Hugging Face's logo

Datasets:
sdasfdsafg5asdf
/
Ladder-assets

Modalities:
3D
Image
Text
Dataset card Data Studio Files
xet
 Community
Ladder-assets / PartNetMobility /CoffeeMachine /103062 /mobility.urdf
sdasfdsafg5asdf's picture
sdasfdsafg5asdf
Upload folder using huggingface_hub (part 61)
b88e0fc verified
Raw History Blame Contribute Delete
9.66 kB
<?xml version="1.0" ?>
<robot name="partnet_748ce3537aba9c59931f48202f034c81">
<link name="base"/>
<link name="link_0">
<visual name="knob_1">
<origin xyz="-0.011129215091225692 0.643000788359219 -0.13660822848957338"/>
<geometry>
<mesh filename="textured_objs/original_36.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.011129215091225692 0.643000788359219 -0.13660822848957338"/>
<geometry>
<mesh filename="textured_objs/original_36.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_0" type="continuous">
<origin xyz="0.011129215091225692 -0.643000788359219 0.13660822848957338"/>
<axis xyz="0.00021668848141085542 -0.20781231377072745 -0.9781686947001313"/>
<child link="link_0"/>
<parent link="link_3"/>
</joint>
<link name="link_1">
<visual name="container_2">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_5.obj"/>
</geometry>
</visual>
<visual name="container_2">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_2.obj"/>
</geometry>
</visual>
<visual name="container_2">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_3.obj"/>
</geometry>
</visual>
<visual name="container_2">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_7.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_5.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_2.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_3.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_7.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_1" type="prismatic">
<origin xyz="0 0 0"/>
<axis xyz="0 1 0"/>
<child link="link_1"/>
<parent link="link_3"/>
<limit lower="0" upper="0.13"/>
</joint>
<link name="link_2">
<visual name="lid_3">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_4.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_4.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_2" type="prismatic">
<origin xyz="0 0 0"/>
<axis xyz="0 1 0"/>
<child link="link_2"/>
<parent link="link_1"/>
<limit lower="0" upper="0.06"/>
</joint>
<link name="link_3">
<visual name="base_body_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_29.obj"/>
</geometry>
</visual>
<visual name="base_body_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_21.obj"/>
</geometry>
</visual>
<visual name="base_body_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_30.obj"/>
</geometry>
</visual>
<visual name="base_body_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_22.obj"/>
</geometry>
</visual>
<visual name="base_body_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_26.obj"/>
</geometry>
</visual>
<visual name="base_body_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_33.obj"/>
</geometry>
</visual>
<visual name="base_body_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_16.obj"/>
</geometry>
</visual>
<visual name="base_body_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_8.obj"/>
</geometry>
</visual>
<visual name="base_body_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_9.obj"/>
</geometry>
</visual>
<visual name="base_body_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_35.obj"/>
</geometry>
</visual>
<visual name="base_body_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_27.obj"/>
</geometry>
</visual>
<visual name="base_body_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_6.obj"/>
</geometry>
</visual>
<visual name="base_body_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_31.obj"/>
</geometry>
</visual>
<visual name="base_body_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_37.obj"/>
</geometry>
</visual>
<visual name="base_body_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_15.obj"/>
</geometry>
</visual>
<visual name="base_body_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_23.obj"/>
</geometry>
</visual>
<visual name="base_body_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_11.obj"/>
</geometry>
</visual>
<visual name="base_body_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_34.obj"/>
</geometry>
</visual>
<visual name="base_body_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_18.obj"/>
</geometry>
</visual>
<visual name="base_body_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_25.obj"/>
</geometry>
</visual>
<visual name="base_body_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_12.obj"/>
</geometry>
</visual>
<visual name="base_body_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_20.obj"/>
</geometry>
</visual>
<visual name="base_body_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_14.obj"/>
</geometry>
</visual>
<visual name="base_body_4">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_19.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_29.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_21.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_30.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_22.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_26.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_33.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_16.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_8.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_9.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_35.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_27.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_6.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_31.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_37.obj"/>
</geometry>
</collision>
<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/original_23.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_11.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_34.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_18.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_25.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_12.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_20.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_14.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_19.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_3" type="fixed">
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
<child link="link_3"/>
<parent link="base"/>
</joint>
</robot>