Hugging Face's logo

Datasets:
sdasfdsafg5asdf
/
Ladder-assets

Modalities:
3D
Image
Text
Dataset card Data Studio Files
xet
 Community
Ladder-assets / PartNetMobility /Keyboard /13023 /mobility.urdf
sdasfdsafg5asdf's picture
sdasfdsafg5asdf
Add files using upload-large-folder tool
dc428b6 verified
Raw History Blame Contribute Delete
22.1 kB
<?xml version="1.0" ?>
<robot name="partnet_af0f522f0797fbbc7e1c85c5c15da7fb">
<link name="base"/>
<link name="link_0">
<visual name="frame_1">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_36.obj"/>
</geometry>
</visual>
<visual name="frame_1">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_35.obj"/>
</geometry>
</visual>
<visual name="frame_1">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_1.obj"/>
</geometry>
</visual>
<visual name="frame_1">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_5.obj"/>
</geometry>
</visual>
<visual name="frame_1">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_2.obj"/>
</geometry>
</visual>
<visual name="frame_1">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_4.obj"/>
</geometry>
</visual>
<visual name="frame_1">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_3.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_36.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_35.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_1.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_2.obj"/>
</geometry>
</collision>
<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>
</link>
<joint name="joint_0" type="fixed">
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
<child link="link_0"/>
<parent link="base"/>
</joint>
<link name="link_1">
<visual name="key_3">
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_18.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_18.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_1" type="prismatic">
<origin xyz="-0.06939994359518131 0.13310199999999983 0.038236570872293596"/>
<axis xyz="0 -0.9999999999999999 0"/>
<child link="link_1"/>
<parent link="link_0"/>
<limit lower="0" upper="0.008"/>
</joint>
<link name="link_2">
<visual name="key_4">
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_19.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_19.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_2" type="prismatic">
<origin xyz="-0.06939994359518131 0.13310199999999983 0.038236570872293596"/>
<axis xyz="0 -0.9999999999999999 0"/>
<child link="link_2"/>
<parent link="link_0"/>
<limit lower="0" upper="0.008"/>
</joint>
<link name="link_3">
<visual name="key_5">
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_20.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_20.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_3" type="prismatic">
<origin xyz="-0.06939994359518131 0.13310199999999983 0.038236570872293596"/>
<axis xyz="0 -0.9999999999999999 0"/>
<child link="link_3"/>
<parent link="link_0"/>
<limit lower="0" upper="0.008"/>
</joint>
<link name="link_4">
<visual name="key_6">
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_21.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_21.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_4" type="prismatic">
<origin xyz="-0.06939994359518131 0.13310199999999983 0.038236570872293596"/>
<axis xyz="0 -0.9999999999999999 0"/>
<child link="link_4"/>
<parent link="link_0"/>
<limit lower="0" upper="0.008"/>
</joint>
<link name="link_5">
<visual name="key_7">
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_22.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_22.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_5" type="prismatic">
<origin xyz="-0.06939994359518131 0.13310199999999983 0.038236570872293596"/>
<axis xyz="0 -0.9999999999999999 0"/>
<child link="link_5"/>
<parent link="link_0"/>
<limit lower="0" upper="0.008"/>
</joint>
<link name="link_6">
<visual name="key_8">
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_23.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_23.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_6" type="prismatic">
<origin xyz="-0.06939994359518131 0.13310199999999983 0.038236570872293596"/>
<axis xyz="0 -0.9999999999999999 0"/>
<child link="link_6"/>
<parent link="link_0"/>
<limit lower="0" upper="0.008"/>
</joint>
<link name="link_7">
<visual name="key_9">
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_24.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_24.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_7" type="prismatic">
<origin xyz="-0.06939994359518131 0.13310199999999983 0.038236570872293596"/>
<axis xyz="0 -0.9999999999999999 0"/>
<child link="link_7"/>
<parent link="link_0"/>
<limit lower="0" upper="0.008"/>
</joint>
<link name="link_8">
<visual name="key_10">
