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Ladder-assets / PartNetMobility /Table /19740 /mobility.urdf
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<?xml version="1.0" ?>
<robot name="partnet_1e588358e4681e1ac3bd24f986301745">
<link name="base"/>
<link name="link_0">
<visual name="wheel_49">
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<mesh filename="textured_objs/original_29.obj"/>
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<joint name="joint_0" type="continuous">
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<axis xyz="1 0 0"/>
<child link="link_0"/>
<parent link="link_8"/>
</joint>
<link name="link_1">
<visual name="wheel_50">
<origin xyz="0 0.3991179319248829 0.27427296178698596"/>
<geometry>
<mesh filename="textured_objs/original_28.obj"/>
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</visual>
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<joint name="joint_1" type="continuous">
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<axis xyz="1 0 0"/>
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<parent link="link_8"/>
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<link name="link_2">
<visual name="wheel_55">
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<geometry>
<mesh filename="textured_objs/original_8.obj"/>
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<mesh filename="textured_objs/original_8.obj"/>
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<joint name="joint_2" type="continuous">
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<link name="link_3">
<visual name="wheel_56">
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<geometry>
<mesh filename="textured_objs/original_9.obj"/>
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<mesh filename="textured_objs/original_9.obj"/>
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<axis xyz="1 0 0"/>
<child link="link_3"/>
<parent link="link_8"/>
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<link name="link_4">
<visual name="wheel_44">
<origin xyz="0 0.3991179227172805 -0.25818086487119557"/>
<geometry>
<mesh filename="textured_objs/original_19.obj"/>
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<origin xyz="0 0.3991179227172805 -0.25818086487119557"/>
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<mesh filename="textured_objs/original_19.obj"/>
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<joint name="joint_4" type="continuous">
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<axis xyz="1 0 0"/>
<child link="link_4"/>
<parent link="link_8"/>
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<link name="link_5">
<visual name="wheel_45">
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<geometry>
<mesh filename="textured_objs/original_18.obj"/>
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<mesh filename="textured_objs/original_18.obj"/>
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<joint name="joint_5" type="continuous">
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<child link="link_5"/>
<parent link="link_8"/>
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<link name="link_6">
<visual name="wheel_52">
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<mesh filename="textured_objs/original_37.obj"/>
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<origin xyz="0 0.39911796178698594 0.29786206807511717"/>
<geometry>
<mesh filename="textured_objs/original_37.obj"/>
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<joint name="joint_6" type="continuous">
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<axis xyz="1 0 0"/>
<child link="link_6"/>
<parent link="link_8"/>
</joint>
<link name="link_7">
<visual name="wheel_53">
<origin xyz="0 0.39911796178698594 0.29786206807511717"/>
<geometry>
<mesh filename="textured_objs/original_38.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0.39911796178698594 0.29786206807511717"/>
<geometry>
<mesh filename="textured_objs/original_38.obj"/>
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</collision>
</link>
<joint name="joint_7" type="continuous">
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<axis xyz="1 0 0"/>
<child link="link_7"/>
<parent link="link_8"/>
</joint>
<link name="link_8">
<visual name="board_61">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_2.obj"/>
</geometry>
</visual>
<visual name="shelf_33">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_1.obj"/>
</geometry>
</visual>
<visual name="other_leaf_35">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_0.obj"/>
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</visual>
<visual name="caster_mounting_plate_48">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_24.obj"/>
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</visual>
<visual name="caster_mounting_plate_48">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_25.obj"/>
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</visual>
<visual name="caster_mounting_plate_48">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_26.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_54">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_5.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_54">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_4.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_54">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_6.obj"/>
</geometry>
</visual>
<visual name="brake_58">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_16.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_59">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_15.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_59">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_11.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_59">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_20.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_51">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_33.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_51">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_34.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_51">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_35.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_2.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_1.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_0.obj"/>
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</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_24.obj"/>
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</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_25.obj"/>
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</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_26.obj"/>
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</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_4.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_6.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_16.obj"/>
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</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_15.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_11.obj"/>
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</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_20.obj"/>
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</collision>
<collision>
<origin xyz="0 0 0"/>
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<mesh filename="textured_objs/original_33.obj"/>
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<collision>
<origin xyz="0 0 0"/>
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<mesh filename="textured_objs/original_34.obj"/>
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</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_35.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_8" type="fixed">
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
<child link="link_8"/>
<parent link="base"/>
</joint>
</robot>