assets/bidex/objects/urdf/bottle_mobility/bottle_mobility.urdf

<?xml version="1.0" ?>
<robot name="bottle">
	<link name="base"/>
	<link name="link_0">
		<visual name="lid-7">
			<origin xyz="-0.007005959241653967 0 -0.007542109902568375"/>
			<geometry>
				<mesh filename="meshes/original-7.obj" scale="0.15 0.15 0.15"/>
			</geometry>
		</visual>
		<collision name="lid-7">
			<origin xyz="-0.007005959241653967 0 -0.007542109902568375"/>
			<geometry>
				<mesh filename="meshes/original-7.obj" scale="0.15 0.15 0.15"/>
			</geometry>
		</collision>
	</link>
	<joint name="joint_0" type="continuous">
		<origin xyz="0.0 0 0.0"/>
		<axis xyz="0 1 0"/>
		<child link="link_0"/>
		<parent link="link_0_helper"/>
	</joint>
	<link name="link_1">
		<visual name="body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-4.obj" scale="0.15 0.15 0.15"/>
			</geometry>
		</visual>
		<visual name="body-3">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-3.obj" scale="0.15 0.15 0.15"/>
			</geometry>
		</visual>
		<visual name="body-8">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-8.obj" scale="0.15 0.15 0.15"/>
			</geometry>
		</visual>
		<visual name="body-6">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-6.obj" scale="0.15 0.15 0.15"/>
			</geometry>
		</visual>
		<visual name="body-2">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-2.obj" scale="0.15 0.15 0.15"/>
			</geometry>
		</visual>
		<visual name="neck-5">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-5.obj" scale="0.15 0.15 0.15"/>
			</geometry>
		</visual>
		<collision name="body-4">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-4.obj" scale="0.15 0.15 0.15"/>
			</geometry>
		</collision>
		<collision name="body-3">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-3.obj" scale="0.15 0.15 0.15"/>
			</geometry>
		</collision>
		<collision name="body-8">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-8.obj" scale="0.15 0.15 0.15"/>
			</geometry>
		</collision>
		<collision name="body-6">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-6.obj" scale="0.15 0.15 0.15"/>
			</geometry>
		</collision>
		<collision name="body-2">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-2.obj" scale="0.15 0.15 0.15"/>
			</geometry>
		</collision>
		<collision name="neck-5">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-5.obj" scale="0.15 0.15 0.15"/>
			</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>
	<joint name="joint_2" type="prismatic">
		<origin xyz="0.007005959241653967 0 0.007542109902568375"/>
		<axis xyz="0 1 0"/>
		<child link="link_0_helper"/>
		<parent link="link_1"/>
		<limit lower="0" upper="0.06400000000000006"/>
	</joint>
	<link name="link_0_helper"/>
</robot>