objects/3614/mobility.urdf

<?xml version="1.0" ?>
<robot name="partnet_2927d6c8438f6e24fe6460d8d9bd16c6">
	<link name="base"/>
	<link name="link_0">
		<visual name="lid-11">
			<origin xyz="-0.039569178906383895 -0.0007748030724187586 -0.005383308710641658"/>
			<geometry>
				<mesh filename="textured_objs/original-2.obj"/>
			</geometry>
		</visual>
		<collision>
			<origin xyz="-0.039569178906383895 -0.0007748030724187586 -0.005383308710641658"/>
			<geometry>
				<mesh filename="textured_objs/original-2.obj"/>
			</geometry>
		</collision>
	</link>
	<joint name="joint_0" type="continuous">
		<origin xyz="0.0 0.0 0.0"/>
		<axis xyz="-0.019383828774459173 0.999811104821856 -0.0014219201604066861"/>
		<child link="link_0"/>
		<parent link="link_0_helper"/>
	</joint>
	<link name="link_1">
		<visual name="body-9">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/new-2.obj"/>
			</geometry>
		</visual>
		<visual name="neck-10">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/new-5.obj"/>
			</geometry>
		</visual>
		<visual name="neck-10">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/new-3.obj"/>
			</geometry>
		</visual>
		<visual name="neck-10">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/new-1.obj"/>
			</geometry>
		</visual>
		<visual name="other_leaf-13">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-6.obj"/>
			</geometry>
		</visual>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/new-2.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/new-5.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/new-3.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/new-1.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-6.obj"/>
			</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>
	<link name="link_0_helper"/>
	<joint name="joint_2" type="prismatic">
		<origin xyz="0.039569178906383895 0.0007748030724187586 0.005383308710641658"/>
		<axis xyz="-0.019383828774459173 0.999811104821856 -0.0014219201604066861"/>
		<child link="link_0_helper"/>
		<parent link="link_1"/>
		<limit lower="-0.008000000000000007" upper="0.02400000000000002"/>
	</joint>
</robot>