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Ladder-assets / PartNetMobility /Table /22870 /mobility.urdf
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<?xml version="1.0" ?>
<robot name="partnet_565ad2f2a4caf3429d297e74104d3ac3">
<link name="base"/>
<link name="link_0">
<visual name="caster_stem_16">
<origin xyz="-0.478443967169606 0 0.27812691975738096"/>
<geometry>
<mesh filename="textured_objs/original_11.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.478443967169606 0 0.27812691975738096"/>
<geometry>
<mesh filename="textured_objs/original_11.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_0" type="continuous">
<origin xyz="0.478443967169606 0 -0.27812691975738096"/>
<axis xyz="0 1 0"/>
<child link="link_0"/>
<parent link="link_6"/>
</joint>
<link name="link_1">
<visual name="wheel_17">
<origin xyz="-0.35613410830450154 0.6833702541339517 0.28733472926873777"/>
<geometry>
<mesh filename="textured_objs/original_9.obj"/>
</geometry>
</visual>
<visual name="wheel_17">
<origin xyz="-0.35613410830450154 0.6833702541339517 0.28733472926873777"/>
<geometry>
<mesh filename="textured_objs/original_8.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.35613410830450154 0.6833702541339517 0.28733472926873777"/>
<geometry>
<mesh filename="textured_objs/original_9.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.35613410830450154 0.6833702541339517 0.28733472926873777"/>
<geometry>
<mesh filename="textured_objs/original_8.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_1" type="continuous">
<origin xyz="-0.12230985886510448 -0.6833702541339517 -0.009207809511356801"/>
<axis xyz="-0.6279243248454413 0 -0.7782744003675033"/>
<child link="link_1"/>
<parent link="link_0"/>
</joint>
<link name="link_2">
<visual name="caster_stem_14">
<origin xyz="-0.0006176865767082971 0.3570479999999998 -0.5432024962851435"/>
<geometry>
<mesh filename="textured_objs/original_18.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.0006176865767082971 0.3570479999999998 -0.5432024962851435"/>
<geometry>
<mesh filename="textured_objs/original_18.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_2" type="continuous">
<origin xyz="0.0006176865767082971 -0.3570479999999998 0.5432024962851435"/>
<axis xyz="0 1 0"/>
<child link="link_2"/>
<parent link="link_6"/>
</joint>
<link name="link_3">
<visual name="wheel_15">
<origin xyz="0.09501726859837722 0.6833704016307123 0"/>
<geometry>
<mesh filename="textured_objs/original_16.obj"/>
</geometry>
</visual>
<visual name="wheel_15">
<origin xyz="0.09501726859837722 0.6833704016307123 0"/>
<geometry>
<mesh filename="textured_objs/original_15.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.09501726859837722 0.6833704016307123 0"/>
<geometry>
<mesh filename="textured_objs/original_16.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.09501726859837722 0.6833704016307123 0"/>
<geometry>
<mesh filename="textured_objs/original_15.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_3" type="continuous">
<origin xyz="-0.09563495517508552 -0.32632240163071247 -0.5432024962851435"/>
<axis xyz="0 0 1"/>
<child link="link_3"/>
<parent link="link_2"/>
</joint>
<link name="link_4">
<visual name="caster_stem_12">
<origin xyz="0.48804188632263185 0.3570479999999998 0.28047253150254214"/>
<geometry>
<mesh filename="textured_objs/original_5.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.48804188632263185 0.3570479999999998 0.28047253150254214"/>
<geometry>
<mesh filename="textured_objs/original_5.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_4" type="continuous">
<origin xyz="-0.48804188632263185 -0.3570479999999998 -0.28047253150254214"/>
<axis xyz="0 1 0"/>
<child link="link_4"/>
<parent link="link_6"/>
</joint>
<link name="link_5">
<visual name="wheel_13">
<origin xyz="0.3918985092164572 0.6833702796973332 0.47691658917556284"/>
<geometry>
<mesh filename="textured_objs/original_3.obj"/>
</geometry>
</visual>
<visual name="wheel_13">
<origin xyz="0.3918985092164572 0.6833702796973332 0.47691658917556284"/>
<geometry>
<mesh filename="textured_objs/original_2.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.3918985092164572 0.6833702796973332 0.47691658917556284"/>
<geometry>
<mesh filename="textured_objs/original_3.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.3918985092164572 0.6833702796973332 0.47691658917556284"/>
<geometry>
<mesh filename="textured_objs/original_2.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_5" type="continuous">
<origin xyz="0.09614337710617465 -0.3263222796973334 -0.1964440576730207"/>
<axis xyz="-0.7726105671241236 0 0.6348802340348455"/>
<child link="link_5"/>
<parent link="link_4"/>
</joint>
<link name="link_6">
<visual name="board_19">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_13.obj"/>
</geometry>
</visual>
<visual name="shelf_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_20.obj"/>
</geometry>
</visual>
<visual name="leg_6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_6.obj"/>
</geometry>
</visual>
<visual name="leg_7">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_19.obj"/>
</geometry>
</visual>
<visual name="leg_8">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_12.obj"/>
</geometry>
</visual>
<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_20.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_19.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_12.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_6" type="fixed">
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
<child link="link_6"/>
<parent link="base"/>
</joint>
</robot>