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Ladder-assets / PartNetMobility /Box /100234 /mobility.urdf
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<?xml version="1.0" ?>
<robot name="partnet_af4cb94c847d35c0d619cf3eef078374">
<link name="base"/>
<link name="link_0">
<visual name="rotation_lid_1">
<origin xyz="0.4193451476148117 -0.23770745161746787 0.44705500000000065"/>
<geometry>
<mesh filename="textured_objs/original_2.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.4193451476148117 -0.23770745161746787 0.44705500000000065"/>
<geometry>
<mesh filename="textured_objs/original_2.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_0" type="revolute">
<origin xyz="-0.4193451476148117 0.23770745161746787 -0.44705500000000065"/>
<axis xyz="0 0 1"/>
<child link="link_0"/>
<parent link="link_2"/>
<limit lower="-2.249380339970292" upper="2.412743157956961"/>
</joint>
<link name="link_1">
<visual name="rotation_lid_2">
<origin xyz="-0.41360223348952163 -0.2356544280401282 0.4470550000000002"/>
<geometry>
<mesh filename="textured_objs/original_1.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.41360223348952163 -0.2356544280401282 0.4470550000000002"/>
<geometry>
<mesh filename="textured_objs/original_1.obj"/>
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</collision>
</link>
<joint name="joint_1" type="revolute">
<origin xyz="0.41360223348952163 0.2356544280401282 -0.4470550000000002"/>
<axis xyz="0 0 -1"/>
<child link="link_1"/>
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<limit lower="-2.0294688542190062" upper="2.5307274153917776"/>
</joint>
<link name="link_2">
<visual name="base_body_3">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_4.obj"/>
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<visual name="base_body_3">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_16.obj"/>
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</visual>
<visual name="base_body_3">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_8.obj"/>
</geometry>
</visual>
<visual name="base_body_3">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_13.obj"/>
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</visual>
<visual name="base_body_3">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_9.obj"/>
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</visual>
<visual name="base_body_3">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_5.obj"/>
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</visual>
<visual name="base_body_3">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_6.obj"/>
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<visual name="base_body_3">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_15.obj"/>
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<visual name="base_body_3">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_11.obj"/>
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<visual name="base_body_3">
<origin xyz="0 0 0"/>
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<mesh filename="textured_objs/original_18.obj"/>
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<visual name="base_body_3">
<origin xyz="0 0 0"/>
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<mesh filename="textured_objs/original_17.obj"/>
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<visual name="base_body_3">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_12.obj"/>
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<visual name="base_body_3">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_7.obj"/>
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<visual name="base_body_3">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_10.obj"/>
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<visual name="base_body_3">
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<mesh filename="textured_objs/original_14.obj"/>
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<collision>
<origin xyz="0 0 0"/>
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<mesh filename="textured_objs/original_16.obj"/>
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<collision>
<origin xyz="0 0 0"/>
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<mesh filename="textured_objs/original_8.obj"/>
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<collision>
<origin xyz="0 0 0"/>
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<mesh filename="textured_objs/original_13.obj"/>
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<collision>
<origin xyz="0 0 0"/>
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<mesh filename="textured_objs/original_9.obj"/>
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<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_5.obj"/>
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<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_6.obj"/>
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<collision>
<origin xyz="0 0 0"/>
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<mesh filename="textured_objs/original_15.obj"/>
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<collision>
<origin xyz="0 0 0"/>
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<mesh filename="textured_objs/original_11.obj"/>
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<collision>
<origin xyz="0 0 0"/>
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<mesh filename="textured_objs/original_18.obj"/>
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<collision>
<origin xyz="0 0 0"/>
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<mesh filename="textured_objs/original_17.obj"/>
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<collision>
<origin xyz="0 0 0"/>
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<mesh filename="textured_objs/original_12.obj"/>
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<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_7.obj"/>
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<collision>
<origin xyz="0 0 0"/>
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<mesh filename="textured_objs/original_10.obj"/>
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<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_14.obj"/>
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</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>