Hugging Face's logo

Datasets:
sdasfdsafg5asdf
/
Ladder-assets

Modalities:
3D
Image
Text
Dataset card Data Studio Files
xet
 Community
Ladder-assets / PartNetMobility /Chair /39313 /mobility.urdf
sdasfdsafg5asdf's picture
sdasfdsafg5asdf
Upload folder using huggingface_hub (part 44)
9d4c099 verified
Raw History Blame Contribute Delete
19.1 kB
<?xml version="1.0" ?>
<robot name="partnet_71a52b54d732450bdd766137cdd5195c">
<link name="base"/>
<link name="link_0">
<visual name="caster_stem_42">
<origin xyz="-0.506135 0 0.0578075"/>
<geometry>
<mesh filename="textured_objs/original_31.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.506135 0 0.0578075"/>
<geometry>
<mesh filename="textured_objs/original_31.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_0" type="continuous">
<origin xyz="0.506135 0 -0.0578075"/>
<axis xyz="0 1 0"/>
<child link="link_0"/>
<parent link="link_16"/>
</joint>
<link name="link_1">
<visual name="wheel_43">
<origin xyz="-0.02906918413857748 0.7315512182793177 -0.08945834223256022"/>
<geometry>
<mesh filename="textured_objs/original_32.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.02906918413857748 0.7315512182793177 -0.08945834223256022"/>
<geometry>
<mesh filename="textured_objs/original_32.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_1" type="continuous">
<origin xyz="-0.4770658158614225 -0.7315512182793177 0.14726584223256023"/>
<axis xyz="0.951048985079314 0 -0.30904017211295837"/>
<child link="link_1"/>
<parent link="link_0"/>
</joint>
<link name="link_2">
<visual name="wheel_44">
<origin xyz="-0.02906918413857748 0.7315512182793177 -0.08945834223256022"/>
<geometry>
<mesh filename="textured_objs/original_33.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.02906918413857748 0.7315512182793177 -0.08945834223256022"/>
<geometry>
<mesh filename="textured_objs/original_33.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_2" type="continuous">
<origin xyz="-0.4770658158614225 -0.7315512182793177 0.14726584223256023"/>
<axis xyz="0.951048985079314 0 -0.30904017211295837"/>
<child link="link_2"/>
<parent link="link_0"/>
</joint>
<link name="link_3">
<visual name="caster_stem_39">
<origin xyz="-0.3122317279654974 0 -0.5379648613889931"/>
<geometry>
<mesh filename="textured_objs/original_18.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.3122317279654974 0 -0.5379648613889931"/>
<geometry>
<mesh filename="textured_objs/original_18.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_3" type="continuous">
<origin xyz="0.3122317279654974 0 0.5379648613889931"/>
<axis xyz="0 1 0"/>
<child link="link_3"/>
<parent link="link_16"/>
</joint>
<link name="link_4">
<visual name="wheel_40">
<origin xyz="-0.1856317602631832 0.7315514815506591 -0.5713423973962463"/>
<geometry>
<mesh filename="textured_objs/original_20.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.1856317602631832 0.7315514815506591 -0.5713423973962463"/>
<geometry>
<mesh filename="textured_objs/original_20.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_4" type="continuous">
<origin xyz="-0.12659996770231421 -0.7315514815506591 0.03337753600725313"/>
<axis xyz="0.9510607326741586 0 -0.30900401739345185"/>
<child link="link_4"/>
<parent link="link_3"/>
</joint>
<link name="link_5">
<visual name="wheel_41">
<origin xyz="-0.1856317602631832 0.7315514815506591 -0.5713423973962463"/>
<geometry>
<mesh filename="textured_objs/original_19.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.1856317602631832 0.7315514815506591 -0.5713423973962463"/>
<geometry>
<mesh filename="textured_objs/original_19.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_5" type="continuous">
<origin xyz="-0.12659996770231421 -0.7315514815506591 0.03337753600725313"/>
<axis xyz="0.9510607326741586 0 -0.30900401739345185"/>
<child link="link_5"/>
<parent link="link_3"/>
</joint>
<link name="link_6">
<visual name="caster_stem_36">
<origin xyz="0.31304899476187753 0 -0.5367314334527604"/>
<geometry>
<mesh filename="textured_objs/original_36.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.31304899476187753 0 -0.5367314334527604"/>
<geometry>
<mesh filename="textured_objs/original_36.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_6" type="continuous">
<origin xyz="-0.31304899476187753 0 0.5367314334527604"/>
<axis xyz="0 1 0"/>
<child link="link_6"/>
<parent link="link_16"/>
</joint>
<link name="link_7">
<visual name="wheel_37">
<origin xyz="-0.12559345441503117 0.731551 -0.38640730153096947"/>
<geometry>
<mesh filename="textured_objs/original_38.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.12559345441503117 0.731551 -0.38640730153096947"/>
<geometry>
<mesh filename="textured_objs/original_38.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_7" type="continuous">
