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Ladder-assets / PartNetMobility /Table /23472 /mobility.urdf
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<?xml version="1.0" ?>
<robot name="partnet_1e2565b2c28e69d3deb25e31ec3122be">
<link name="base"/>
<link name="link_0">
<visual name="cabinet_door_surface_32">
<origin xyz="-0.3561605338913945 0.6198470000000005 -0.37269548372455774"/>
<geometry>
<mesh filename="textured_objs/new_15.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.3561605338913945 0.6198470000000005 -0.37269548372455774"/>
<geometry>
<mesh filename="textured_objs/new_15.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_0" type="revolute">
<origin xyz="0.3561605338913945 -0.6198470000000005 0.37269548372455774"/>
<axis xyz="0 1 0"/>
<child link="link_0"/>
<parent link="link_2"/>
<limit lower="-0.326725635973339" upper="1.2566370614359172"/>
</joint>
<link name="link_1">
<visual name="drawer_front_27">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_16.obj"/>
</geometry>
</visual>
<visual name="drawer_side_28">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_17.obj"/>
</geometry>
</visual>
<visual name="drawer_side_29">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_19.obj"/>
</geometry>
</visual>
<visual name="drawer_back_30">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_18.obj"/>
</geometry>
</visual>
<visual name="drawer_bottom_31">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_20.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_16.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_17.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_19.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_18.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_20.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_1" type="prismatic">
<origin xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<child link="link_1"/>
<parent link="link_2"/>
<limit lower="-0.264" upper="0.2959999999999998"/>
</joint>
<link name="link_2">
<visual name="board_34">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_3.obj"/>
</geometry>
</visual>
<visual name="vertical_side_panel_8">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_12.obj"/>
</geometry>
</visual>
<visual name="vertical_side_panel_9">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_10.obj"/>
</geometry>
</visual>
<visual name="base_side_panel_10">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_13.obj"/>
</geometry>
</visual>
<visual name="base_side_panel_11">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_11.obj"/>
</geometry>
</visual>
<visual name="base_side_panel_12">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_9.obj"/>
</geometry>
</visual>
<visual name="bottom_panel_13">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_5.obj"/>
</geometry>
</visual>
<visual name="foot_14">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_3.obj"/>
</geometry>
</visual>
<visual name="foot_15">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_2.obj"/>
</geometry>
</visual>
<visual name="foot_16">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_4.obj"/>
</geometry>
</visual>
<visual name="foot_17">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_1.obj"/>
</geometry>
</visual>
<visual name="shelf_23">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_0.obj"/>
</geometry>
</visual>
<visual name="back_panel_24">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_14.obj"/>
</geometry>
</visual>
<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/new_12.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_10.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_13.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_11.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_9.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_5.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_3.obj"/>
</geometry>
</collision>
<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_4.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"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_14.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_2" type="fixed">
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
<child link="link_2"/>
<parent link="base"/>
</joint>
</robot>