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Ladder-assets / PartNetMobility /Keyboard /13004 /mobility.urdf
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<?xml version="1.0" ?>
<robot name="partnet_a86e4fb88103550d4dc96c27c8aa82ed">
<link name="base"/>
<link name="link_0">
<visual name="key_3">
<origin xyz="-0.14903110127823593 -0.11195900000000003 -0.07418220952793346"/>
<geometry>
<mesh filename="textured_objs/original_12.obj"/>
</geometry>
</visual>
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<origin xyz="-0.14903110127823593 -0.11195900000000003 -0.07418220952793346"/>
<geometry>
<mesh filename="textured_objs/original_12.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_0" type="prismatic">
<origin xyz="0.14903110127823593 0.11195900000000003 0.07418220952793346"/>
<axis xyz="0 -1 0"/>
<child link="link_0"/>
<parent link="link_24"/>
<limit lower="0" upper="0.03"/>
</joint>
<link name="link_1">
<visual name="key_4">
<origin xyz="-0.14903110127823593 -0.11195900000000003 -0.07418220952793346"/>
<geometry>
<mesh filename="textured_objs/original_11.obj"/>
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<mesh filename="textured_objs/original_11.obj"/>
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<joint name="joint_1" type="prismatic">
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<axis xyz="0 -1 0"/>
<child link="link_1"/>
<parent link="link_24"/>
<limit lower="0" upper="0.03"/>
</joint>
<link name="link_2">
<visual name="key_5">
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<geometry>
<mesh filename="textured_objs/original_17.obj"/>
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<mesh filename="textured_objs/original_17.obj"/>
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<joint name="joint_2" type="prismatic">
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<axis xyz="0 -1 0"/>
<child link="link_2"/>
<parent link="link_24"/>
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<link name="link_3">
<visual name="key_6">
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<mesh filename="textured_objs/original_16.obj"/>
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<mesh filename="textured_objs/original_16.obj"/>
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<joint name="joint_3" type="prismatic">
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<child link="link_3"/>
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<link name="link_4">
<visual name="key_7">
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<mesh filename="textured_objs/original_19.obj"/>
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<mesh filename="textured_objs/original_19.obj"/>
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<joint name="joint_4" type="prismatic">
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<link name="link_5">
<visual name="key_8">
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<mesh filename="textured_objs/original_18.obj"/>
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<mesh filename="textured_objs/original_18.obj"/>
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<child link="link_5"/>
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<link name="link_6">
<visual name="key_9">
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<geometry>
<mesh filename="textured_objs/original_14.obj"/>
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<mesh filename="textured_objs/original_14.obj"/>
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<joint name="joint_6" type="prismatic">
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<child link="link_6"/>
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<link name="link_7">
<visual name="key_10">
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<mesh filename="textured_objs/original_13.obj"/>
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<mesh filename="textured_objs/original_13.obj"/>
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</link>
<joint name="joint_7" type="prismatic">
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<child link="link_7"/>
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<link name="link_8">
<visual name="key_11">
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<mesh filename="textured_objs/original_38.obj"/>
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<child link="link_8"/>
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<link name="link_9">
<visual name="key_12">
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<mesh filename="textured_objs/original_37.obj"/>
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<mesh filename="textured_objs/original_37.obj"/>
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<joint name="joint_9" type="prismatic">
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<child link="link_9"/>
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<link name="link_10">
<visual name="key_13">
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<mesh filename="textured_objs/original_32.obj"/>
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<geometry>
<mesh filename="textured_objs/original_32.obj"/>
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</link>
<joint name="joint_10" type="prismatic">
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<axis xyz="0 -1 0"/>
<child link="link_10"/>
<parent link="link_24"/>
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<link name="link_11">
<visual name="key_14">
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<geometry>
<mesh filename="textured_objs/original_31.obj"/>
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<mesh filename="textured_objs/original_31.obj"/>
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</link>
<joint name="joint_11" type="prismatic">
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<axis xyz="0 -1 0"/>
<child link="link_11"/>
<parent link="link_24"/>
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</joint>
<link name="link_12">
<visual name="key_15">
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<mesh filename="textured_objs/original_40.obj"/>
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<mesh filename="textured_objs/original_40.obj"/>
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</link>
<joint name="joint_12" type="prismatic">
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<axis xyz="0 -1 0"/>
<child link="link_12"/>
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<link name="link_13">
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<mesh filename="textured_objs/original_41.obj"/>
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<child link="link_13"/>
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<link name="link_14">
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<mesh filename="textured_objs/original_34.obj"/>
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<child link="link_14"/>
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<link name="link_15">
<visual name="key_18">
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<mesh filename="textured_objs/original_35.obj"/>
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<link name="link_16">
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<mesh filename="textured_objs/original_22.obj"/>
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</link>
<joint name="joint_16" type="prismatic">
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<child link="link_16"/>
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<link name="link_17">
<visual name="key_20">
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<mesh filename="textured_objs/original_21.obj"/>
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<joint name="joint_17" type="prismatic">
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<link name="link_18">
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<mesh filename="textured_objs/original_27.obj"/>
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</link>
<joint name="joint_18" type="prismatic">
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<child link="link_18"/>
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<link name="link_19">
<visual name="key_22">
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<mesh filename="textured_objs/original_26.obj"/>
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<mesh filename="textured_objs/original_26.obj"/>
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<joint name="joint_19" type="prismatic">
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<child link="link_19"/>
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<link name="link_20">
<visual name="key_23">
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<link name="link_21">
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<link name="link_22">
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<joint name="joint_22" type="prismatic">
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<link name="link_23">
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<mesh filename="textured_objs/original_23.obj"/>
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<link name="link_24">
<visual name="frame_2">
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<visual name="tilt_leg_27">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_6.obj"/>
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</visual>
<visual name="tilt_leg_27">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_5.obj"/>
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</visual>
<visual name="tilt_leg_28">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_9.obj"/>
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<visual name="tilt_leg_28">
<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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<collision>
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<collision>
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<collision>
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<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_8.obj"/>
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</link>
<joint name="joint_24" type="fixed">
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<child link="link_24"/>
<parent link="base"/>
</joint>
</robot>