Download PartNetMobility/CoffeeMachine/103084/mobility.urdf from sdasfdsafg5asdf/Ladder-assets: direct link, hf CLI and curl.
- Browser
- Download file 15.7 kB
-
https://huggingface.co/datasets/sdasfdsafg5asdf/Ladder-assets/resolve/main/PartNetMobility/CoffeeMachine/103084/mobility.urdf
- Command line
-
hf download hf://datasets/sdasfdsafg5asdf/Ladder-assets/PartNetMobility/CoffeeMachine/103084/mobility.urdf
-
curl -L -o mobility.urdf https://huggingface.co/datasets/sdasfdsafg5asdf/Ladder-assets/resolve/main/PartNetMobility/CoffeeMachine/103084/mobility.urdf
15.7 kB
| <robot name="partnet_ae189083_d1d2_45e4_b520_6adbf2aefb59_0"> | |
| <link name="base"/> | |
| <link name="link_0"> | |
| <visual name="button_2"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_23.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_23.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_0" type="prismatic"> | |
| <origin xyz="0 0 0"/> | |
| <axis xyz="0 0 -1"/> | |
| <child link="link_0"/> | |
| <parent link="link_11"/> | |
| <limit lower="0" upper="0.01"/> | |
| </joint> | |
| <link name="link_1"> | |
| <visual name="button_3"> | |
| <origin xyz="-0.42339499999999997 -0.393869 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_29.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="-0.42339499999999997 -0.393869 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_29.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_1" type="continuous"> | |
| <origin xyz="0.42339499999999997 0.393869 0"/> | |
| <axis xyz="0 0 1"/> | |
| <child link="link_1"/> | |
| <parent link="link_11"/> | |
| </joint> | |
| <link name="link_2"> | |
| <visual name="button_4"> | |
| <origin xyz="-0.296109 -0.393869 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_27.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="-0.296109 -0.393869 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_27.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_2" type="continuous"> | |
| <origin xyz="0.296109 0.393869 0"/> | |
| <axis xyz="0 0 1"/> | |
| <child link="link_2"/> | |
| <parent link="link_11"/> | |
| </joint> | |
| <link name="link_3"> | |
| <visual name="button_5"> | |
| <origin xyz="0.24039811236784744 -0.47654049463343284 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_31.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="0.24039811236784744 -0.47654049463343284 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_31.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_3" type="continuous"> | |
| <origin xyz="-0.24039811236784744 0.47654049463343284 0"/> | |
| <axis xyz="0 0 1"/> | |
| <child link="link_3"/> | |
| <parent link="link_11"/> | |
| </joint> | |
| <link name="link_4"> | |
| <visual name="button_6"> | |
| <origin xyz="0.24039818323591705 -0.32336625362239685 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_30.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="0.24039818323591705 -0.32336625362239685 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_30.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_4" type="continuous"> | |
| <origin xyz="-0.24039818323591705 0.32336625362239685 0"/> | |
| <axis xyz="0 0 1"/> | |
| <child link="link_4"/> | |
| <parent link="link_11"/> | |
| </joint> | |
| <link name="link_5"> | |
| <visual name="button_7"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_32.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_32.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_5" type="prismatic"> | |
| <origin xyz="0 0 0"/> | |
| <axis xyz="0 0 -1"/> | |
| <child link="link_5"/> | |
| <parent link="link_11"/> | |
| <limit lower="0" upper="0.01"/> | |
| </joint> | |
| <link name="link_6"> | |
| <visual name="button_9"> | |
| <origin xyz="0.381311 -0.393869 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_28.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="0.381311 -0.393869 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_28.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_6" type="continuous"> | |
| <origin xyz="-0.381311 0.393869 0"/> | |
| <axis xyz="0 0 1"/> | |
| <child link="link_6"/> | |
| <parent link="link_11"/> | |
| </joint> | |
| <link name="link_7"> | |
| <visual name="button_10"> | |
| <origin xyz="-0.01054775300001123 0.6272989999999999 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_2.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="-0.01054775300001123 0.6272989999999999 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_2.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_7" type="continuous"> | |
| <origin xyz="0.01054775300001123 -0.6272989999999999 0"/> | |
| <axis xyz="0 0 1"/> | |
| <child link="link_7"/> | |
| <parent link="link_11"/> | |
| </joint> | |
| <link name="link_8"> | |
| <visual name="knob_11"> | |
| <origin xyz="0.0077444446342140654 -0.4262700471325932 -0.2918568499357043"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_36.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="knob_11"> | |
| <origin xyz="0.0077444446342140654 -0.4262700471325932 -0.2918568499357043"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_37.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="0.0077444446342140654 -0.4262700471325932 -0.2918568499357043"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_36.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0.0077444446342140654 -0.4262700471325932 -0.2918568499357043"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_37.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_8" type="continuous"> | |
| <origin xyz="-0.0077444446342140654 0.4262700471325932 0.2918568499357043"/> | |
| <axis xyz="0.9998416265125973 0.017788167077507473 0.0005504585969425879"/> | |
| <child link="link_8"/> | |
| <parent link="link_11"/> | |
| </joint> | |
| <link name="link_9"> | |
| <visual name="container_12"> | |
| <origin xyz="-0.011294228617967743 0 -0.3227872819839025"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_19.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="container_12"> | |
| <origin xyz="-0.011294228617967743 0 -0.3227872819839025"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_21.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="container_12"> | |
| <origin xyz="-0.011294228617967743 0 -0.3227872819839025"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_15.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="container_12"> | |
| <origin xyz="-0.011294228617967743 0 -0.3227872819839025"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_13.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="container_12"> | |
| <origin xyz="-0.011294228617967743 0 -0.3227872819839025"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_41.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="container_12"> | |
| <origin xyz="-0.011294228617967743 0 -0.3227872819839025"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_42.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="container_12"> | |
