RoboTwin / objects /009_kettle /102739 /mobility.urdf
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<?xml version="1.0" ?>
<robot name="partnet_5ece281de0d8b41bedfd2a89fff3f91">
<link name="base"/>
<link name="link_0">
<visual name="lid-1">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-8.obj"/>
</geometry>
</visual>
<visual name="lid-1">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-2.obj"/>
</geometry>
</visual>
<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-2.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_0" type="prismatic">
<origin xyz="0 0 0"/>
<axis xyz="0 1 0"/>
<child link="link_0"/>
<parent link="link_2"/>
<limit lower="0" upper="0.03"/>
</joint>
<link name="link_1">
<visual name="handle-2">
<origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/>
<geometry>
<mesh filename="textured_objs/original-1.obj"/>
</geometry>
</visual>
<visual name="handle-2">
<origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/>
<geometry>
<mesh filename="textured_objs/original-11.obj"/>
</geometry>
</visual>
<visual name="handle-2">
<origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/>
<geometry>
<mesh filename="textured_objs/original-3.obj"/>
</geometry>
</visual>
<visual name="handle-2">
<origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/>
<geometry>
<mesh filename="textured_objs/original-5.obj"/>
</geometry>
</visual>
<visual name="handle-2">
<origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/>
<geometry>
<mesh filename="textured_objs/original-4.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/>
<geometry>
<mesh filename="textured_objs/original-1.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/>
<geometry>
<mesh filename="textured_objs/original-11.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/>
<geometry>
<mesh filename="textured_objs/original-3.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/>
<geometry>
<mesh filename="textured_objs/original-5.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/>
<geometry>
<mesh filename="textured_objs/original-4.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_1" type="revolute">
<origin xyz="0.03388731351447829 0.15627376785184727 -0.5817229081812827"/>
<axis xyz="-0.08 0 0.8563613259934222"/>
<child link="link_1"/>
<parent link="link_2"/>
<limit lower="-0.5235987755982988" upper="0.5235987755982988"/>
</joint>
<link name="link_2">
<visual name="base_body-3">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-9.obj"/>
</geometry>
</visual>
<visual name="base_body-3">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-6.obj"/>
</geometry>
</visual>
<visual name="base_body-3">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-12.obj"/>
</geometry>
</visual>
<visual name="base_body-3">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-7.obj"/>
</geometry>
</visual>
<visual name="base_body-3">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-10.obj"/>
</geometry>
</visual>
<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-6.obj"/>
</geometry>
</collision>
<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-7.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-10.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>