<?xml version="1.0"?>
<robot name="door01">
  <link name="base_link">
    <visual><geometry><mesh filename="meshes/base/base.obj"/></geometry></visual>
    <collision><geometry><mesh filename="meshes/base/base.obj"/></geometry></collision>
  </link>
  <link name="link_0">
    <visual><geometry><mesh filename="meshes/link_0/link_0.obj"/></geometry></visual>
    <collision><geometry><mesh filename="meshes/link_0/link_0.obj"/></geometry></collision>
  </link>
  <joint name="joint_0" type="prismatic">
    <parent link="base_link"/><child link="link_0"/>
    <origin xyz="0.000000 0.000000 0.000000" rpy="0 0 0"/>
    <axis xyz="0.000000 -1.000000 0.000000"/>
    <limit lower="0" upper="0.4" effort="10" velocity="1"/>
  </joint>
  <link name="link_5">
    <visual><geometry><mesh filename="meshes/link_5/link_5.obj"/></geometry></visual>
    <collision><geometry><mesh filename="meshes/link_5/link_5.obj"/></geometry></collision>
  </link>
  <joint name="joint_5" type="prismatic">
    <parent link="base_link"/><child link="link_5"/>
    <origin xyz="0.000000 0.000000 0.000000" rpy="0 0 0"/>
    <axis xyz="0.000000 -1.000000 0.000000"/>
    <limit lower="0" upper="0.4" effort="10" velocity="1"/>
  </joint>
  <link name="link_11">
    <visual><geometry><mesh filename="meshes/link_11/link_11.obj"/></geometry></visual>
    <collision><geometry><mesh filename="meshes/link_11/link_11.obj"/></geometry></collision>
  </link>
  <joint name="joint_11" type="prismatic">
    <parent link="base_link"/><child link="link_11"/>
    <origin xyz="0.000000 0.000000 0.000000" rpy="0 0 0"/>
    <axis xyz="0.000000 -1.000000 0.000000"/>
    <limit lower="0" upper="0.4" effort="10" velocity="1"/>
  </joint>
  <link name="link_14">
    <visual><geometry><mesh filename="meshes/link_14/link_14.obj"/></geometry></visual>
    <collision><geometry><mesh filename="meshes/link_14/link_14.obj"/></geometry></collision>
  </link>
  <joint name="joint_14" type="prismatic">
    <parent link="base_link"/><child link="link_14"/>
    <origin xyz="0.000000 0.000000 0.000000" rpy="0 0 0"/>
    <axis xyz="0.000000 -1.000000 0.000000"/>
    <limit lower="0" upper="0.4" effort="10" velocity="1"/>
  </joint>
  <link name="link_15">
    <visual><geometry><mesh filename="meshes/link_15/link_15.obj"/></geometry></visual>
    <collision><geometry><mesh filename="meshes/link_15/link_15.obj"/></geometry></collision>
  </link>
  <joint name="joint_15" type="prismatic">
    <parent link="base_link"/><child link="link_15"/>
    <origin xyz="0.000000 0.000000 0.000000" rpy="0 0 0"/>
    <axis xyz="0.000000 -1.000000 0.000000"/>
    <limit lower="0" upper="0.4" effort="10" velocity="1"/>
  </joint>
  <link name="link_26">
    <visual><geometry><mesh filename="meshes/link_26/link_26.obj"/></geometry></visual>
    <collision><geometry><mesh filename="meshes/link_26/link_26.obj"/></geometry></collision>
  </link>
  <joint name="joint_26" type="revolute">
    <parent link="base_link"/><child link="link_26"/>
    <origin xyz="0.857015 -0.232441 1.379140" rpy="0 0 0"/>
    <axis xyz="0.000000 -0.000000 1.000000"/>
    <limit lower="0" upper="1.57" effort="10" velocity="1"/>
  </joint>
  <link name="link_91">
    <visual><geometry><mesh filename="meshes/link_91/link_91.obj"/></geometry></visual>
    <collision><geometry><mesh filename="meshes/link_91/link_91.obj"/></geometry></collision>
  </link>
  <joint name="joint_91" type="prismatic">
    <parent link="base_link"/><child link="link_91"/>
    <origin xyz="0.000000 0.000000 0.000000" rpy="0 0 0"/>
    <axis xyz="0.000000 -1.000000 0.000000"/>
    <limit lower="0" upper="0.4" effort="10" velocity="1"/>
  </joint>
  <link name="link_188">
    <visual><geometry><mesh filename="meshes/link_188/link_188.obj"/></geometry></visual>
    <collision><geometry><mesh filename="meshes/link_188/link_188.obj"/></geometry></collision>
  </link>
  <joint name="joint_188" type="revolute">
    <parent link="base_link"/><child link="link_188"/>
    <origin xyz="-0.694946 -0.240717 1.370297" rpy="0 0 0"/>
    <axis xyz="0.000000 -0.000000 1.000000"/>
    <limit lower="0" upper="1.57" effort="10" velocity="1"/>
  </joint>
  <link name="link_219">
    <visual><geometry><mesh filename="meshes/link_219/link_219.obj"/></geometry></visual>
    <collision><geometry><mesh filename="meshes/link_219/link_219.obj"/></geometry></collision>
  </link>
  <joint name="joint_219" type="revolute">
    <parent link="base_link"/><child link="link_219"/>
    <origin xyz="0.539897 -0.240985 1.376942" rpy="0 0 0"/>
    <axis xyz="0.000000 -0.000000 1.000000"/>
    <limit lower="0" upper="1.57" effort="10" velocity="1"/>
  </joint>
</robot>
