washing-machine_links.urdf

<?xml version="1.0" ?>

<robot name="washing-machine">
  
  <link name="base_link">
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://3dmodeling-examples/models/urdf/meshes/washing-machine/main-body.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://3dmodeling-examples/models/urdf/meshes/washing-machine/main-body.dae" />
      </geometry>
    </visual>
  </link>
  
  <link name="door">
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://3dmodeling-examples/models/urdf/meshes/washing-machine/door.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://3dmodeling-examples/models/urdf/meshes/washing-machine/door.dae" />
      </geometry>
    </visual>
  </link>
  
  <link name="tray">
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://3dmodeling-examples/models/urdf/meshes/washing-machine/tray.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://3dmodeling-examples/models/urdf/meshes/washing-machine/tray.dae" />
      </geometry>
    </visual>
  </link>
  
  <joint name="joint1" type="revolute">
    <parent link="base_link"/>
    <child  link="door"/>
    <origin xyz="0.30658 -0.258 0.67582" rpy="0 -0.1396 0"/>
    <axis xyz="0 0 1" />
    <limit effort="30" velocity="1.0" lower="-1.8326" upper="0.0" />
  </joint>
  
  <joint name="joint2" type="prismatic">
    <parent link="base_link"/>
    <child  link="tray"/>
    <origin xyz="0.0 -0.190 0.956" rpy="0 0 0"/>
    <axis xyz="1 0 0" />
    <limit effort="30" velocity="1.0" lower="0.0" upper="0.200" />
  </joint>
  
</robot>