assets/bidex/objects/urdf/pot_mobility/pot_mobility.urdf

<?xml version="1.0" ?>
<robot name="pot">
	<link name="base"/>
	<link name="link_0">
		<visual name="lid-1-17">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-17.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="lid-1-10">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-10.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="lid-1-11">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-11.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="lid-1-8">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-8.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="lid-1-1">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-1.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="lid-1-13">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-13.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="lid-1-15">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-15.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="lid-1-14">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-14.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="lid-1-16">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-16.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<collision name="lid-1-17">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-17.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</collision>
		<collision name="lid-1-10">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-10.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</collision>
		<collision name="lid-1-11">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-11.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</collision>
		<collision name="lid-1-8">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-8.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</collision>
		<collision name="lid-1-1">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-1.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</collision>
		<collision name="lid-1-13">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-13.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</collision>
		<collision name="lid-1-15">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-15.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</collision>
		<collision name="lid-1-14">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-14.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</collision>
		<collision name="lid-1-16">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-16.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</collision>
		<inertial>
			<mass value="1"/>
			<inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
		</inertial>
	</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="0.06"/>
	</joint>
	<link name="link_1">
		<visual name="base_body-2-29">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-29.obj" scale="0.2 0.2 0.2"/>

			</geometry>
		</visual>
		<visual name="base_body-2-21">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-21.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="base_body-2-30">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-30.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="base_body-2-22">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-22.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="base_body-2-26">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-26.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="base_body-2-5">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-5.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="base_body-2-27">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-27.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="base_body-2-6">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-6.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="base_body-2-31">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-31.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="base_body-2-23">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-23.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="base_body-2-25">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-25.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="base_body-2-7">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-7.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="base_body-2-19">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-19.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<collision name="base_body-2-29">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-29.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</collision>
		<collision name="base_body-2-21">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-21.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</collision>
		<collision name="base_body-2-30">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-30.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</collision>
		<collision name="base_body-2-22">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-22.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</collision>
		<collision name="base_body-2-26">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-26.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</collision>
		<collision name="base_body-2-5">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-5.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</collision>
		<collision name="base_body-2-27">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-27.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</collision>
		<collision name="base_body-2-6">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-6.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</collision>
		<collision name="base_body-2-31">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-31.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</collision>
		<collision name="base_body-2-23">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-23.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</collision>
		<collision name="base_body-2-25">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-25.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</collision>
		<collision name="base_body-2-7">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-7.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</collision>
		<collision name="base_body-2-19">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/original-19.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</collision>
		<inertial>
			<mass value="3"/>
			<inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
		</inertial>
	</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>