<origin xyz="0.4386424491769087 -0.731551 -0.15032413192179095"/>
<axis xyz="0.9510260415958529 0 -0.3091107701237913"/>
<child link="link_7"/>
<parent link="link_6"/>
</joint>
<link name="link_8">
<visual name="wheel_38">
<origin xyz="-0.12559345441503117 0.731551 -0.38640730153096947"/>
<geometry>
<mesh filename="textured_objs/original_37.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.12559345441503117 0.731551 -0.38640730153096947"/>
<geometry>
<mesh filename="textured_objs/original_37.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_8" type="continuous">
<origin xyz="0.4386424491769087 -0.731551 -0.15032413192179095"/>
<axis xyz="0.9510260415958529 0 -0.3091107701237913"/>
<child link="link_8"/>
<parent link="link_6"/>
</joint>
<link name="link_9">
<visual name="caster_stem_33">
<origin xyz="0.5052713029188888 0 0.058536399584619175"/>
<geometry>
<mesh filename="textured_objs/original_22.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.5052713029188888 0 0.058536399584619175"/>
<geometry>
<mesh filename="textured_objs/original_22.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_9" type="continuous">
<origin xyz="-0.5052713029188888 0 -0.058536399584619175"/>
<axis xyz="0 1 0"/>
<child link="link_9"/>
<parent link="link_16"/>
</joint>
<link name="link_10">
<visual name="wheel_34">
<origin xyz="0.06771929963039117 0.7315511946605939 0.20844277710998235"/>
<geometry>
<mesh filename="textured_objs/original_24.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06771929963039117 0.7315511946605939 0.20844277710998235"/>
<geometry>
<mesh filename="textured_objs/original_24.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_10" type="continuous">
<origin xyz="0.43755200328849764 -0.7315511946605939 -0.14990637752536318"/>
<axis xyz="0.9510670631586687 0 -0.30898453258172137"/>
<child link="link_10"/>
<parent link="link_9"/>
</joint>
<link name="link_11">
<visual name="wheel_35">
<origin xyz="0.06771929963039117 0.7315511946605939 0.20844277710998235"/>
<geometry>
<mesh filename="textured_objs/original_23.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.06771929963039117 0.7315511946605939 0.20844277710998235"/>
<geometry>
<mesh filename="textured_objs/original_23.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_11" type="continuous">
<origin xyz="0.43755200328849764 -0.7315511946605939 -0.14990637752536318"/>
<axis xyz="0.9510670631586687 0 -0.30898453258172137"/>
<child link="link_11"/>
<parent link="link_9"/>
</joint>
<link name="link_12">
<visual name="caster_stem_30">
<origin xyz="-0.0008787905803136001 0 0.425848594418452"/>
<geometry>
<mesh filename="textured_objs/original_26.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.0008787905803136001 0 0.425848594418452"/>
<geometry>
<mesh filename="textured_objs/original_26.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_12" type="continuous">
<origin xyz="0.0008787905803136001 0 -0.425848594418452"/>
<axis xyz="0 1 0"/>
<child link="link_12"/>
<parent link="link_16"/>
</joint>
<link name="link_13">
<visual name="wheel_31">
<origin xyz="0.1273439005815048 0.7315511444279328 0.391942463665019"/>
<geometry>
<mesh filename="textured_objs/original_27.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.1273439005815048 0.7315511444279328 0.391942463665019"/>
<geometry>
<mesh filename="textured_objs/original_27.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_13" type="continuous">
<origin xyz="-0.1282226911618184 -0.7315511444279328 0.03390613075343302"/>
<axis xyz="-0.9510607326741581 0 0.3090040173934534"/>
<child link="link_13"/>
<parent link="link_12"/>
</joint>
<link name="link_14">
<visual name="wheel_32">
<origin xyz="0.1273439005815048 0.7315511444279328 0.391942463665019"/>
<geometry>
<mesh filename="textured_objs/original_28.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.1273439005815048 0.7315511444279328 0.391942463665019"/>
<geometry>
<mesh filename="textured_objs/original_28.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_14" type="continuous">
<origin xyz="-0.1282226911618184 -0.7315511444279328 0.03390613075343302"/>
<axis xyz="-0.9510607326741581 0 0.3090040173934534"/>
<child link="link_14"/>
<parent link="link_12"/>
</joint>
<link name="link_15">
<visual name="back_soft_surface_73">
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/original_34.obj"/>
</geometry>
</visual>
<visual name="back_support_70">
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/original_10.obj"/>
</geometry>
</visual>
<visual name="back_connector_71">
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/original_39.obj"/>
</geometry>
</visual>
<visual name="back_connector_72">
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/original_1.obj"/>
</geometry>
