<?xml version="1.0" ?>
<robot name="partnet_4163de2ce7f6f59aed1d8381d2c075c2-0">
	<link name="base"/>
	<link name="link_0">
		<visual name="door-1">
			<origin xyz="0.4146166991768276 0 -0.5667437866539679"/>
			<geometry>
				<mesh filename="textured_objs/original-35.obj"/>
			</geometry>
		</visual>
		<visual name="door-1">
			<origin xyz="0.4146166991768276 0 -0.5667437866539679"/>
			<geometry>
				<mesh filename="textured_objs/original-34.obj"/>
			</geometry>
		</visual>
		<visual name="door-1">
			<origin xyz="0.4146166991768276 0 -0.5667437866539679"/>
			<geometry>
				<mesh filename="textured_objs/original-22.obj"/>
			</geometry>
		</visual>
		<visual name="door-1">
			<origin xyz="0.4146166991768276 0 -0.5667437866539679"/>
			<geometry>
				<mesh filename="textured_objs/original-32.obj"/>
			</geometry>
		</visual>
		<collision>
			<origin xyz="0.4146166991768276 0 -0.5667437866539679"/>
			<geometry>
				<mesh filename="textured_objs/original-35.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0.4146166991768276 0 -0.5667437866539679"/>
			<geometry>
				<mesh filename="textured_objs/original-34.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0.4146166991768276 0 -0.5667437866539679"/>
			<geometry>
				<mesh filename="textured_objs/original-22.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0.4146166991768276 0 -0.5667437866539679"/>
			<geometry>
				<mesh filename="textured_objs/original-32.obj"/>
			</geometry>
		</collision>
	</link>
	<joint name="joint_0" type="revolute">
		<origin xyz="-0.4146166991768276 0 0.5667437866539679"/>
		<axis xyz="0 -1 0"/>
		<child link="link_0"/>
		<parent link="link_2"/>
		<limit lower="-0.0" upper="1.696460032938488"/>
	</joint>
	<link name="link_1">
		<visual name="button-3">
			<origin xyz="0.05796929305383816 -0.1116938634046033 0.05984767735562315"/>
			<geometry>
				<mesh filename="textured_objs/original-1.obj"/>
			</geometry>
		</visual>
		<collision>
			<origin xyz="0.05796929305383816 -0.1116938634046033 0.05984767735562315"/>
			<geometry>
				<mesh filename="textured_objs/original-1.obj"/>
			</geometry>
		</collision>
	</link>
	<joint name="joint_1" type="prismatic">
		<origin xyz="-0.05796929305383816 0.1116938634046033 -0.05984767735562315"/>
		<axis xyz="-0.07405249058244799 -0.5005848353488723 -0.8625143774206194"/>
		<child link="link_1"/>
		<parent link="link_2"/>
		<limit lower="0" upper="0.0020000000000000035"/>
	</joint>
	<link name="link_2">
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-29.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-21.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-30.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-36.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-28.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-26.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-4.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-33.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-16.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-8.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-13.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-9.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-5.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-27.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-6.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-31.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-37.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-15.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-23.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-11.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-38.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-18.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-25.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-17.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-12.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-24.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-20.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-7.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-10.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-14.obj"/>
			</geometry>
		</visual>
		<visual name="base_body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-19.obj"/>
			</geometry>
		</visual>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-29.obj"/>
			</geometry>
		</collision>
		<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-30.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-28.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-4.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-13.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-5.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-27.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-31.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-15.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-11.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-25.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-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-20.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-7.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-10.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-14.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-19.obj"/>
			</geometry>
		</collision>
	</link>
	<joint name="joint_2" type="fixed">
		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
		<child link="link_2"/>
		<parent link="base"/>
	</joint>
</robot>
