notebook/notebook.urdf

<?xml version="1.0" ?>
<robot name="notebook">
   <material name="obj_color">
      <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
   </material>
   <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_textured.obj" scale="0.001 0.001 0.001"/>
         </geometry>
         <material name="obj_color"/>
      </visual>
      <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
            <mesh filename="bottom_watertight_tiny.obj" scale="1 1 1"/>
         </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_textured.obj" scale="0.001 0.001 0.001"/>
         </geometry>
         <material name="obj_color"/>
      </visual>
      <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
            <mesh filename="top_watertight_tiny.obj" scale="1 1 1"/>
         </geometry>
      </collision>
   </link>

   <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>
</robot>