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_25.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_25.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_8" type="prismatic">
<origin xyz="-0.06939994359518131 0.13310199999999983 0.038236570872293596"/>
<axis xyz="0 -0.9999999999999999 0"/>
<child link="link_8"/>
<parent link="link_0"/>
<limit lower="0" upper="0.008"/>
</joint>
<link name="link_9">
<visual name="key_11">
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_26.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_26.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_9" type="prismatic">
<origin xyz="-0.06939994359518131 0.13310199999999983 0.038236570872293596"/>
<axis xyz="0 -0.9999999999999999 0"/>
<child link="link_9"/>
<parent link="link_0"/>
<limit lower="0" upper="0.008"/>
</joint>
<link name="link_10">
<visual name="key_12">
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_27.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_27.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_10" type="prismatic">
<origin xyz="-0.06939994359518131 0.13310199999999983 0.038236570872293596"/>
<axis xyz="0 -0.9999999999999999 0"/>
<child link="link_10"/>
<parent link="link_0"/>
<limit lower="0" upper="0.008"/>
</joint>
<link name="link_11">
<visual name="key_13">
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_28.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_28.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_11" type="prismatic">
<origin xyz="-0.06939994359518131 0.13310199999999983 0.038236570872293596"/>
<axis xyz="0 -0.9999999999999999 0"/>
<child link="link_11"/>
<parent link="link_0"/>
<limit lower="0" upper="0.008"/>
</joint>
<link name="link_12">
<visual name="key_14">
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_29.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_29.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_12" type="prismatic">
<origin xyz="-0.06939994359518131 0.13310199999999983 0.038236570872293596"/>
<axis xyz="0 -0.9999999999999999 0"/>
<child link="link_12"/>
<parent link="link_0"/>
<limit lower="0" upper="0.008"/>
</joint>
<link name="link_13">
<visual name="key_15">
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_30.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_30.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_13" type="prismatic">
<origin xyz="-0.06939994359518131 0.13310199999999983 0.038236570872293596"/>
<axis xyz="0 -0.9999999999999999 0"/>
<child link="link_13"/>
<parent link="link_0"/>
<limit lower="0" upper="0.008"/>
</joint>
<link name="link_14">
<visual name="key_16">
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_31.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_31.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_14" type="prismatic">
<origin xyz="-0.06939994359518131 0.13310199999999983 0.038236570872293596"/>
<axis xyz="0 -0.9999999999999999 0"/>
<child link="link_14"/>
<parent link="link_0"/>
<limit lower="0" upper="0.008"/>
</joint>
<link name="link_15">
<visual name="key_17">
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_32.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_32.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_15" type="prismatic">
<origin xyz="-0.06939994359518131 0.13310199999999983 0.038236570872293596"/>
<axis xyz="0 -0.9999999999999999 0"/>
<child link="link_15"/>
<parent link="link_0"/>
<limit lower="0" upper="0.008"/>
</joint>
<link name="link_16">
<visual name="key_18">
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_33.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_33.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_16" type="prismatic">
<origin xyz="-0.06939994359518131 0.13310199999999983 0.038236570872293596"/>
<axis xyz="0 -0.9999999999999999 0"/>
<child link="link_16"/>
<parent link="link_0"/>
<limit lower="0" upper="0.008"/>
</joint>
<link name="link_17">
<visual name="key_19">
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_34.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_34.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_17" type="prismatic">
<origin xyz="-0.06939994359518131 0.13310199999999983 0.038236570872293596"/>
<axis xyz="0 -0.9999999999999999 0"/>
<child link="link_17"/>
<parent link="link_0"/>
<limit lower="0" upper="0.008"/>
</joint>
<link name="link_18">
<visual name="key_20">
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_17.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_17.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_18" type="prismatic">
<origin xyz="-0.06939994359518131 0.13310199999999983 0.038236570872293596"/>
<axis xyz="0 -0.9999999999999999 0"/>
<child link="link_18"/>
<parent link="link_0"/>
<limit lower="0" upper="0.008"/>
</joint>
<link name="link_19">
<visual name="key_21">
