visual>
<visual name="base_body-6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-12.obj"/>
</geometry>
</visual>
<visual name="base_body-6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-24.obj"/>
</geometry>
</visual>
<visual name="base_body-6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-47.obj"/>
</geometry>
</visual>
<visual name="base_body-6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-53.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-52.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-26.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-2.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-9.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-45.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-49.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-54.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-51.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-50.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-6.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-48.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-23.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-25.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-12.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-24.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-47.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-53.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_5" type="fixed">
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
<child link="link_5"/>
<parent link="base"/>
</joint>
</robot>