objects/010_pen/101736/mobility.urdf

<?xml version="1.0" ?>
<robot name="partnet_91d7c6803207afa09d46068d27fb8249">
	<link name="base"/>
	<link name="link_0">
		<visual name="cap-1">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-2.obj"/>
			</geometry>
		</visual>
		<visual name="cap-1">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-3.obj"/>
			</geometry>
		</visual>
		<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-3.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_1"/>
		<limit lower="-0.016000000000000014" upper="0.3959999999999999"/>
	</joint>
	<link name="link_1">
		<visual name="base_body-2">
			<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-4.obj"/>
			</geometry>
		</collision>
	</link>
	<joint name="joint_1" type="fixed">
		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
		<child link="link_1"/>
		<parent link="base"/>
	</joint>
</robot>