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_16.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_16.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_19" type="prismatic">
<origin xyz="-0.06939994359518131 0.13310199999999983 0.038236570872293596"/>
<axis xyz="0 -0.9999999999999999 0"/>
<child link="link_19"/>
<parent link="link_0"/>
<limit lower="0" upper="0.008"/>
</joint>
<link name="link_20">
<visual name="key_22">
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_15.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_15.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_20" type="prismatic">
<origin xyz="-0.06939994359518131 0.13310199999999983 0.038236570872293596"/>
<axis xyz="0 -0.9999999999999999 0"/>
<child link="link_20"/>
<parent link="link_0"/>
<limit lower="0" upper="0.008"/>
</joint>
<link name="link_21">
<visual name="key_23">
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_14.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_14.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_21" type="prismatic">
<origin xyz="-0.06939994359518131 0.13310199999999983 0.038236570872293596"/>
<axis xyz="0 -0.9999999999999999 0"/>
<child link="link_21"/>
<parent link="link_0"/>
<limit lower="0" upper="0.008"/>
</joint>
<link name="link_22">
<visual name="key_24">
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_13.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_13.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_22" type="prismatic">
<origin xyz="-0.06939994359518131 0.13310199999999983 0.038236570872293596"/>
<axis xyz="0 -0.9999999999999999 0"/>
<child link="link_22"/>
<parent link="link_0"/>
<limit lower="0" upper="0.008"/>
</joint>
<link name="link_23">
<visual name="key_25">
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_12.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_12.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_23" type="prismatic">
<origin xyz="-0.06939994359518131 0.13310199999999983 0.038236570872293596"/>
<axis xyz="0 -0.9999999999999999 0"/>
<child link="link_23"/>
<parent link="link_0"/>
<limit lower="0" upper="0.008"/>
</joint>
<link name="link_24">
<visual name="key_26">
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_11.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_11.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_24" type="prismatic">
<origin xyz="-0.06939994359518131 0.13310199999999983 0.038236570872293596"/>
<axis xyz="0 -0.9999999999999999 0"/>
<child link="link_24"/>
<parent link="link_0"/>
<limit lower="0" upper="0.008"/>
</joint>
<link name="link_25">
<visual name="key_27">
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_10.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_10.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_25" type="prismatic">
<origin xyz="-0.06939994359518131 0.13310199999999983 0.038236570872293596"/>
<axis xyz="0 -0.9999999999999999 0"/>
<child link="link_25"/>
<parent link="link_0"/>
<limit lower="0" upper="0.008"/>
</joint>
<link name="link_26">
<visual name="key_28">
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_9.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_9.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_26" type="prismatic">
<origin xyz="-0.06939994359518131 0.13310199999999983 0.038236570872293596"/>
<axis xyz="0 -0.9999999999999999 0"/>
<child link="link_26"/>
<parent link="link_0"/>
<limit lower="0" upper="0.008"/>
</joint>
<link name="link_27">
<visual name="key_29">
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_8.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_8.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_27" type="prismatic">
<origin xyz="-0.06939994359518131 0.13310199999999983 0.038236570872293596"/>
<axis xyz="0 -0.9999999999999999 0"/>
<child link="link_27"/>
<parent link="link_0"/>
<limit lower="0" upper="0.008"/>
</joint>
<link name="link_28">
<visual name="key_30">
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_7.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_7.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_28" type="prismatic">
<origin xyz="-0.06939994359518131 0.13310199999999983 0.038236570872293596"/>
<axis xyz="0 -0.9999999999999999 0"/>
<child link="link_28"/>
<parent link="link_0"/>
<limit lower="0" upper="0.008"/>
</joint>
<link name="link_29">
<visual name="key_31">
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_6.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06939994359518131 -0.13310199999999983 -0.038236570872293596"/>
<geometry>
<mesh filename="textured_objs/original_6.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_29" type="prismatic">
<origin xyz="-0.06939994359518131 0.13310199999999983 0.038236570872293596"/>
<axis xyz="0 -0.9999999999999999 0"/>
<child link="link_29"/>
<parent link="link_0"/>
<limit lower="0" upper="0.008"/>
</joint>
</robot>