</visual>
<visual name="armrest_hard_surface_61">
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/new_8.obj"/>
</geometry>
</visual>
<visual name="armrest_hard_surface_61">
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/new_12.obj"/>
</geometry>
</visual>
<visual name="arm_vertical_bar_62">
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/new_9.obj"/>
</geometry>
</visual>
<visual name="arm_vertical_bar_62">
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/new_11.obj"/>
</geometry>
</visual>
<visual name="arm_vertical_bar_63">
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/original_4.obj"/>
</geometry>
</visual>
<visual name="arm_connector_64">
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/original_5.obj"/>
</geometry>
</visual>
<visual name="armrest_hard_surface_57">
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/new_6.obj"/>
</geometry>
</visual>
<visual name="armrest_hard_surface_57">
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/new_16.obj"/>
</geometry>
</visual>
<visual name="arm_vertical_bar_58">
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/new_13.obj"/>
</geometry>
</visual>
<visual name="arm_vertical_bar_58">
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/new_15.obj"/>
</geometry>
</visual>
<visual name="arm_vertical_bar_59">
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/original_8.obj"/>
</geometry>
</visual>
<visual name="arm_connector_60">
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/original_9.obj"/>
</geometry>
</visual>
<visual name="seat_soft_surface_51">
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/original_16.obj"/>
</geometry>
</visual>
<visual name="seat_support_50">
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/original_12.obj"/>
</geometry>
</visual>
<visual name="seat_support_50">
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/original_13.obj"/>
</geometry>
</visual>
<visual name="central_support_17">
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/original_14.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/original_34.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/original_10.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/original_39.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/original_1.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/new_8.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/new_12.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/new_9.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/new_11.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/original_4.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/original_5.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/new_6.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/new_16.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/new_13.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/new_15.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/original_8.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/original_9.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/original_16.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/original_12.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/original_13.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
<geometry>
<mesh filename="textured_objs/original_14.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_15" type="continuous">
<origin xyz="0.0 0 0.0"/>
<axis xyz="0 -1 0"/>
<child link="link_15"/>
<parent link="link_15_helper"/>
</joint>
<link name="link_16">
<visual name="central_support_18">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_15.obj"/>
</geometry>
</visual>
<visual name="leg_20">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_1.obj"/>
</geometry>
</visual>
<visual name="leg_21">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_0.obj"/>
</geometry>
</visual>
<visual name="leg_22">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_4.obj"/>
</geometry>
</visual>
<visual name="leg_23">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_3.obj"/>
</geometry>
</visual>
<visual name="leg_24">
<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/original_15.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/new_0.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/new_4.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_16" type="fixed">
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
<child link="link_16"/>
<parent link="base"/>
</joint>
<link name="link_15_helper"/>
<joint name="joint_17" type="prismatic">
<origin xyz="0.0025660000000000006 0 0.10555773045359151"/>
<axis xyz="0 -1 0"/>
<child link="link_15_helper"/>
<parent link="link_16"/>
<limit lower="0" upper="0.052000000000000046"/>
</joint>
</robot>