Hugging Face's logo

Datasets:
sdasfdsafg5asdf
/
Ladder-assets

Modalities:
3D
Image
Text
Dataset card Data Studio Files
xet
 Community
Ladder-assets / PartNetMobility /CoffeeMachine /103105 /mobility.urdf
sdasfdsafg5asdf's picture
sdasfdsafg5asdf
Upload folder using huggingface_hub (part 65)
8d6b075 verified
Raw History Blame Contribute Delete
10.9 kB
<?xml version="1.0" ?>
<robot name="partnet_f3395b96_eefd_4bf7_bf01_414116a01c2a">
<link name="base"/>
<link name="link_0">
<visual name="container_2">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_22.obj"/>
</geometry>
</visual>
<visual name="container_2">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_24.obj"/>
</geometry>
</visual>
<visual name="container_2">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_21.obj"/>
</geometry>
</visual>
<visual name="container_2">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_31.obj"/>
</geometry>
</visual>
<visual name="container_2">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_26.obj"/>
</geometry>
</visual>
<visual name="container_2">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_29.obj"/>
</geometry>
</visual>
<visual name="container_2">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_17.obj"/>
</geometry>
</visual>
<visual name="container_2">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_16.obj"/>
</geometry>
</visual>
<visual name="container_2">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_18.obj"/>
</geometry>
</visual>
<visual name="container_2">
<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_22.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_21.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_26.obj"/>
</geometry>
</collision>
<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_17.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_18.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_32.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_0" type="prismatic">
<origin xyz="0 0 0"/>
<axis xyz="0 1 0"/>
<child link="link_0"/>
<parent link="link_3"/>
<limit lower="0" upper="0.01"/>
</joint>
<link name="link_1">
<visual name="lid_3">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_20.obj"/>
</geometry>
</visual>
<visual name="lid_3">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_19.obj"/>
</geometry>
</visual>
<visual name="lid_3">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_25.obj"/>
</geometry>
</visual>
<visual name="lid_3">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_28.obj"/>
</geometry>
</visual>
<visual name="lid_3">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_30.obj"/>
</geometry>
</visual>
<visual name="lid_3">
<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_20.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_19.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_28.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_23.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_0"/>
<limit lower="0" upper="0.01"/>
</joint>
<link name="link_2">
<visual name="knob_4">
<origin xyz="0.015500351133774296 0.43140604149461764 -0.05815523915704288"/>
<geometry>
<mesh filename="textured_objs/original_14.obj"/>
</geometry>
</visual>
<visual name="knob_4">
<origin xyz="0.015500351133774296 0.43140604149461764 -0.05815523915704288"/>
<geometry>
<mesh filename="textured_objs/original_10.obj"/>
</geometry>
</visual>
<visual name="knob_4">
<origin xyz="0.015500351133774296 0.43140604149461764 -0.05815523915704288"/>
<geometry>
<mesh filename="textured_objs/original_11.obj"/>
</geometry>
</visual>
<visual name="knob_4">
<origin xyz="0.015500351133774296 0.43140604149461764 -0.05815523915704288"/>
<geometry>
<mesh filename="textured_objs/original_12.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.015500351133774296 0.43140604149461764 -0.05815523915704288"/>
<geometry>
<mesh filename="textured_objs/original_14.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.015500351133774296 0.43140604149461764 -0.05815523915704288"/>
<geometry>
<mesh filename="textured_objs/original_10.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.015500351133774296 0.43140604149461764 -0.05815523915704288"/>
<geometry>
<mesh filename="textured_objs/original_11.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.015500351133774296 0.43140604149461764 -0.05815523915704288"/>
<geometry>
<mesh filename="textured_objs/original_12.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_2" type="revolute">
<origin xyz="-0.015500351133774296 -0.43140604149461764 0.05815523915704288"/>
<axis xyz="0.0690912014124707 -0.13571403895028467 -0.9883360286457142"/>
<child link="link_2"/>
<parent link="link_3"/>
<limit lower="-0.8726646259971648" upper="1.7453292519943295"/>
</joint>
<link name="link_3">
<visual name="base_body_6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_36.obj"/>
</geometry>
</visual>
<visual name="base_body_6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_4.obj"/>
</geometry>
</visual>
<visual name="base_body_6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_3.obj"/>
</geometry>
</visual>
<visual name="base_body_6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_33.obj"/>
</geometry>
</visual>
<visual name="base_body_6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_2.obj"/>
</geometry>
</visual>
<visual name="base_body_6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_8.obj"/>
</geometry>
</visual>
<visual name="base_body_6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_13.obj"/>
</geometry>
</visual>
<visual name="base_body_6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_35.obj"/>
</geometry>
</visual>
<visual name="base_body_6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_5.obj"/>
</geometry>
</visual>
<visual name="base_body_6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_6.obj"/>
</geometry>
</visual>
<visual name="base_body_6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_34.obj"/>
</geometry>
</visual>
<visual name="base_body_6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_7.obj"/>
</geometry>
</visual>
<visual name="base_body_6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_1.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_36.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_2.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_13.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_5.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_34.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_1.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>