Hugging Face's logo

Datasets:
sdasfdsafg5asdf
/
Ladder-assets

Modalities:
3D
Image
Text
Dataset card Data Studio Files
xet
 Community
Ladder-assets / PartNetMobility /Faucet /1721 /mobility.urdf
sdasfdsafg5asdf's picture
sdasfdsafg5asdf
Upload folder using huggingface_hub (part 97)
bab0c57 verified
Raw History Blame Contribute Delete
19.8 kB
<?xml version="1.0" ?>
<robot name="partnet_64b7cc23f9fe4196b7a867e9b35a1295">
<link name="base"/>
<link name="link_0">
<visual name="switch_2">
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_195.obj"/>
</geometry>
</visual>
<visual name="switch_2">
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_196.obj"/>
</geometry>
</visual>
<visual name="switch_2">
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_192.obj"/>
</geometry>
</visual>
<visual name="switch_2">
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_175.obj"/>
</geometry>
</visual>
<visual name="switch_2">
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_174.obj"/>
</geometry>
</visual>
<visual name="switch_2">
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_202.obj"/>
</geometry>
</visual>
<visual name="switch_2">
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_204.obj"/>
</geometry>
</visual>
<visual name="switch_2">
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_178.obj"/>
</geometry>
</visual>
<visual name="switch_2">
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_203.obj"/>
</geometry>
</visual>
<visual name="switch_2">
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_173.obj"/>
</geometry>
</visual>
<visual name="switch_2">
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_200.obj"/>
</geometry>
</visual>
<visual name="switch_2">
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_210.obj"/>
</geometry>
</visual>
<visual name="switch_2">
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_172.obj"/>
</geometry>
</visual>
<visual name="switch_2">
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_171.obj"/>
</geometry>
</visual>
<visual name="switch_2">
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_206.obj"/>
</geometry>
</visual>
<visual name="switch_2">
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_152.obj"/>
</geometry>
</visual>
<visual name="switch_2">
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_180.obj"/>
</geometry>
</visual>
<visual name="switch_2">
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_181.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_195.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_196.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_192.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_175.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_174.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_202.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_204.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_178.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_203.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_173.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_200.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_210.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_172.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_171.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_206.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_152.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_180.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.08755177024374974 0.19800786681118943"/>
<geometry>
<mesh filename="textured_objs/original_181.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_0" type="revolute">
<origin xyz="0 -0.08755177024374974 -0.19800786681118943"/>
<axis xyz="-1 0 0"/>
<child link="link_0"/>
<parent link="link_1"/>
<limit lower="-0.0" upper="0.3490658503988659"/>
</joint>
<link name="link_1">
<visual name="vertical_support_9">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_231.obj"/>
</geometry>
</visual>
<visual name="vertical_support_9">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_236.obj"/>
</geometry>
</visual>
<visual name="vertical_support_9">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_239.obj"/>
</geometry>
</visual>
<visual name="vertical_support_9">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_228.obj"/>
</geometry>
</visual>
<visual name="surface_base_11">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_224.obj"/>
</geometry>
</visual>
<visual name="surface_base_11">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_235.obj"/>
</geometry>
</visual>
<visual name="surface_base_11">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_214.obj"/>
</geometry>
</visual>
<visual name="surface_base_11">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_234.obj"/>
</geometry>
</visual>
<visual name="surface_base_11">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_227.obj"/>
</geometry>
</visual>
<visual name="surface_base_11">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_217.obj"/>
</geometry>
</visual>
<visual name="vertical_support_12">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_56.obj"/>
</geometry>
</visual>
<visual name="vertical_support_12">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_1.obj"/>
</geometry>
</visual>
<visual name="vertical_support_12">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_138.obj"/>
</geometry>
</visual>
<visual name="vertical_support_12">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_136.obj"/>
</geometry>
</visual>
<visual name="vertical_support_12">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_105.obj"/>
</geometry>
</visual>
<visual name="vertical_support_12">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_48.obj"/>
</geometry>
</visual>
<visual name="vertical_support_12">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_54.obj"/>
</geometry>
</visual>
<visual name="vertical_support_12">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_57.obj"/>
</geometry>
</visual>
<visual name="vertical_support_12">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_104.obj"/>
</geometry>
</visual>
<visual name="vertical_support_12">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_100.obj"/>
</geometry>
</visual>
<visual name="vertical_support_12">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_130.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_231.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_236.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_239.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_228.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_224.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_235.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_214.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_234.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_227.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_217.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_56.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_1.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_138.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_136.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_105.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_48.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_54.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_57.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_104.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_100.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_130.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_1" type="fixed">
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
<child link="link_1"/>
<parent link="base"/>
</joint>
<link name="link_2">
<visual name="vertical_support_10">
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_127.obj"/>
</geometry>
</visual>
<visual name="vertical_support_10">
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_126.obj"/>
</geometry>
</visual>
<visual name="vertical_support_10">
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_116.obj"/>
</geometry>
</visual>
<visual name="vertical_support_10">
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_108.obj"/>
</geometry>
</visual>
<visual name="mouth_6">
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_115.obj"/>
</geometry>
</visual>
<visual name="mouth_6">
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_143.obj"/>
</geometry>
</visual>
<visual name="tube_7">
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_109.obj"/>
</geometry>
</visual>
<visual name="tube_7">
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_118.obj"/>
</geometry>
</visual>
<visual name="tube_7">
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_124.obj"/>
</geometry>
</visual>
<visual name="tube_7">
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_123.obj"/>
</geometry>
</visual>
<visual name="tube_7">
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_117.obj"/>
</geometry>
</visual>
<visual name="tube_7">
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_125.obj"/>
</geometry>
</visual>
<visual name="head_8">
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_184.obj"/>
</geometry>
</visual>
<visual name="head_8">
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_213.obj"/>
</geometry>
</visual>
<visual name="head_8">
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_187.obj"/>
</geometry>
</visual>
<visual name="head_8">
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_190.obj"/>
</geometry>
</visual>
<visual name="head_8">
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_212.obj"/>
</geometry>
</visual>
<visual name="head_8">
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_185.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_127.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_126.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_116.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_108.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_115.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_143.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_109.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_118.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_124.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_123.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_117.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_125.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_184.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_213.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_187.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_190.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_212.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.001450244642794103 0 0.1170014207363129"/>
<geometry>
<mesh filename="textured_objs/original_185.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_2" type="continuous">
<origin xyz="-0.001450244642794103 0 -0.1170014207363129"/>
<axis xyz="0 1 0"/>
<child link="link_2"/>
<parent link="link_1"/>
</joint>
</robot>