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Ladder-assets / PartNetMobility /Table /22433 /mobility.urdf
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<?xml version="1.0" ?>
<robot name="partnet_4cd743a60cfa17d6b0a3f25f5d8cb0f8">
<link name="base"/>
<link name="link_0">
<visual name="cabinet_door_surface_24">
<origin xyz="0.5703330000000006 0.545200972927486 0.38160089058975966"/>
<geometry>
<mesh filename="textured_objs/original_16.obj"/>
</geometry>
</visual>
<visual name="handle_25">
<origin xyz="0.5703330000000006 0.545200972927486 0.38160089058975966"/>
<geometry>
<mesh filename="textured_objs/original_18.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.5703330000000006 0.545200972927486 0.38160089058975966"/>
<geometry>
<mesh filename="textured_objs/original_16.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.5703330000000006 0.545200972927486 0.38160089058975966"/>
<geometry>
<mesh filename="textured_objs/original_18.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_0" type="revolute">
<origin xyz="-0.5703330000000006 -0.545200972927486 -0.38160089058975966"/>
<axis xyz="-1 0 0"/>
<child link="link_0"/>
<parent link="link_3"/>
<limit lower="-0.0" upper="1.5707963267948966"/>
</joint>
<link name="link_1">
<visual name="cabinet_door_surface_22">
<origin xyz="0.5703330000000006 0.545200972927486 0.38160089058975966"/>
<geometry>
<mesh filename="textured_objs/original_17.obj"/>
</geometry>
</visual>
<visual name="handle_23">
<origin xyz="0.5703330000000006 0.545200972927486 0.38160089058975966"/>
<geometry>
<mesh filename="textured_objs/original_20.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.5703330000000006 0.545200972927486 0.38160089058975966"/>
<geometry>
<mesh filename="textured_objs/original_17.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.5703330000000006 0.545200972927486 0.38160089058975966"/>
<geometry>
<mesh filename="textured_objs/original_20.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_1" type="revolute">
<origin xyz="-0.5703330000000006 -0.545200972927486 -0.38160089058975966"/>
<axis xyz="-1 0 0"/>
<child link="link_1"/>
<parent link="link_3"/>
<limit lower="-0.0" upper="1.5707963267948966"/>
</joint>
<link name="link_2">
<visual name="cabinet_door_surface_20">
<origin xyz="0.5703330000000006 0.545200972927486 0.38160089058975966"/>
<geometry>
<mesh filename="textured_objs/original_15.obj"/>
</geometry>
</visual>
<visual name="handle_21">
<origin xyz="0.5703330000000006 0.545200972927486 0.38160089058975966"/>
<geometry>
<mesh filename="textured_objs/original_19.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.5703330000000006 0.545200972927486 0.38160089058975966"/>
<geometry>
<mesh filename="textured_objs/original_15.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.5703330000000006 0.545200972927486 0.38160089058975966"/>
<geometry>
<mesh filename="textured_objs/original_19.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_2" type="revolute">
<origin xyz="-0.5703330000000006 -0.545200972927486 -0.38160089058975966"/>
<axis xyz="-1 0 0"/>
<child link="link_2"/>
<parent link="link_3"/>
<limit lower="-0.0" upper="1.5707963267948966"/>
</joint>
<link name="link_3">
<visual name="board_29">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_12.obj"/>
</geometry>
</visual>
<visual name="board_29">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_11.obj"/>
</geometry>
</visual>
<visual name="back_panel_7">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_13.obj"/>
</geometry>
</visual>
<visual name="back_panel_8">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_14.obj"/>
</geometry>
</visual>
<visual name="vertical_side_panel_9">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_3.obj"/>
</geometry>
</visual>
<visual name="vertical_side_panel_10">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_2.obj"/>
</geometry>
</visual>
<visual name="vertical_divider_panel_11">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_5.obj"/>
</geometry>
</visual>
<visual name="vertical_divider_panel_12">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_6.obj"/>
</geometry>
</visual>
<visual name="bottom_panel_13">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_1.obj"/>
</geometry>
</visual>
<visual name="leg_14">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_8.obj"/>
</geometry>
</visual>
<visual name="leg_15">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_7.obj"/>
</geometry>
</visual>
<visual name="leg_16">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_10.obj"/>
</geometry>
</visual>
<visual name="leg_17">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_9.obj"/>
</geometry>
</visual>
<visual name="other_leaf_19">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_4.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_12.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_11.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_13.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_14.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_3.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_5.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_1.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_8.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_7.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_10.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_9.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_4.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_3" type="fixed">
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
<child link="link_3"/>
<parent link="base"/>
</joint>
</robot>