| <origin xyz="-0.011294228617967743 0 -0.3227872819839025"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_40.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="container_12"> | |
| <origin xyz="-0.011294228617967743 0 -0.3227872819839025"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_39.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="container_12"> | |
| <origin xyz="-0.011294228617967743 0 -0.3227872819839025"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_18.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="container_12"> | |
| <origin xyz="-0.011294228617967743 0 -0.3227872819839025"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_16.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="container_12"> | |
| <origin xyz="-0.011294228617967743 0 -0.3227872819839025"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_20.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="container_12"> | |
| <origin xyz="-0.011294228617967743 0 -0.3227872819839025"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_12.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="container_12"> | |
| <origin xyz="-0.011294228617967743 0 -0.3227872819839025"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_44.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="container_12"> | |
| <origin xyz="-0.011294228617967743 0 -0.3227872819839025"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_43.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="-0.011294228617967743 0 -0.3227872819839025"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_19.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.011294228617967743 0 -0.3227872819839025"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_21.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.011294228617967743 0 -0.3227872819839025"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_15.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.011294228617967743 0 -0.3227872819839025"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_13.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.011294228617967743 0 -0.3227872819839025"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_41.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.011294228617967743 0 -0.3227872819839025"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_42.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.011294228617967743 0 -0.3227872819839025"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_40.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.011294228617967743 0 -0.3227872819839025"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_39.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.011294228617967743 0 -0.3227872819839025"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_18.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.011294228617967743 0 -0.3227872819839025"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_16.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.011294228617967743 0 -0.3227872819839025"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_20.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.011294228617967743 0 -0.3227872819839025"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_12.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.011294228617967743 0 -0.3227872819839025"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_44.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.011294228617967743 0 -0.3227872819839025"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_43.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_9" type="revolute"> | |
| <origin xyz="0.011294228617967743 0 0.3227872819839025"/> | |
| <axis xyz="0 -1 0"/> | |
| <child link="link_9"/> | |
| <parent link="link_11"/> | |
| <limit lower="-2.249380339970292" upper="2.3122121930420874"/> | |
| </joint> | |
| <link name="link_10"> | |
| <visual name="knob_13"> | |
| <origin xyz="-0.33871679151377665 0 -0.35802077252548015"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_47.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="knob_13"> | |
| <origin xyz="-0.33871679151377665 0 -0.35802077252548015"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_46.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="-0.33871679151377665 0 -0.35802077252548015"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_47.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.33871679151377665 0 -0.35802077252548015"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_46.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_10" type="continuous"> | |
| <origin xyz="0.33871679151377665 0 0.35802077252548015"/> | |
| <axis xyz="0 1 0"/> | |
| <child link="link_10"/> | |
| <parent link="link_11"/> | |
| </joint> | |
| <link name="link_11"> | |
| <visual name="base_body_14"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_26.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_14"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_4.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_14"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_3.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_14"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_33.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_14"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_8.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_14"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_9.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_14"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_5.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_14"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_34.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_14"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_25.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_14"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_24.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_14"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_7.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_14"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_10.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_14"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_14.obj"/> | |
| </geometry> | |
| </visual> | |
| <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_4.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_33.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_5.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_25.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_24.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_7.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_10.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_14.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_11" type="fixed"> | |
| <origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/> | |
| <child link="link_11"/> | |
| <parent link="base"/> | |
| </joint> | |
| </robot> | |