datasets/PartNet/12614/mobility.urdf

<?xml version="1.0" ?>
<robot name="partnet_cc8161b35f7bef958c88d30f502a452">
	<link name="base"/>
	<link name="link_0">
		<visual name="frame-10">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/new-1.obj"/>
			</geometry>
		</visual>
		<visual name="frame-10">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/new-0.obj"/>
			</geometry>
		</visual>
		<visual name="frame-10">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/new-3.obj"/>
			</geometry>
		</visual>
		<visual name="frame-10">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/new-2.obj"/>
			</geometry>
		</visual>
		<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/new-0.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-2.obj"/>
			</geometry>
		</collision>
	</link>
	<joint name="joint_0" type="fixed">
		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
		<child link="link_0"/>
		<parent link="base"/>
	</joint>
	<link name="link_1">
		<visual name="door_frame-12">
			<origin xyz="-0.4971319999999997 0.5648598707380338 -0.38089498803575816"/>
			<geometry>
				<mesh filename="textured_objs/original-5.obj"/>
			</geometry>
		</visual>
		<visual name="door_frame-12">
			<origin xyz="-0.4971319999999997 0.5648598707380338 -0.38089498803575816"/>
			<geometry>
				<mesh filename="textured_objs/original-2.obj"/>
			</geometry>
		</visual>
		<visual name="door_frame-12">
			<origin xyz="-0.4971319999999997 0.5648598707380338 -0.38089498803575816"/>
			<geometry>
				<mesh filename="textured_objs/original-3.obj"/>
			</geometry>
		</visual>
		<visual name="door_frame-12">
			<origin xyz="-0.4971319999999997 0.5648598707380338 -0.38089498803575816"/>
			<geometry>
				<mesh filename="textured_objs/original-8.obj"/>
			</geometry>
		</visual>
		<visual name="door_frame-12">
			<origin xyz="-0.4971319999999997 0.5648598707380338 -0.38089498803575816"/>
			<geometry>
				<mesh filename="textured_objs/original-9.obj"/>
			</geometry>
		</visual>
		<visual name="handle-13">
			<origin xyz="-0.4971319999999997 0.5648598707380338 -0.38089498803575816"/>
			<geometry>
				<mesh filename="textured_objs/original-6.obj"/>
			</geometry>
		</visual>
		<collision>
			<origin xyz="-0.4971319999999997 0.5648598707380338 -0.38089498803575816"/>
			<geometry>
				<mesh filename="textured_objs/original-5.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="-0.4971319999999997 0.5648598707380338 -0.38089498803575816"/>
			<geometry>
				<mesh filename="textured_objs/original-2.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="-0.4971319999999997 0.5648598707380338 -0.38089498803575816"/>
			<geometry>
				<mesh filename="textured_objs/original-3.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="-0.4971319999999997 0.5648598707380338 -0.38089498803575816"/>
			<geometry>
				<mesh filename="textured_objs/original-8.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="-0.4971319999999997 0.5648598707380338 -0.38089498803575816"/>
			<geometry>
				<mesh filename="textured_objs/original-9.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="-0.4971319999999997 0.5648598707380338 -0.38089498803575816"/>
			<geometry>
				<mesh filename="textured_objs/original-6.obj"/>
			</geometry>
		</collision>
	</link>
	<joint name="joint_1" type="revolute">
		<origin xyz="0.4971319999999997 -0.5648598707380338 0.38089498803575816"/>
		<axis xyz="1 0 0"/>
		<child link="link_1"/>
		<parent link="link_0"/>
		<limit lower="0.0" upper="1.5707963267948966"/>
	</joint>
</robot>