notebook/decomp/notebook_decomp.urdf

<robot name="notebook">
  <material name="obj_color">
    <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
  </material>
  <joint name="rotation" type="revolute">
    <origin xyz="0 0 0"/>
    <axis xyz="0 0 -1"/>
    <parent link="bottom"/>
    <child link="top"/>
    <dynamics damping="0.0" friction="0.000"/>
    <limit effort="1000" velocity="200" lower="0" upper="3.141592653589793"/>
  </joint>
  <link name="bottom">
    <inertial>
      <origin rpy="0.00161676860808749 0.003207507483069488 0.004761072160715508" xyz="-0.07116873882580603 -0.02328587224423015 -0.0445619200424288"/>
      <mass value="0.7669728222307014"/>
      <inertia ixx="0.003252682293659042" ixy="-0.0002625873183663082" ixz="-3.483139458165454e-05" iyy="0.004714993215588407" iyz="2.787673935179725e-05" izz="0.001617672742625038"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="bottom_watertight_tiny.stl" scale="1 1 1"/>
      </geometry>
      <material name="obj_color"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="bottom_watertight_tiny_part0.obj"/>
      </geometry>
    </collision>
  </link>
  <link name="top">
    <inertial>
      <origin rpy="0.0002056255293341144 0.0004212783541582511 0.0006267359499810647" xyz="-0.08006146147597777 -0.01157134052519683 -0.04252167686106675"/>
      <mass value="0.09975130628795098"/>
      <inertia ixx="0.0004259997158974509" ixy="-3.083905462159531e-05" ixz="-1.937215086655913e-06" iyy="0.0006219975490896819" iyz="2.071454492521102e-07" izz="0.0002056425684862975"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="top_watertight_tiny.stl" scale="1 1 1"/>
      </geometry>
      <material name="obj_color"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="top_watertight_tiny_part0.obj"/>
      </geometry>
    </collision>
  </link>
</robot>