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Ladder-assets / PartNetMobility /CoffeeMachine /103064 /mobility.urdf
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<?xml version="1.0" ?>
<robot name="partnet_77640ed4c495a1668f64d37593728c5a">
<link name="base"/>
<link name="link_0">
<visual name="button_7">
<origin xyz="0.08758425415615112 0.2599278907136432 -0.4961286367936355"/>
<geometry>
<mesh filename="textured_objs/original_2.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.08758425415615112 0.2599278907136432 -0.4961286367936355"/>
<geometry>
<mesh filename="textured_objs/original_2.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_0" type="prismatic">
<origin xyz="-0.08758425415615112 -0.2599278907136432 0.4961286367936355"/>
<axis xyz="-0.013884689554569651 -0.6059839900364795 -0.7953556558015045"/>
<child link="link_0"/>
<parent link="link_15"/>
<limit lower="0" upper="0.02"/>
</joint>
<link name="link_1">
<visual name="button_8">
<origin xyz="0.08758425415615112 0.2599278907136432 -0.4961286367936355"/>
<geometry>
<mesh filename="textured_objs/original_4.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.08758425415615112 0.2599278907136432 -0.4961286367936355"/>
<geometry>
<mesh filename="textured_objs/original_4.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_1" type="prismatic">
<origin xyz="-0.08758425415615112 -0.2599278907136432 0.4961286367936355"/>
<axis xyz="-0.013884689554569651 -0.6059839900364795 -0.7953556558015045"/>
<child link="link_1"/>
<parent link="link_15"/>
<limit lower="0" upper="0.02"/>
</joint>
<link name="link_2">
<visual name="button_9">
<origin xyz="0.08758425415615112 0.2599278907136432 -0.4961286367936355"/>
<geometry>
<mesh filename="textured_objs/original_3.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.08758425415615112 0.2599278907136432 -0.4961286367936355"/>
<geometry>
<mesh filename="textured_objs/original_3.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_2" type="prismatic">
<origin xyz="-0.08758425415615112 -0.2599278907136432 0.4961286367936355"/>
<axis xyz="-0.013884689554569651 -0.6059839900364795 -0.7953556558015045"/>
<child link="link_2"/>
<parent link="link_15"/>
<limit lower="0" upper="0.02"/>
</joint>
<link name="link_3">
<visual name="button_10">
<origin xyz="-0.021112453323421487 0.4820759295051025 -0.6551641082096362"/>
<geometry>
<mesh filename="textured_objs/original_14.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.021112453323421487 0.4820759295051025 -0.6551641082096362"/>
<geometry>
<mesh filename="textured_objs/original_14.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_3" type="prismatic">
<origin xyz="0.021112453323421487 -0.4820759295051025 0.6551641082096362"/>
<axis xyz="-0.012342309005736843 -0.7071072722029033 -0.7069985664809909"/>
<child link="link_3"/>
<parent link="link_15"/>
<limit lower="0" upper="0.015"/>
</joint>
<link name="link_4">
<visual name="button_11">
<origin xyz="-0.021112453323421487 0.4820759295051025 -0.6551641082096362"/>
<geometry>
<mesh filename="textured_objs/original_11.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.021112453323421487 0.4820759295051025 -0.6551641082096362"/>
<geometry>
<mesh filename="textured_objs/original_11.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_4" type="prismatic">
<origin xyz="0.021112453323421487 -0.4820759295051025 0.6551641082096362"/>
<axis xyz="-0.012342309005736843 -0.7071072722029033 -0.7069985664809909"/>
<child link="link_4"/>
<parent link="link_15"/>
<limit lower="0" upper="0.015"/>
</joint>
<link name="link_5">
<visual name="button_12">
<origin xyz="-0.021112453323421487 0.4820759295051025 -0.6551641082096362"/>
<geometry>
<mesh filename="textured_objs/original_9.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.021112453323421487 0.4820759295051025 -0.6551641082096362"/>
<geometry>
<mesh filename="textured_objs/original_9.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_5" type="prismatic">
<origin xyz="0.021112453323421487 -0.4820759295051025 0.6551641082096362"/>
<axis xyz="-0.012342309005736843 -0.7071072722029033 -0.7069985664809909"/>
<child link="link_5"/>
<parent link="link_15"/>
<limit lower="0" upper="0.015"/>
</joint>
<link name="link_6">
<visual name="button_14">
<origin xyz="-0.021112453323421487 0.4820759295051025 -0.6551641082096362"/>
<geometry>
<mesh filename="textured_objs/original_15.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.021112453323421487 0.4820759295051025 -0.6551641082096362"/>
<geometry>
<mesh filename="textured_objs/original_15.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_6" type="prismatic">
<origin xyz="0.021112453323421487 -0.4820759295051025 0.6551641082096362"/>
<axis xyz="-0.012342309005736843 -0.7071072722029033 -0.7069985664809909"/>
<child link="link_6"/>
<parent link="link_15"/>
<limit lower="0" upper="0.015"/>
</joint>
<link name="link_7">
<visual name="button_15">
<origin xyz="-0.021112453323421487 0.4820759295051025 -0.6551641082096362"/>
<geometry>
<mesh filename="textured_objs/original_13.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.021112453323421487 0.4820759295051025 -0.6551641082096362"/>
<geometry>
