<?xml version="1.0" ?>
<robot name="partnet_04569f2f-3e07-4655-9337-bfa41a5ccbc0">
	<link name="base"/>
	<link name="link_0">
		<visual name="door-1">
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			<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">
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			<geometry>
				<mesh filename="textured_objs/original-10.obj"/>
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		</visual>
		<visual name="door-1">
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			<geometry>
				<mesh filename="textured_objs/original-11.obj"/>
			</geometry>
		</visual>
		<visual name="door-1">
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			<geometry>
				<mesh filename="textured_objs/original-13.obj"/>
			</geometry>
		</visual>
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				<mesh filename="textured_objs/original-14.obj"/>
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				<mesh filename="textured_objs/original-9.obj"/>
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		</collision>
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				<mesh filename="textured_objs/original-12.obj"/>
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				<mesh filename="textured_objs/original-10.obj"/>
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				<mesh filename="textured_objs/original-11.obj"/>
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				<mesh filename="textured_objs/original-13.obj"/>
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	<joint name="joint_0" type="revolute">
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		<parent link="link_9"/>
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	<link name="link_1">
		<visual name="button-3">
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			<geometry>
				<mesh filename="textured_objs/original-25.obj"/>
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				<mesh filename="textured_objs/original-25.obj"/>
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		<child link="link_1"/>
		<parent link="link_9"/>
		<limit lower="0" upper="0.002"/>
	</joint>
	<link name="link_2">
		<visual name="button-4">
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			<geometry>
				<mesh filename="textured_objs/original-26.obj"/>
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				<mesh filename="textured_objs/original-26.obj"/>
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	<joint name="joint_2" type="prismatic">
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		<child link="link_2"/>
		<parent link="link_9"/>
		<limit lower="0" upper="0.002"/>
	</joint>
	<link name="link_3">
		<visual name="button-5">
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			<geometry>
				<mesh filename="textured_objs/original-27.obj"/>
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		<collision>
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			<geometry>
				<mesh filename="textured_objs/original-27.obj"/>
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	<joint name="joint_3" type="prismatic">
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	<link name="link_4">
		<visual name="button-6">
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			<geometry>
				<mesh filename="textured_objs/original-28.obj"/>
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		<collision>
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				<mesh filename="textured_objs/original-28.obj"/>
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	<joint name="joint_4" type="prismatic">
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		<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"/>
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		<collision>
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			<geometry>
				<mesh filename="textured_objs/original-30.obj"/>
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		</collision>
	</link>
	<joint name="joint_5" type="prismatic">
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		<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"/>
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		</visual>
		<visual name="button-8">
			<origin xyz="0.001819 -0.4736158487474846 0.1368118711470816"/>
			<geometry>
				<mesh filename="textured_objs/original-6.obj"/>
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		</visual>
		<collision>
			<origin xyz="0.001819 -0.4736158487474846 0.1368118711470816"/>
			<geometry>
				<mesh filename="textured_objs/original-3.obj"/>
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				<mesh filename="textured_objs/original-4.obj"/>
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			<geometry>
				<mesh filename="textured_objs/original-6.obj"/>
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	</link>
	<joint name="joint_6" type="continuous">
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		<child link="link_6"/>
		<parent link="link_9"/>
	</joint>
	<link name="link_7">
		<visual name="button-9">
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			<geometry>
				<mesh filename="textured_objs/original-29.obj"/>
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			<geometry>
				<mesh filename="textured_objs/original-29.obj"/>
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	<joint name="joint_7" type="prismatic">
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		<child link="link_7"/>
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	<link name="link_8">
		<visual name="button-10">
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			<geometry>
				<mesh filename="textured_objs/original-24.obj"/>
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				<mesh filename="textured_objs/original-24.obj"/>
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		<child link="link_8"/>
		<parent link="link_9"/>
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	<link name="link_9">
		<visual name="base_body-11">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-21.obj"/>
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		<visual name="base_body-11">
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				<mesh filename="textured_objs/original-36.obj"/>
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		<visual name="base_body-11">
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		<visual name="base_body-11">
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		<visual name="base_body-11">
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				<mesh filename="textured_objs/original-35.obj"/>
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		<visual name="base_body-11">
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		<visual name="base_body-11">
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				<mesh filename="textured_objs/original-5.obj"/>
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	</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>
