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Ladder-assets / PartNetMobility /Box /100191 /mobility.urdf
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<?xml version="1.0" ?>
<robot name="partnet_549813be_3bd8_47dd_9a49_b51432b2f14c">
<link name="base"/>
<link name="link_0">
<visual name="rotation_lid_1">
<origin xyz="-0.584214682937529 0.17467728835721608 0.4506871021461639"/>
<geometry>
<mesh filename="textured_objs/original_16.obj"/>
</geometry>
</visual>
<visual name="rotation_lid_1">
<origin xyz="-0.584214682937529 0.17467728835721608 0.4506871021461639"/>
<geometry>
<mesh filename="textured_objs/original_12.obj"/>
</geometry>
</visual>
<visual name="rotation_lid_1">
<origin xyz="-0.584214682937529 0.17467728835721608 0.4506871021461639"/>
<geometry>
<mesh filename="textured_objs/original_15.obj"/>
</geometry>
</visual>
<visual name="rotation_lid_1">
<origin xyz="-0.584214682937529 0.17467728835721608 0.4506871021461639"/>
<geometry>
<mesh filename="textured_objs/original_14.obj"/>
</geometry>
</visual>
<visual name="rotation_lid_1">
<origin xyz="-0.584214682937529 0.17467728835721608 0.4506871021461639"/>
<geometry>
<mesh filename="textured_objs/original_9.obj"/>
</geometry>
</visual>
<visual name="rotation_lid_1">
<origin xyz="-0.584214682937529 0.17467728835721608 0.4506871021461639"/>
<geometry>
<mesh filename="textured_objs/original_8.obj"/>
</geometry>
</visual>
<visual name="rotation_lid_1">
<origin xyz="-0.584214682937529 0.17467728835721608 0.4506871021461639"/>
<geometry>
<mesh filename="textured_objs/original_11.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.584214682937529 0.17467728835721608 0.4506871021461639"/>
<geometry>
<mesh filename="textured_objs/original_16.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.584214682937529 0.17467728835721608 0.4506871021461639"/>
<geometry>
<mesh filename="textured_objs/original_12.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.584214682937529 0.17467728835721608 0.4506871021461639"/>
<geometry>
<mesh filename="textured_objs/original_15.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.584214682937529 0.17467728835721608 0.4506871021461639"/>
<geometry>
<mesh filename="textured_objs/original_14.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.584214682937529 0.17467728835721608 0.4506871021461639"/>
<geometry>
<mesh filename="textured_objs/original_9.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.584214682937529 0.17467728835721608 0.4506871021461639"/>
<geometry>
<mesh filename="textured_objs/original_8.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.584214682937529 0.17467728835721608 0.4506871021461639"/>
<geometry>
<mesh filename="textured_objs/original_11.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_0" type="revolute">
<origin xyz="0.584214682937529 -0.17467728835721608 -0.4506871021461639"/>
<axis xyz="-1 0 0"/>
<child link="link_0"/>
<parent link="link_1"/>
<limit lower="-1.2000883936713012" upper="3.443185548334413"/>
</joint>
<link name="link_1">
<visual name="base_body_2">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_4.obj"/>
</geometry>
</visual>
<visual name="base_body_2">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_3.obj"/>
</geometry>
</visual>
<visual name="base_body_2">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_2.obj"/>
</geometry>
</visual>
<visual name="base_body_2">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_5.obj"/>
</geometry>
</visual>
<visual name="base_body_2">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_1.obj"/>
</geometry>
</visual>
<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_3.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_5.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_1.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_1" type="fixed">
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
<child link="link_1"/>
<parent link="base"/>
</joint>
</robot>