<mesh filename="textured_objs/original_13.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_7" type="prismatic">
<origin xyz="0.021112453323421487 -0.4820759295051025 0.6551641082096362"/>
<axis xyz="-0.012342309005736843 -0.7071072722029033 -0.7069985664809909"/>
<child link="link_7"/>
<parent link="link_15"/>
<limit lower="0" upper="0.015"/>
</joint>
<link name="link_8">
<visual name="button_16">
<origin xyz="-0.021112453323421487 0.4820759295051025 -0.6551641082096362"/>
<geometry>
<mesh filename="textured_objs/original_10.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.021112453323421487 0.4820759295051025 -0.6551641082096362"/>
<geometry>
<mesh filename="textured_objs/original_10.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_8" type="prismatic">
<origin xyz="0.021112453323421487 -0.4820759295051025 0.6551641082096362"/>
<axis xyz="-0.012342309005736843 -0.7071072722029033 -0.7069985664809909"/>
<child link="link_8"/>
<parent link="link_15"/>
<limit lower="0" upper="0.015"/>
</joint>
<link name="link_9">
<visual name="button_17">
<origin xyz="-0.021112453323421487 0.4820759295051025 -0.6551641082096362"/>
<geometry>
<mesh filename="textured_objs/original_7.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.021112453323421487 0.4820759295051025 -0.6551641082096362"/>
<geometry>
<mesh filename="textured_objs/original_7.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_9" type="prismatic">
<origin xyz="0.021112453323421487 -0.4820759295051025 0.6551641082096362"/>
<axis xyz="-0.012342309005736843 -0.7071072722029033 -0.7069985664809909"/>
<child link="link_9"/>
<parent link="link_15"/>
<limit lower="0" upper="0.015"/>
</joint>
<link name="link_10">
<visual name="button_18">
<origin xyz="-0.021112453323421487 0.4820759295051025 -0.6551641082096362"/>
<geometry>
<mesh filename="textured_objs/original_12.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.021112453323421487 0.4820759295051025 -0.6551641082096362"/>
<geometry>
<mesh filename="textured_objs/original_12.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_10" type="prismatic">
<origin xyz="0.021112453323421487 -0.4820759295051025 0.6551641082096362"/>
<axis xyz="-0.012342309005736843 -0.7071072722029033 -0.7069985664809909"/>
<child link="link_10"/>
<parent link="link_15"/>
<limit lower="0" upper="0.015"/>
</joint>
<link name="link_11">
<visual name="button_19">
<origin xyz="-0.021112453323421487 0.4820759295051025 -0.6551641082096362"/>
<geometry>
<mesh filename="textured_objs/original_8.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.021112453323421487 0.4820759295051025 -0.6551641082096362"/>
<geometry>
<mesh filename="textured_objs/original_8.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_11" type="prismatic">
<origin xyz="0.021112453323421487 -0.4820759295051025 0.6551641082096362"/>
<axis xyz="-0.012342309005736843 -0.7071072722029033 -0.7069985664809909"/>
<child link="link_11"/>
<parent link="link_15"/>
<limit lower="0" upper="0.015"/>
</joint>
<link name="link_12">
<visual name="button_20">
<origin xyz="-0.021112453323421487 0.4820759295051025 -0.6551641082096362"/>
<geometry>
<mesh filename="textured_objs/original_6.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.021112453323421487 0.4820759295051025 -0.6551641082096362"/>
<geometry>
<mesh filename="textured_objs/original_6.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_12" type="prismatic">
<origin xyz="0.021112453323421487 -0.4820759295051025 0.6551641082096362"/>
<axis xyz="-0.012342309005736843 -0.7071072722029033 -0.7069985664809909"/>
<child link="link_12"/>
<parent link="link_15"/>
<limit lower="0" upper="0.015"/>
</joint>
<link name="link_13">
<visual name="container_21">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_22.obj"/>
</geometry>
</visual>
<visual name="container_21">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_21.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_22.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_21.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_13" type="prismatic">
<origin xyz="0 0 0"/>
<axis xyz="0 1 0"/>
<child link="link_13"/>
<parent link="link_15"/>
<limit lower="0" upper="0.01"/>
</joint>
<link name="link_14">
<visual name="lid_22">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_18.obj"/>
</geometry>
</visual>
<visual name="lid_22">
<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_18.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_19.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_14" type="prismatic">
<origin xyz="0 0 0"/>
<axis xyz="0 1 0"/>
<child link="link_14"/>
<parent link="link_13"/>
<limit lower="0" upper="0.01"/>
</joint>
<link name="link_15">
<visual name="base_body_23">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_16.obj"/>
</geometry>
</visual>
<visual name="base_body_23">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_17.obj"/>
</geometry>
</visual>
<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_17.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_15" type="fixed">
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
<child link="link_15"/>
<parent link="base"/>
</joint>
</robot>