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Ladder-assets / PartNetMobility /Display /5103 /mobility.urdf
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<?xml version="1.0" ?>
<robot name="partnet_8a87846412b40900ab610b0c94236463">
<link name="base"/>
<link name="link_0">
<visual name="frame_7">
<origin xyz="-0.002032947938604169 0.9277219999999993 -0.011678304635668785"/>
<geometry>
<mesh filename="textured_objs/original_1.obj"/>
</geometry>
</visual>
<visual name="frame_7">
<origin xyz="-0.002032947938604169 0.9277219999999993 -0.011678304635668785"/>
<geometry>
<mesh filename="textured_objs/original_15.obj"/>
</geometry>
</visual>
<visual name="frame_7">
<origin xyz="-0.002032947938604169 0.9277219999999993 -0.011678304635668785"/>
<geometry>
<mesh filename="textured_objs/original_14.obj"/>
</geometry>
</visual>
<visual name="frame_7">
<origin xyz="-0.002032947938604169 0.9277219999999993 -0.011678304635668785"/>
<geometry>
<mesh filename="textured_objs/original_12.obj"/>
</geometry>
</visual>
<visual name="frame_7">
<origin xyz="-0.002032947938604169 0.9277219999999993 -0.011678304635668785"/>
<geometry>
<mesh filename="textured_objs/original_11.obj"/>
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</visual>
<visual name="frame_7">
<origin xyz="-0.002032947938604169 0.9277219999999993 -0.011678304635668785"/>
<geometry>
<mesh filename="textured_objs/original_17.obj"/>
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</visual>
<visual name="screen_8">
<origin xyz="-0.002032947938604169 0.9277219999999993 -0.011678304635668785"/>
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<mesh filename="textured_objs/original_16.obj"/>
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<collision>
<origin xyz="-0.002032947938604169 0.9277219999999993 -0.011678304635668785"/>
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<origin xyz="-0.002032947938604169 0.9277219999999993 -0.011678304635668785"/>
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<mesh filename="textured_objs/original_15.obj"/>
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<origin xyz="-0.002032947938604169 0.9277219999999993 -0.011678304635668785"/>
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<mesh filename="textured_objs/original_14.obj"/>
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<collision>
<origin xyz="-0.002032947938604169 0.9277219999999993 -0.011678304635668785"/>
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<mesh filename="textured_objs/original_12.obj"/>
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<origin xyz="-0.002032947938604169 0.9277219999999993 -0.011678304635668785"/>
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<mesh filename="textured_objs/original_11.obj"/>
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<collision>
<origin xyz="-0.002032947938604169 0.9277219999999993 -0.011678304635668785"/>
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<mesh filename="textured_objs/original_17.obj"/>
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<origin xyz="-0.002032947938604169 0.9277219999999993 -0.011678304635668785"/>
<geometry>
<mesh filename="textured_objs/original_16.obj"/>
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<joint name="joint_0" type="prismatic">
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<axis xyz="0 -1 0"/>
<child link="link_0"/>
<parent link="link_1"/>
<limit lower="0" upper="0.5"/>
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<link name="link_1">
<visual name="base_support_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_2.obj"/>
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<visual name="base_support_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_19.obj"/>
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<visual name="base_support_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_3.obj"/>
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<visual name="base_support_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_7.obj"/>
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<visual name="base_support_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_4.obj"/>
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<visual name="base_support_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_9.obj"/>
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<visual name="base_support_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_6.obj"/>
</geometry>
</visual>
<visual name="surface_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_18.obj"/>
</geometry>
</visual>
<visual name="base_support_6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_8.obj"/>
</geometry>
</visual>
<visual name="base_support_6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_20.obj"/>
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</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_2.obj"/>
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<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_19.obj"/>
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<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_3.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"/>
<geometry>
<mesh filename="textured_objs/original_4.obj"/>
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<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_9.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"/>
<geometry>
<mesh filename="textured_objs/original_18.obj"/>
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<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_8.obj"/>
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</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_20.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>