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Ladder-assets / PartNetMobility /Table /24152 /mobility.urdf
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<?xml version="1.0" ?>
<robot name="partnet_6b43398bac2b6979438d8caa9ae106fa">
<link name="base"/>
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<mesh filename="textured_objs/original_18.obj"/>
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<joint name="joint_0" type="continuous">
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<axis xyz="0 0 -1"/>
<child link="link_0"/>
<parent link="link_9"/>
</joint>
<link name="link_1">
<visual name="wheel_71">
<origin xyz="-0.915427212967765 0.25107233412824526 0"/>
<geometry>
<mesh filename="textured_objs/original_19.obj"/>
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<mesh filename="textured_objs/original_19.obj"/>
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<link name="link_2">
<visual name="wheel_66">
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<mesh filename="textured_objs/original_24.obj"/>
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<mesh filename="textured_objs/original_24.obj"/>
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<joint name="joint_2" type="continuous">
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<link name="link_3">
<visual name="wheel_67">
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<mesh filename="textured_objs/original_23.obj"/>
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<mesh filename="textured_objs/original_23.obj"/>
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<link name="link_4">
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<mesh filename="textured_objs/original_29.obj"/>
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<link name="link_5">
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<mesh filename="textured_objs/original_28.obj"/>
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<link name="link_6">
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<mesh filename="textured_objs/original_13.obj"/>
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<link name="link_7">
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<mesh filename="textured_objs/original_14.obj"/>
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<mesh filename="textured_objs/original_14.obj"/>
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<joint name="joint_7" type="continuous">
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<child link="link_7"/>
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<link name="link_8">
<visual name="glass_51">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_1.obj"/>
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<visual name="bar_47">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_6.obj"/>
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<visual name="bar_48">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_4.obj"/>
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<visual name="bar_49">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_5.obj"/>
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<visual name="bar_50">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_7.obj"/>
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<visual name="tabletop_connector_10">
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<mesh filename="textured_objs/original_6.obj"/>
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<visual name="tabletop_connector_11">
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<mesh filename="textured_objs/original_4.obj"/>
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<visual name="tabletop_connector_12">
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<mesh filename="textured_objs/original_5.obj"/>
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<visual name="tabletop_connector_13">
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<mesh filename="textured_objs/original_9.obj"/>
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<visual name="shelf_14">
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<mesh filename="textured_objs/original_3.obj"/>
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<visual name="tabletop_connector_19">
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<mesh filename="textured_objs/original_8.obj"/>
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<visual name="tabletop_connector_20">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_7.obj"/>
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</visual>
<visual name="leg_41">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_2.obj"/>
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</visual>
<visual name="leg_42">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_1.obj"/>
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<visual name="leg_43">
<origin xyz="0 0 0"/>
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<mesh filename="textured_objs/new_0.obj"/>
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<visual name="leg_44">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_3.obj"/>
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<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_1.obj"/>
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<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_6.obj"/>
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</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_4.obj"/>
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</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_5.obj"/>
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<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_7.obj"/>
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<collision>
<origin xyz="0 0 0"/>
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<mesh filename="textured_objs/original_6.obj"/>
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<collision>
<origin xyz="0 0 0"/>
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<mesh filename="textured_objs/original_4.obj"/>
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<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_5.obj"/>
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<collision>
<origin xyz="0 0 0"/>
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<mesh filename="textured_objs/original_9.obj"/>
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<collision>
<origin xyz="0 0 0"/>
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<mesh filename="textured_objs/original_3.obj"/>
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<collision>
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<mesh filename="textured_objs/original_8.obj"/>
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<collision>
<origin xyz="0 0 0"/>
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<mesh filename="textured_objs/original_7.obj"/>
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<collision>
<origin xyz="0 0 0"/>
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<mesh filename="textured_objs/new_2.obj"/>
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<collision>
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<mesh filename="textured_objs/new_1.obj"/>
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<collision>
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<collision>
<origin xyz="0 0 0"/>
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</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"/>
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<link name="link_9">
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<geometry>
<mesh filename="textured_objs/original_16.obj"/>
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<visual name="brake_72">
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<joint name="joint_9" type="continuous">
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<axis xyz="0 1 0"/>
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<link name="link_10">
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<mesh filename="textured_objs/original_21.obj"/>
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<visual name="brake_68">
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<mesh filename="textured_objs/original_22.obj"/>
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</link>
<joint name="joint_10" type="continuous">
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<axis xyz="0 1 0"/>
<child link="link_10"/>
<parent link="link_8"/>
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<link name="link_11">
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<mesh filename="textured_objs/original_26.obj"/>
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<visual name="brake_64">
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<mesh filename="textured_objs/original_27.obj"/>
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<collision>
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</link>
<joint name="joint_11" type="continuous">
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<axis xyz="0 1 0"/>
<child link="link_11"/>
<parent link="link_8"/>
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<link name="link_12">
<visual name="caster_stem_57">
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<geometry>
<mesh filename="textured_objs/original_11.obj"/>
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</visual>
<visual name="brake_60">
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<mesh filename="textured_objs/original_12.obj"/>
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<collision>
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</link>
<joint name="joint_12" type="continuous">
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<axis xyz="0 1 0"/>
<child link="link_12"/>
<parent link="link_8"/>
</joint>
</robot>