assets/bidex/objects/urdf/kettle_mobility/kettle_mobility.urdf

<?xml version="1.0" ?>
<robot name="kettle">
	<link name="base"/>
	<link name="link_0">
		<visual name="lid-1">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-4.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<collision name="lid-1">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-4.obj" scale="0.2 0.2 0.2"/>
			</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" upper="0.03200000000000003"/>
	</joint>
	<link name="link_1">
		<visual name="handle-2">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-2.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="base_body-3">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-3.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="base_body-1">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-1.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<collision name="handle-2">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-2.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</collision>
		<collision name="base_body-3">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-3.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</collision>
		<collision name="base_body-1">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-1.obj" scale="0.2 0.2 0.2"/>
			</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>